--- Step 0 ---
qpos:
[-2.52417824e-04, 6.12006294e-05, 1.09483168e-04, 2.70467084e-04,
 -3.79998997e-04,-2.66552076e-05,-2.81498914e-04, 3.41988932e-04,
 -2.42896059e-04,-1.50322831e-05,-2.36669549e-04, 3.10985015e-04,
  1.99722177e-03, 4.62478705e-04, 1.09501115e-04,-6.64819811e-05,
  9.49927913e-02,-7.00193524e-02, 1.00039790e-01, 9.99999963e-01,
  2.53983463e-04,-9.81251085e-05, 7.45832774e-06]

qacc:
[-2.21908939e+03, 3.36252819e+02,-2.21561445e+03, 6.66781583e+03,
 -3.35277816e+03, 1.46275357e+03,-6.69833455e+03, 1.30730644e+04,
 -2.14487217e+03, 1.28656325e+03,-5.92110943e+03, 1.16836105e+04,
  6.76262962e+02, 5.10643609e+03, 3.65773264e+02,-1.04340680e+03,
 -1.80216367e+00,-4.83810768e+00, 9.94753691e+00, 1.26991733e+02,
 -4.90625548e+01, 3.72916392e+00]

qfrc_actuator:
[-0.01311427, 0.01300055, 0.00989166, 0.01471234,-0.01968741,-0.00973995,
 -0.01769888, 0.01638952,-0.01263047,-0.00708778,-0.01457643, 0.0150315 ,
  0.21      , 0.02331711, 0.01063463,-0.00201911, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00504755421335195
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.74940837e-15, -2.74940837e-15,  1.00000000e+00,  7.55924639e-30,
        1.00000000e+00,  2.74940837e-15, -1.00000000e+00,  0.00000000e+00,
        2.74940837e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09823443, -0.05318658,  0.06178558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.29862430e-02, 1.29941588e-02, 9.88526508e-03, 1.47089943e-02,
 -1.95588907e-02,-9.73995210e-03,-1.76988776e-02, 1.63895246e-02,
 -1.25024465e-02,-7.08138928e-03,-1.45700391e-02, 1.50348430e-02,
  2.15588443e-01, 2.33174251e-02, 8.75119406e-03,-2.44167267e-03,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-1.18630143e-02,
 -2.39636858e-02, 0.00000000e+00]


--- Step 1 ---
qpos:
[-5.08730782e-04, 1.91048119e-04, 2.53273988e-04, 5.47243042e-04,
 -7.63491762e-04,-1.12329221e-04,-5.86002176e-04, 6.72032987e-04,
 -4.88416372e-04,-7.47732189e-05,-4.90027252e-04, 6.12673006e-04,
  5.67044757e-03, 9.25716793e-04, 2.55006887e-04,-1.23657808e-04,
  9.49792039e-02,-7.00558292e-02, 1.00110078e-01, 9.99999692e-01,
  7.32138265e-04,-2.82856541e-04, 2.14831511e-05]

qacc:
[ -34.37758523,   7.89369566,  76.96019718, -73.22987282, -30.46787001,
  -38.24995611,  73.73534369,-200.36747628, -22.86031883, -31.55200836,
   66.09016201,-167.49471899, 562.56382772,  28.90114252,  24.99874089,
  -10.55416331,  -1.59470741,  -4.28108491,   7.62444008, 112.08570273,
  -43.30317746,   3.2832487 ]

qfrc_actuator:
[-0.01294193, 0.0129584 , 0.0098021 , 0.01443306,-0.01931461,-0.00970514,
 -0.01740338, 0.01600694,-0.01241264,-0.00707806,-0.0143143 , 0.0147083 ,
  0.21      , 0.02288342, 0.01061558,-0.00199711, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004997496620544294
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.77694791e-15, -1.38847396e-15,  1.00000000e+00,  3.85571985e-30,
        1.00000000e+00,  1.38847396e-15, -1.00000000e+00,  0.00000000e+00,
        2.77694791e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0982411 , -0.05316826,  0.06178766])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.97111910e-04, 9.90145495e-03, 4.32472237e-03, 9.07009103e-04,
 -1.82613505e-04,-8.35859193e-03,-3.32397117e-03,-1.09165023e-03,
 -1.37177548e-04,-6.31103752e-03,-2.47139393e-03,-8.37069589e-04,
  1.15831008e-01,-2.40321951e-04, 3.25883554e-03, 9.04294723e-04,
  2.60060197e-06, 1.86036103e-05,-9.80984380e+00,-1.18531156e-02,
 -2.39683621e-02, 1.22695046e-05]


--- Step 2 ---
qpos:
[-7.59840619e-04, 3.66369437e-04, 4.13840559e-04, 8.22961959e-04,
 -1.13892959e-03,-2.36475575e-04,-9.00826117e-04, 9.92001628e-04,
 -7.29805612e-04,-1.63798135e-04,-7.50216244e-04, 9.05408772e-04,
  1.07216801e-02, 1.37904527e-03, 4.15573552e-04,-1.75246333e-04,
  9.49768691e-02,-7.00996526e-02, 1.00207716e-01, 9.99999099e-01,
  1.30419686e-03,-3.17106194e-04, 2.63313787e-05]

qacc:
[  45.54395987,  10.94704247,  52.4667142 ,-130.85271338,  71.22135596,
  -42.89720341, 121.46337283,-250.75464335,  36.64072899, -38.12500894,
  117.44207791,-239.75864616, 462.41394048, -92.86029988,   5.11049522,
   13.75787802,   2.81318117,  -1.83664794,   6.83750072,  46.95232206,
   75.23645605,  -4.6566606 ]

qfrc_actuator:
[-0.01266266, 0.01282223, 0.00965251, 0.01415099,-0.01889994,-0.00963233,
 -0.01710822, 0.01568805,-0.01219991,-0.00703925,-0.01404566, 0.01439929,
  0.21      , 0.02243746, 0.01059696,-0.00194887, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0049094612065919
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.82674355e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.82674355e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08223275, -0.06201023,  0.06179132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.69924491e-04, 6.34283132e-03, 2.46308373e-03, 3.10182492e-04,
  4.12723462e-04,-5.32090103e-03,-1.87409743e-03,-8.12440388e-04,
  2.11231732e-04,-4.02752303e-03,-1.36521779e-03,-6.80680696e-04,
  3.22295793e-02,-7.24493334e-04, 1.44312935e-03, 4.87364582e-04,
  9.02822972e-06, 6.54014446e-05,-9.80944635e+00,-1.18346216e-02,
 -2.39776494e-02, 3.38920386e-05]


--- Step 3 ---
qpos:
[-1.00477606e-03, 5.70008173e-04, 5.83579906e-04, 1.09635006e-03,
 -1.50634685e-03,-3.84893806e-04,-1.21989144e-03, 1.30334339e-03,
 -9.65980113e-04,-2.71051942e-04,-1.01329937e-03, 1.19076146e-03,
  1.68905167e-02, 1.82177091e-03, 5.82352869e-04,-2.23227074e-04,
  9.49846094e-02,-7.01501100e-02, 1.00325616e-01, 9.99998055e-01,
  1.96035323e-03,-2.17165885e-04, 2.27326700e-05]

qacc:
[  54.14884624,   6.88272025,  39.41066042,-115.03807702,  70.86383805,
  -38.13678614, 125.60547556,-249.99434713,  46.11160493, -31.30441719,
  107.66603066,-217.22040101, 375.00808276,-104.31728115,  -2.0540823 ,
   19.6708209 ,   2.51875975,  -1.65853033,   5.06560953,  42.04958222,
   67.08823833,  -4.32429767]

qfrc_actuator:
[-0.01234451, 0.01264312, 0.00947072, 0.01388985,-0.01850579,-0.0095514 ,
 -0.01679901, 0.01537477,-0.01194269,-0.00696279,-0.01379406, 0.01411991,
  0.21      , 0.02195899, 0.0105792 ,-0.00186714, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004802633524235503
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15584816e-14, -3.61202550e-16,  1.00000000e+00, -4.17495303e-30,
        1.00000000e+00,  3.61202550e-16, -1.00000000e+00,  0.00000000e+00,
       -1.15584816e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08220705, -0.06199302,  0.06179583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.19081184e-04, 3.89989053e-03, 1.44583424e-03, 1.02576879e-04,
  4.11637231e-04,-3.30271475e-03,-1.04444126e-03,-6.21106451e-04,
  2.67524082e-04,-2.47763102e-03,-7.68926972e-04,-5.11897333e-04,
 -3.63950125e-02,-7.07853857e-04, 6.76069417e-04, 2.90024244e-04,
  1.48540567e-05, 3.46460914e-04,-9.80932481e+00,-1.18109264e-02,
 -2.39758483e-02, 6.81185102e-05]


--- Step 4 ---
qpos:
[-1.24486796e-03, 7.90759729e-04, 7.57696275e-04, 1.36598797e-03,
 -1.86671307e-03,-5.47790238e-04,-1.53956502e-03, 1.60592214e-03,
 -1.19746127e-03,-3.89169212e-04,-1.27653845e-03, 1.47006826e-03,
  2.39502979e-02, 2.25515702e-03, 7.51740074e-04,-2.69342205e-04,
  9.49988587e-02,-7.01846054e-02, 1.00460669e-01, 9.99997096e-01,
  2.40963024e-03,-2.91862695e-05, 2.64823604e-05]

qacc:
[  42.47608409,   2.57774493,  39.30727052,-123.63379922,  62.27387183,
  -35.61105211, 135.98240242,-275.77058892,  41.4816854 , -26.45962684,
   98.88671592,-195.11397548, 298.9498924 , -93.57593094,  -2.12946756,
   12.1463598 ,   1.62724997,   3.99053864,   4.28802983,-103.43777977,
   44.02913145,   3.61036108]

qfrc_actuator:
[-0.01209486, 0.01245496, 0.00927049, 0.01360746,-0.01816265,-0.00941117,
 -0.01648331, 0.01501418,-0.01171477,-0.00684532,-0.01353613, 0.01387808,
  0.21      , 0.02153669, 0.0105622 ,-0.00181883, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00468907208910236
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.91920429e-15, -1.03586075e-14,  1.00000000e+00, -6.13147140e-29,
        1.00000000e+00,  1.03586075e-14, -1.00000000e+00,  0.00000000e+00,
       -5.91920429e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08533805, -0.08700166,  0.06180068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.50054953e-04, 2.30559978e-03, 7.90266202e-04,-6.26012864e-05,
  3.62210347e-04,-1.93553041e-03,-5.12359094e-04,-5.49524413e-04,
  2.41043079e-04,-1.43961353e-03,-3.63203234e-04,-3.84032624e-04,
 -9.19378265e-02,-6.00477540e-04, 3.52379244e-04, 1.58326675e-04,
 -9.88756556e-05, 6.78122360e-04,-9.80910788e+00,-1.17853769e-02,
 -2.39678359e-02, 1.04643213e-04]


--- Step 5 ---
qpos:
[-1.48099120e-03, 1.02122376e-03, 9.32853248e-04, 1.63103717e-03,
 -2.21964523e-03,-7.18806673e-04,-1.85742785e-03, 1.90047404e-03,
 -1.42462552e-03,-5.13490239e-04,-1.53792436e-03, 1.74320244e-03,
  3.17044465e-02, 2.67872403e-03, 9.22267833e-04,-3.13814227e-04,
  9.50190045e-02,-7.02047156e-02, 1.00607311e-01, 9.99996398e-01,
  2.67304654e-03, 2.38019569e-04, 3.66828228e-05]

qacc:
[  34.79700572,   0.41058012,  36.41056763,-124.50031026,  65.60715589,
  -32.45893776, 133.81695021,-269.39883902,  38.15021987, -26.17130391,
  107.33947951,-212.41132741, 232.97121685,-101.37316684,  -3.62611416,
   14.25565748,   1.4741312 ,   3.59627534,   2.89747451, -92.92925937,
   39.62323264,   3.13263261]

qfrc_actuator:
[-0.01188745, 0.01224349, 0.00904257, 0.01331467,-0.0177991 ,-0.00925318,
 -0.01616566, 0.0146643 ,-0.01150599,-0.00673883,-0.01327598, 0.01360713,
  0.21      , 0.02108005, 0.01055642,-0.00175476, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004567010210461769
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.51935152e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.51935152e-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([ 0.08531691, -0.08705414,  0.06180593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.04674368e-04, 1.24811930e-03, 3.46764409e-04,-1.67218388e-04,
  3.82224922e-04,-1.04053587e-03,-1.60062444e-04,-4.60444636e-04,
  2.21895415e-04,-7.80976638e-04,-9.22148389e-05,-3.52148688e-04,
 -1.36098966e-01,-5.90645021e-04, 2.20148680e-04, 1.29545717e-04,
 -1.91521584e-04, 4.46809333e-04,-9.80951293e+00,-1.17669905e-02,
 -2.39642247e-02, 1.23531862e-04]


--- Step 6 ---
qpos:
[-1.71300266e-03, 1.25591921e-03, 1.10793285e-03, 1.89168407e-03,
 -2.56563890e-03,-8.93891840e-04,-2.17163473e-03, 2.18857397e-03,
 -1.64669520e-03,-6.41077033e-04,-1.79624820e-03, 2.01084073e-03,
  3.99830043e-02, 3.09228123e-03, 1.09330470e-03,-3.56952292e-04,
  9.50445445e-02,-7.02117355e-02, 1.00760913e-01, 9.99996001e-01,
  2.76799384e-03, 5.77149193e-04, 5.25881059e-05]

qacc:
[  36.11624321,  -3.32822556,  38.44022343,-117.48032703,  61.23104793,
  -29.00951198, 122.65390299,-236.92887339,  44.97903906, -24.28656657,
  103.37374862,-200.80437086, 175.9307098 ,-105.46389879,  -3.59903366,
   12.88934075,   1.3485611 ,   3.27257035,   1.73988659, -84.23396735,
   35.9724418 ,   2.73621732]

qfrc_actuator:
[-0.01167093, 0.0119831 , 0.00885289, 0.01305348,-0.01746201,-0.00908511,
 -0.01583125, 0.01437688,-0.01125695,-0.00663924,-0.01301645, 0.01335676,
  0.21      , 0.02060703, 0.01054142,-0.00169951, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00442467655191664
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.27290499e-15,  1.56822625e-15,  1.00000000e+00, -9.83733425e-30,
        1.00000000e+00, -1.56822625e-15, -1.00000000e+00,  0.00000000e+00,
        6.27290499e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08529235, -0.08711479,  0.061812  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.11786883e-04, 5.11611825e-04, 1.08279196e-04,-1.98314806e-04,
  3.56918812e-04,-4.53637913e-04, 8.79465209e-05,-3.45737559e-04,
  2.62055980e-04,-3.62361753e-04, 7.76551417e-05,-2.93355195e-04,
 -1.70393550e-01,-5.73221850e-04, 1.52035922e-04, 1.03119983e-04,
 -2.64774118e-04, 2.49224234e-04,-9.80970931e+00,-1.17553261e-02,
 -2.39549898e-02, 1.28687070e-04]


--- Step 7 ---
qpos:
[-1.94048535e-03, 1.49123713e-03, 1.28276033e-03, 2.14733428e-03,
 -2.90506139e-03,-1.07010662e-03,-2.48135736e-03, 2.47089616e-03,
 -1.86391486e-03,-7.69655751e-04,-2.05067131e-03, 2.27338889e-03,
  4.86395718e-02, 3.49687296e-03, 1.26454188e-03,-3.99249340e-04,
  9.50645084e-02,-7.02064151e-02, 1.00920094e-01, 9.99995991e-01,
  2.70281806e-03, 8.41271298e-04, 6.35466177e-05]

qacc:
[  39.8427482 ,  -8.84215105,  53.67576129,-140.05287314,  57.96996606,
  -26.0446307 , 114.88398969,-220.99060055,  42.81235757, -22.78530778,
  100.67592092,-194.10667157, 126.807859  , -95.53851907,  -2.51538417,
    8.56536638,  -1.39403994,   3.08511114,   1.39472094, -80.0622973 ,
  -37.50635872,  -2.41578331]

qfrc_actuator:
[-0.01143293, 0.01171269, 0.00872235, 0.01277739,-0.01714328,-0.00889403,
 -0.01550712, 0.01411081,-0.01102175,-0.00649098,-0.01274149, 0.01312054,
  0.21      , 0.02018155, 0.01051559,-0.00166767, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004273684755371911
  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([ 0.10049778, -0.08702129,  0.06181844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33083228e-04, 3.90105771e-05,-1.52060352e-05,-2.53634643e-04,
  3.38154686e-04,-4.65560751e-05, 2.33341370e-04,-2.88436050e-04,
  2.49580826e-04,-4.21605424e-05, 2.02455246e-04,-2.54266747e-04,
 -1.96161993e-01,-4.98695855e-04, 1.04623654e-04, 6.88122496e-05,
 -3.23120743e-04, 7.80775954e-05,-9.80974974e+00,-1.17499158e-02,
 -2.39411328e-02, 1.21903840e-04]


--- Step 8 ---
qpos:
[-2.16321875e-03, 1.72557789e-03, 1.45601667e-03, 2.39835275e-03,
 -3.23749283e-03,-1.24582052e-03,-2.78595153e-03, 2.74861884e-03,
 -2.07683205e-03,-8.97519248e-04,-2.30111696e-03, 2.53014899e-03,
  5.75486372e-02, 3.89254508e-03, 1.43583714e-03,-4.39385306e-04,
  9.50793328e-02,-7.01896694e-02, 1.01081364e-01, 9.99996359e-01,
  2.49041977e-03, 1.03648587e-03, 6.98632028e-05]

qacc:
[  41.76934545,  -6.52116166,  40.78704325,-117.55834358,  61.65089309,
  -23.27042235, 103.13369432,-191.06730909,  37.96449179, -22.17125544,
  104.72278113,-211.62924445,  84.68820434, -96.22740463,  -6.6747011 ,
   22.96503317,  -1.28486441,   2.85629441,   0.52242348, -73.61170702,
  -34.4553826 ,  -2.28977089]

qfrc_actuator:
[-0.0111841 , 0.01149145, 0.00857424, 0.01253023,-0.01680246,-0.00872598,
 -0.01519144, 0.01389496,-0.0108144 ,-0.00633225,-0.01249483, 0.01284133,
  0.21      , 0.01975205, 0.01050456,-0.00156113, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004115368475569925
  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([ 0.10052672, -0.08708762,  0.06182517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.44349846e-04,-2.04138510e-04,-1.47571631e-04,-2.50322837e-04,
  3.59841141e-04, 1.90313733e-04, 3.28790089e-04,-2.14636512e-04,
  2.21478675e-04, 1.74650043e-04, 2.56953682e-04,-2.78457894e-04,
 -2.14590392e-01,-4.80365668e-04, 8.74503018e-05, 1.33891934e-04,
 -1.48288474e-04,-4.30662896e-05,-9.80985441e+00,-1.17534905e-02,
 -2.39293224e-02, 1.08122470e-04]


--- Step 9 ---
qpos:
[-2.38076412e-03, 1.95784247e-03, 1.62675618e-03, 2.64502732e-03,
 -3.56237895e-03,-1.41988112e-03,-3.08510088e-03, 3.02177680e-03,
 -2.28512446e-03,-1.02405738e-03,-2.54735861e-03, 2.78078541e-03,
  6.66030987e-02, 4.28009867e-03, 1.60735580e-03,-4.77816441e-04,
  9.50893720e-02,-7.01622392e-02, 1.01241852e-01, 9.99997023e-01,
  2.14137033e-03, 1.16780057e-03, 7.17872634e-05]

qacc:
[ 4.56192574e+01,-4.74466824e+00, 3.11182747e+01,-1.00575376e+02,
  6.65099946e+01,-2.25691788e+01, 1.02680303e+02,-1.91348743e+02,
  4.07940204e+01,-2.26948256e+01, 1.09166769e+02,-2.22682524e+02,
  4.87517061e+01,-8.82850202e+01,-4.98308600e+00, 1.75791277e+01,
 -1.19632195e+00, 2.67113221e+00,-1.95614785e-01,-6.83256536e+01,
 -3.19506678e+01,-2.18751430e+00]

qfrc_actuator:
[-0.01091305, 0.01126556, 0.00839927, 0.01230206,-0.01643368,-0.00855516,
 -0.01488328, 0.01367487,-0.01058966,-0.0062218 ,-0.0122668 , 0.01253907,
  0.21      , 0.01935919, 0.01049178,-0.00148245, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003948611621540615
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.02919868e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.02919868e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10055705, -0.08715747,  0.06183224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.66871434e-04,-3.72137747e-04,-2.40917311e-04,-2.46281631e-04,
  3.88420080e-04, 3.48169270e-04, 3.84435445e-04,-2.04002178e-04,
  2.38095379e-04, 2.57660243e-04, 2.88939012e-04,-2.90815399e-04,
 -2.26730089e-01,-4.27635175e-04, 7.56671784e-05, 1.05179381e-04,
 -4.02794422e-05,-4.97618726e-05,-9.80983524e+00,-1.17626799e-02,
 -2.39209821e-02, 9.11239067e-05]


--- Step 10 ---
qpos:
[-2.59358338e-03, 2.18701211e-03, 1.79511908e-03, 2.88649520e-03,
 -3.87979022e-03,-1.59124130e-03,-3.37897217e-03, 3.28867735e-03,
 -2.48896612e-03,-1.14897701e-03,-2.78891185e-03, 3.02613031e-03,
  7.57120919e-02, 4.66079917e-03, 1.77921412e-03,-5.15858330e-04,
  9.50925569e-02,-7.01340422e-02, 1.01405202e-01, 9.99997676e-01,
  1.78236045e-03, 1.21083916e-03, 7.52344131e-05]

qacc:
[ 4.15733849e+01,-8.25269992e+00, 4.53279738e+01,-1.29204964e+02,
  6.58587117e+01,-2.42041018e+01, 1.17664881e+02,-2.36133553e+02,
  3.92707673e+01,-2.19444484e+01, 1.03546282e+02,-2.03657483e+02,
  1.82661243e+01,-7.49742366e+01,-7.52921497e-01, 3.21911136e+00,
 -1.71355695e+00, 1.91690348e-01, 7.15317239e-01,-4.98425131e+00,
 -4.41359352e+01, 8.50242720e-01]

qfrc_actuator:
[-0.01066652, 0.01102061, 0.00824525, 0.01203359,-0.01606924,-0.00836629,
 -0.01459974, 0.01336529,-0.01037427,-0.00610571,-0.01201626, 0.01227889,
  0.21      , 0.01902658, 0.01047259,-0.00147416, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00377925826149042
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.1016279e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.1016279e-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([ 0.10288691, -0.07013742,  0.0618394 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.43056824e-04,-5.04438722e-04,-2.66088126e-04,-2.96946087e-04,
  3.84840778e-04, 4.66187426e-04, 3.99548245e-04,-2.84624660e-04,
  2.29156485e-04, 3.15628623e-04, 3.32052943e-04,-2.44326986e-04,
 -2.33507501e-01,-3.54642833e-04, 4.92970040e-05, 2.89665380e-05,
  1.48231798e-05, 3.38085482e-05,-9.80971846e+00,-1.17771023e-02,
 -2.39157947e-02, 7.08328070e-05]


--- Step 11 ---
qpos:
[-2.80338408e-03, 2.41251273e-03, 1.96107428e-03, 3.12295749e-03,
 -4.19121857e-03,-1.75950666e-03,-3.66737823e-03, 3.54939362e-03,
 -2.68919551e-03,-1.27188012e-03,-3.02608090e-03, 3.26677050e-03,
  8.47990648e-02, 5.03443695e-03, 1.95140559e-03,-5.53701492e-04,
  9.50892607e-02,-7.01050939e-02, 1.01569005e-01, 9.99998312e-01,
  1.41392575e-03, 1.17093123e-03, 8.01005330e-05]

qacc:
[ 2.65515223e+01,-8.48116316e+00, 4.42438700e+01,-1.24223993e+02,
  5.27298408e+01,-2.40296609e+01, 1.17535367e+02,-2.35377282e+02,
  3.18762193e+01,-1.93445576e+01, 9.25882190e+01,-1.82379034e+02,
 -7.42368783e+00,-7.76690524e+01,-1.20317911e-01, 1.17908222e+00,
 -1.62027854e+00, 1.87839738e-01, 1.13610650e-01,-4.71636496e+00,
 -4.14715302e+01, 7.77698355e-01]

qfrc_actuator:
[-0.01050732, 0.01078383, 0.00810468, 0.01177904,-0.01578135,-0.00818604,
 -0.01431523, 0.01305878,-0.01020168,-0.00598705,-0.01178987, 0.01204557,
  0.21      , 0.01867884, 0.0104602 ,-0.00147195, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036165893935131213
  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([ 0.10292516, -0.07014199,  0.06184631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55156863e-04,-5.77817220e-04,-2.84890874e-04,-2.90558434e-04,
  3.08080891e-04, 5.22952103e-04, 4.23876340e-04,-2.77554435e-04,
  1.86022900e-04, 3.61330283e-04, 3.26726075e-04,-2.12593209e-04,
 -2.35739502e-01,-3.59983039e-04, 2.40188440e-05, 1.25070235e-05,
  1.69080438e-05, 1.16907828e-04,-9.80973662e+00,-1.17916625e-02,
 -2.39137120e-02, 5.52691093e-05]


--- Step 12 ---
qpos:
[-3.00985354e-03, 2.63411026e-03, 2.12431868e-03, 3.35459349e-03,
 -4.49659615e-03,-1.92459121e-03,-3.94994344e-03, 3.80507331e-03,
 -2.88566586e-03,-1.39257055e-03,-3.25876106e-03, 3.50237216e-03,
  9.38000078e-02, 5.40093412e-03, 2.12397971e-03,-5.92092731e-04,
  9.50797779e-02,-7.00754041e-02, 1.01731317e-01, 9.99998905e-01,
  1.03647608e-03, 1.05238356e-03, 8.62853819e-05]

qacc:
[ 2.92965178e+01,-7.57921409e+00, 3.98132960e+01,-1.16024270e+02,
  5.33312015e+01,-2.26030349e+01, 1.07767336e+02,-2.06409433e+02,
  3.31642340e+01,-2.00680055e+01, 9.69487118e+01,-1.92824032e+02,
 -2.89031721e+01,-7.87394673e+01, 2.28167472e+00,-6.93202249e+00,
 -1.54665598e+00, 1.85351502e-01,-3.72937474e-01,-4.51137048e+00,
 -3.93184891e+01, 7.09682603e-01]

qfrc_actuator:
[-0.01032969, 0.01055376, 0.00795539, 0.01153473,-0.01548763,-0.00801244,
 -0.01401469, 0.0128098 ,-0.0100202 ,-0.00586791,-0.01156181, 0.01179439,
  0.21      , 0.01832499, 0.01044655,-0.00150886, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,  -5.0041722 , -16.53194992,  -5.0041722 ,
        34.17253394,  -5.11552134, -16.53194992,  -5.11552134,
        18.82118041,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003451999776174386
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.04043378e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.04043378e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10296391, -0.0701468 ,  0.0618533 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.71235736e-04,-6.15903436e-04,-3.10888968e-04,-2.83997423e-04,
  3.11581362e-04, 5.53128838e-04, 4.54809341e-04,-2.16619517e-04,
  1.93584976e-04, 3.87481466e-04, 3.38246077e-04,-2.28065808e-04,
 -2.34145888e-01,-3.60895513e-04,-2.04939758e-06,-3.34834027e-05,
 -1.77214455e-05, 1.99652689e-04,-9.80972408e+00,-1.18067386e-02,
 -2.39149499e-02, 4.12083385e-05]


--- Step 13 ---
qpos:
[-3.21210439e-03, 2.85190213e-03, 2.28482635e-03, 3.58184563e-03,
 -4.79555922e-03,-2.08653941e-03,-4.22633325e-03, 4.05542885e-03,
 -3.07795779e-03,-1.51082954e-03,-3.48666652e-03, 3.73239972e-03,
  1.02661894e-01, 5.76065809e-03, 2.29669963e-03,-6.29824445e-04,
  9.50643369e-02,-7.00449781e-02, 1.01890579e-01, 9.99999416e-01,
  6.50312145e-04, 8.58641500e-04, 9.36890034e-05]

qacc:
[ 3.71014760e+01,-6.48182923e+00, 3.41937881e+01,-1.02750693e+02,
  5.65335845e+01,-2.41955846e+01, 1.14563573e+02,-2.18673586e+02,
  3.68551458e+01,-2.16882434e+01, 1.05393573e+02,-2.11142668e+02,
 -4.66933284e+01,-7.48110366e+01,-1.66538198e+00, 6.54435030e+00,
 -1.48953375e+00, 1.84068368e-01,-7.62617795e-01,-4.36097074e+00,
 -3.75961020e+01, 6.43772450e-01]

qfrc_actuator:
[-0.01010702, 0.01036493, 0.0078199 , 0.01131614,-0.01517513,-0.00786191,
 -0.01370709, 0.01254341,-0.00981722,-0.00573173,-0.01131683, 0.01151696,
  0.21      , 0.01798811, 0.01043213,-0.00147982, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,   4.38918969,  16.70575115,   4.38918969,
       116.55908678, -26.0860264 ,  16.70575115, -26.0860264 ,
        24.12644592,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003287507221456827
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11068552e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.11068552e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10300273, -0.07015179,  0.06186028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.16905923e-04,-6.01187271e-04,-3.07983992e-04,-2.60694023e-04,
  3.30302398e-04, 5.55719277e-04, 4.73948495e-04,-2.30495671e-04,
  2.15180912e-04, 4.20722390e-04, 3.61385965e-04,-2.53108284e-04,
 -2.29357285e-01,-3.40862086e-04,-3.12032717e-05, 2.38848138e-05,
 -8.33415414e-05, 2.82373434e-04,-9.80968572e+00,-1.18222854e-02,
 -2.39193355e-02, 2.85770851e-05]


--- Step 14 ---
qpos:
[-3.40997083e-03, 3.06598208e-03, 2.44221017e-03, 3.80473541e-03,
 -5.08828080e-03,-2.24543798e-03,-4.49641834e-03, 4.29996822e-03,
 -3.26688341e-03,-1.62656980e-03,-3.70989777e-03, 3.95766161e-03,
  1.11341315e-01, 6.11320081e-03, 2.46950295e-03,-6.66129183e-04,
  9.50456486e-02,-7.00234489e-02, 1.02045827e-01, 9.99999730e-01,
  3.76707767e-04, 6.21900787e-04, 1.05045600e-04]

qacc:
[  38.54389776,  -5.23413284,  29.8296271 , -97.46005772,  55.01061081,
  -25.68206212, 121.7796643 ,-234.55400034,  29.70576116, -19.61255434,
   94.77214731,-186.46088669, -61.25828859, -79.28635283,  -4.02642938,
   14.8363588 ,  -0.81183062,  -2.2241832 ,  -1.00328589,  56.27610122,
  -21.50321747,   2.03880101]

qfrc_actuator:
[-0.00987729, 0.01016679, 0.0076583 , 0.01109672,-0.01487189,-0.00772644,
 -0.01339793, 0.01225113,-0.00965653,-0.00560417,-0.01108155, 0.01127959,
  0.21      , 0.0176284 , 0.01041725,-0.00141219, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0031392919991250975
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.42067441e-15, -2.21033721e-15,  1.00000000e+00,  9.77118112e-30,
        1.00000000e+00,  2.21033721e-15, -1.00000000e+00,  0.00000000e+00,
        4.42067441e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09848437, -0.05247071,  0.06186661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25439729e-04,-6.00812631e-04,-3.29957031e-04,-2.60356801e-04,
  3.21397016e-04, 5.45232372e-04, 4.77848991e-04,-2.55905107e-04,
  1.73390004e-04, 4.34232784e-04, 3.60488701e-04,-2.11323166e-04,
 -2.21925724e-01,-3.61954162e-04,-4.87979296e-05, 5.95191672e-05,
 -1.76016103e-04, 3.65462566e-04,-9.80962495e+00,-1.18382669e-02,
 -2.39267288e-02, 1.73195476e-05]


--- Step 15 ---
qpos:
[-3.60305330e-03, 3.27620179e-03, 2.59629538e-03, 4.02295844e-03,
 -5.37492385e-03,-2.40097430e-03,-4.76099000e-03, 4.53912959e-03,
 -3.45228803e-03,-1.73994698e-03,-3.92848590e-03, 4.17904705e-03,
  1.19803236e-01, 6.45836941e-03, 2.64231957e-03,-7.01523234e-04,
  9.50238126e-02,-7.00104849e-02, 1.02195706e-01, 9.99999911e-01,
  2.10948160e-04, 3.43950948e-04, 1.20197585e-04]

qacc:
[  42.05340773,  -5.57540628,  32.03524715,-104.53245739,  53.54074349,
  -22.15116077, 107.9458166 ,-212.10883575,  31.06591703, -17.90237913,
   84.61824621,-160.74965563, -73.011606  , -81.29909765,  -2.51012417,
    9.5382775 ,  -0.78694779,  -2.14132181,  -1.34235567,  53.91905385,
  -20.6094657 ,   1.93899682]

qfrc_actuator:
[-0.00962744, 0.00994676, 0.0074825 , 0.01086077,-0.01457661,-0.00756568,
 -0.01312593, 0.01198143,-0.00948657,-0.0055006 ,-0.0108539 , 0.01108543,
  0.21      , 0.01725812, 0.01038612,-0.0013757 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -14.99916711,   8.5657512 , -14.99916711,
        33.2121319 ,  27.91089633,   8.5657512 ,  27.91089633,
        66.14645573,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0029924703132619343
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.31878454e-15, -6.95635363e-15,  1.00000000e+00,  1.61302853e-29,
        1.00000000e+00,  6.95635363e-15, -1.00000000e+00,  0.00000000e+00,
        2.31878454e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09850394, -0.05241622,  0.06187286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.45995009e-04,-6.27203886e-04,-3.46822923e-04,-2.77627796e-04,
  3.13018486e-04, 5.64151645e-04, 4.38044903e-04,-2.34139148e-04,
  1.81345039e-04, 4.19254221e-04, 3.56946545e-04,-1.66759617e-04,
 -2.12334370e-01,-3.73149541e-04,-7.93433954e-05, 2.57042840e-05,
 -2.08964998e-04, 2.54107419e-04,-9.80973780e+00,-1.18498078e-02,
 -2.39364770e-02, 8.98252433e-06]


--- Step 16 ---
qpos:
[-3.79183375e-03, 3.48218554e-03, 2.74754565e-03, 4.23702859e-03,
 -5.65597955e-03,-2.55272644e-03,-5.02060350e-03, 4.77250371e-03,
 -3.63305609e-03,-1.85100479e-03,-4.14221731e-03, 4.39569144e-03,
  1.28019905e-01, 6.79645982e-03, 2.81516203e-03,-7.36415889e-04,
  9.49989027e-02,-7.00058305e-02, 1.02339137e-01, 9.99999979e-01,
  1.49260866e-04, 2.61992781e-05, 1.38979283e-04]

qacc:
[  37.83074786,  -6.30178393,  31.74961681, -95.83376795,  49.19180327,
  -20.87539774, 105.94886507,-216.63403368,  40.87905698, -20.35729921,
   96.90410097,-188.27268097, -82.32056447, -77.88402506,  -1.19837507,
    5.12055795,  -0.76845932,  -2.07740428,  -1.61198653,  52.03314797,
  -19.90676638,   1.83695953]

qfrc_actuator:
[-0.00940316, 0.00971521, 0.00733512, 0.01065247,-0.01430618,-0.00737353,
 -0.01287797, 0.01169167,-0.00925928,-0.00539453,-0.0106149 , 0.0108472 ,
  0.21      , 0.01690231, 0.01036122,-0.00135795, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -15.36514939,   7.89045574, -15.36514939,
        34.22422649,  33.00979392,   7.89045574,  33.00979392,
        81.55297061,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0028466420443191143
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.87514327e-15,  2.43757164e-15,  1.00000000e+00, -1.18835110e-29,
        1.00000000e+00, -2.43757164e-15, -1.00000000e+00,  0.00000000e+00,
        4.87514327e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09852352, -0.0523622 ,  0.06187906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.21180121e-04,-6.57878593e-04,-3.26598370e-04,-2.52050283e-04,
  2.87756207e-04, 5.98616214e-04, 4.13702172e-04,-2.54359220e-04,
  2.38754848e-04, 4.14426316e-04, 3.66249880e-04,-2.10733722e-04,
 -2.01003923e-01,-3.60165287e-04,-9.99821746e-05,-9.80432534e-07,
 -2.39757707e-04, 1.54495015e-04,-9.80978796e+00,-1.18571297e-02,
 -2.39482314e-02, 6.01348372e-06]


--- Step 17 ---
qpos:
[-3.97664826e-03, 3.68385308e-03, 2.89565752e-03, 4.44732399e-03,
 -5.93110269e-03,-2.70084243e-03,-5.27484325e-03, 5.00024613e-03,
 -3.81026405e-03,-1.95962872e-03,-4.35110585e-03, 4.60778945e-03,
  1.35969886e-01, 7.12771319e-03, 2.98827116e-03,-7.71425171e-04,
  9.49709713e-02,-7.00092933e-02, 1.02475274e-01, 9.99999915e-01,
  1.88668207e-04,-3.30270037e-04, 1.61217108e-04]

qacc:
[  34.86252071,  -4.77471142,  24.56509837, -81.57250578,  52.23410742,
  -21.918344  , 108.71708246,-217.25569001,  31.40892638, -19.74764427,
   94.1604262 ,-182.25699697, -89.51122819, -75.02321972,   1.07891182,
   -2.19886301,  -0.75535399,  -2.02927921,  -1.82365304,  50.54459167,
  -19.36558843,   1.73228613]

qfrc_actuator:
[-0.00919566, 0.00947868, 0.00717014, 0.0104621 ,-0.0140171 ,-0.0071998 ,
 -0.01261057, 0.01141018,-0.00908889,-0.0052701 ,-0.01037117, 0.01062044,
  0.21      , 0.01655783, 0.01035603,-0.00136915, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -15.63962926,   7.33137805, -15.63962926,
        38.79322352,  45.90850181,   7.33137805,  45.90850181,
       115.20683226,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002703041299585582
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.13413828e-15, -5.13413828e-15,  1.00000000e+00,  2.63593759e-29,
        1.00000000e+00,  5.13413828e-15, -1.00000000e+00,  0.00000000e+00,
        5.13413828e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09854293, -0.05230907,  0.06188516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03878910e-04,-6.74926201e-04,-3.47216152e-04,-2.34239934e-04,
  3.05520175e-04, 5.93349020e-04, 4.36495801e-04,-2.45854929e-04,
  1.83362634e-04, 4.29959906e-04, 3.69546939e-04,-2.00008215e-04,
 -1.88299910e-01,-3.50577047e-04,-1.01373102e-04,-3.61058293e-05,
 -2.68850577e-04, 6.49703023e-05,-9.80978264e+00,-1.18603687e-02,
 -2.39618949e-02, 8.27802713e-06]


--- Step 18 ---
qpos:
[-4.15772546e-03, 3.88170174e-03, 3.03991976e-03, 4.65335198e-03,
 -6.20011952e-03,-2.84559677e-03,-5.52374956e-03, 5.22358373e-03,
 -3.98393331e-03,-2.06608527e-03,-4.55525778e-03, 4.81591468e-03,
  1.43637189e-01, 7.45302149e-03, 3.16139466e-03,-8.05843253e-04,
  9.49400529e-02,-7.00207332e-02, 1.02603462e-01, 9.99999667e-01,
  3.26863746e-04,-7.24646291e-04, 1.86729659e-04]

qacc:
[  32.81668929,  -3.13958166,  21.77593131, -86.54719577,  53.75740507,
  -19.64413789,  94.89808748,-181.9319654 ,  31.21953366, -18.62086404,
   87.21155426,-165.01675053, -94.87274897, -65.00606523,  -1.3955214 ,
    6.03080827,  -0.74677691,  -1.99429951,  -1.98713717,  49.39159874,
  -18.96115444,   1.62464037]

qfrc_actuator:
[-0.00899962, 0.00929419, 0.00697829, 0.01024827,-0.01371941,-0.00705625,
 -0.01235165, 0.01118907,-0.00891791,-0.00518896,-0.01014429, 0.01042003,
  0.21      , 0.01625825, 0.01033602,-0.00134404, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -15.85661259,   6.84944849, -15.85661259,
        41.61847694,  56.36090572,   6.84944849,  56.36090572,
       147.74937047,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0025626316358778045
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.70772194e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.70772194e-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([ 0.09856205, -0.05225711,  0.06189111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.92130596e-04,-6.36081697e-04,-3.79590006e-04,-2.58807014e-04,
  3.14450718e-04, 5.65088799e-04, 4.29949922e-04,-1.84758252e-04,
  1.82248853e-04, 3.96339724e-04, 3.56645120e-04,-1.72683846e-04,
 -1.74539156e-01,-3.08086403e-04,-1.29479905e-04,-3.98721690e-06,
 -2.96615406e-04,-1.58455865e-05,-9.80972704e+00,-1.18596282e-02,
 -2.39773828e-02, 1.56613101e-05]


--- Step 19 ---
qpos:
[-4.33557269e-03, 4.07572062e-03, 3.18071320e-03, 4.85519883e-03,
 -6.46332267e-03,-2.98711591e-03,-5.76748775e-03, 5.44326411e-03,
 -4.15339759e-03,-2.17036395e-03,-4.75494234e-03, 5.01935384e-03,
  1.51010507e-01, 7.77123858e-03, 3.33446343e-03,-8.40249108e-04,
  9.49150083e-02,-7.00384797e-02, 1.02725899e-01, 9.99999288e-01,
  5.42915481e-04,-1.04290948e-03, 2.05224800e-04]

qacc:
[ 2.83629753e+01,-4.03228528e+00, 2.45886731e+01,-8.84835241e+01,
  5.11764742e+01,-1.78040808e+01, 8.49482186e+01,-1.58696915e+02,
  3.70646482e+01,-1.93348886e+01, 9.27690003e+01,-1.82475164e+02,
 -9.86609086e+01,-7.73350890e+01, 2.88153873e-01, 9.05186035e-02,
  1.46847165e+00,-1.57664576e+00,-1.43754777e+00, 3.89326709e+01,
  3.80480583e+01,-3.54933984e+00]

qfrc_actuator:
[-0.00882956, 0.00910664, 0.00680778, 0.01004013,-0.01343685,-0.00691424,
 -0.01209994, 0.01100522,-0.00871247,-0.005099  ,-0.00992934, 0.01018342,
  0.21      , 0.01589869, 0.01030713,-0.00135107, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002438017384783754
  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([ 0.08150132, -0.05683801,  0.06189641])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66023837e-04,-6.25307618e-04,-3.55108495e-04,-2.53071424e-04,
  2.99385313e-04, 5.48798287e-04, 4.18145469e-04,-1.47765509e-04,
  2.16537091e-04, 3.84731280e-04, 3.37073254e-04,-2.10255150e-04,
 -1.59994833e-01,-3.70115567e-04,-1.53719257e-04,-3.93638342e-05,
 -3.23357902e-04,-8.91146087e-05,-9.80962481e+00,-1.18549839e-02,
 -2.39946198e-02, 2.80672705e-05]


--- Step 20 ---
qpos:
[-4.51121276e-03, 4.26586250e-03, 3.31865148e-03, 5.05260765e-03,
 -6.72128700e-03,-3.12551474e-03,-6.00584822e-03, 5.65869834e-03,
 -4.32000387e-03,-2.27228467e-03,-4.95080828e-03, 5.21909515e-03,
  1.58082544e-01, 8.08170692e-03, 3.50730523e-03,-8.73718400e-04,
  9.48958314e-02,-7.00611249e-02, 1.02842740e-01, 9.99998814e-01,
  8.18932950e-04,-1.28600954e-03, 2.17775402e-04]

qacc:
[  19.38485541,  -6.32201925,  33.77664935,-103.09595348,  46.12804337,
  -19.74487513,  94.15106604,-178.36128477,  25.19866926, -15.22439353,
   74.32745294,-146.07075641,-101.10176592, -84.31136253,  -2.74138464,
   10.40109462,   1.46689283,  -1.22465924,  -1.39913634,  29.98748434,
   37.57372273,  -3.02393085]

qfrc_actuator:
[-0.00871157, 0.00891881, 0.00666899, 0.00981926,-0.01318327,-0.00677436,
 -0.01183677, 0.01079148,-0.0085772 ,-0.00498686,-0.00974092, 0.00999839,
  0.21      , 0.01550666, 0.01028357,-0.00130602, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023183013862322684
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.59171277e-14,  2.63663327e-06,  1.00000000e+00, -9.47002938e-20,
        1.00000000e+00, -2.63663327e-06, -1.00000000e+00,  1.20370622e-35,
        3.59171277e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08154256, -0.05957437,  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:
[ 1.13391318e-04,-6.14415020e-04,-3.17994568e-04,-2.64383659e-04,
  2.69798212e-04, 5.36479832e-04, 4.26001827e-04,-1.78054874e-04,
  1.47219340e-04, 3.94606907e-04, 3.04368724e-04,-1.60583865e-04,
 -1.44901700e-01,-4.07247644e-04,-1.69057091e-04, 6.30827863e-06,
 -1.73892199e-04,-9.96019666e-05,-9.80968290e+00,-1.18440256e-02,
 -2.40073842e-02, 4.46933488e-05]


--- Step 21 ---
qpos:
[-4.68459385e-03, 4.45238089e-03, 3.45375220e-03, 5.24546293e-03,
 -6.97405925e-03,-3.26054975e-03,-6.23943137e-03, 5.86922598e-03,
 -4.48323741e-03,-2.37204463e-03,-5.14275353e-03, 5.41509073e-03,
  1.64849448e-01, 8.38687592e-03, 3.68003493e-03,-9.04703884e-04,
  9.48825020e-02,-7.00876275e-02, 1.02953986e-01, 9.99998264e-01,
  1.14170791e-03,-1.45497718e-03, 2.25262377e-04]

qacc:
[  19.83421225,  -6.27484724,  34.58079008,-106.11228776,  45.68720007,
  -19.10396627,  95.12280607,-189.98511071,  29.72693724, -15.87776457,
   76.46587351,-149.03965574,-102.39523851, -57.17634219,  -7.22553777,
   26.40820258,   1.46190377,  -0.96435594,  -1.39879311,  23.38356589,
   37.05895137,  -2.59222258]

qfrc_actuator:
[-0.00858961, 0.00875013, 0.00653225, 0.00959268,-0.01293109,-0.0066192 ,
 -0.0116045 , 0.01054411,-0.00841336,-0.00489798,-0.00955182, 0.00980969,
  0.21      , 0.01524067, 0.01028453,-0.00117741, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002203166481181497
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.29901913e-15, -3.14950956e-15,  1.00000000e+00,  1.98388210e-29,
        1.00000000e+00,  3.14950956e-15, -1.00000000e+00,  0.00000000e+00,
        6.29901913e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08156633, -0.06157428,  0.0619064 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16068960e-04,-5.82100148e-04,-3.09543199e-04,-2.68563012e-04,
  2.67399178e-04, 5.45005452e-04, 3.92412185e-04,-2.12545970e-04,
  1.73702280e-04, 3.72109611e-04, 3.04753649e-04,-1.63995593e-04,
 -1.29460473e-01,-2.85411018e-04,-1.51169464e-04, 8.93585609e-05,
 -7.13105522e-05,-6.60068266e-05,-9.80971333e+00,-1.18314900e-02,
 -2.40164991e-02, 6.38110247e-05]


--- Step 22 ---
qpos:
[-4.85499248e-03, 4.63496159e-03, 3.58657435e-03, 5.43411275e-03,
 -7.22135486e-03,-3.39218619e-03,-6.46891830e-03, 6.07520541e-03,
 -4.64244007e-03,-2.46976167e-03,-5.33051799e-03, 5.60695933e-03,
  1.71310248e-01, 8.68655700e-03, 3.85300513e-03,-9.33882313e-04,
  9.48749382e-02,-7.01179599e-02, 1.03059120e-01, 9.99997630e-01,
  1.51037399e-03,-1.55129324e-03, 2.27756029e-04]

qacc:
[  26.21630474,  -7.54858721,  37.02857989,-103.1747869 ,  48.15728249,
  -16.42054322,  84.10080592,-171.68875543,  35.51810539, -17.55719845,
   83.81782337,-163.29810209,-102.71804714, -58.98450654,  -4.63191224,
   18.1499057 ,   1.44138844,  -0.95744902,  -1.52792422,  22.95012101,
   36.31764871,  -2.57150611]

qfrc_actuator:
[-0.00843068, 0.00854098, 0.00641563, 0.00938233,-0.01266403,-0.00647411,
 -0.01141008, 0.01031442,-0.00821628,-0.00480604,-0.00934618, 0.00960257,
  0.21      , 0.01496219, 0.01028954,-0.00108934, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002090882515653078
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.31864361e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.31864361e-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([ 0.08153952, -0.06155628,  0.06191116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.53293680e-04,-6.03025838e-04,-2.81896839e-04,-2.50754275e-04,
  2.82041414e-04, 5.31096846e-04, 3.50935804e-04,-1.96342577e-04,
  2.07570824e-04, 3.62393510e-04, 3.16527445e-04,-1.83446971e-04,
 -1.13843685e-01,-2.98480992e-04,-1.34889079e-04, 5.45230051e-05,
 -9.48325299e-06,-5.39612303e-06,-9.80972310e+00,-1.18177203e-02,
 -2.40223317e-02, 8.43730472e-05]


--- Step 23 ---
qpos:
[-5.02198551e-03, 4.81368448e-03, 3.71698262e-03, 5.61878187e-03,
 -7.46338619e-03,-3.52075872e-03,-6.69386182e-03, 6.27754337e-03,
 -4.79828168e-03,-2.56545329e-03,-5.51431186e-03, 5.79556764e-03,
  1.77466396e-01, 8.98029591e-03, 4.02609812e-03,-9.61675667e-04,
  9.48730829e-02,-7.01521091e-02, 1.03157757e-01, 9.99996881e-01,
  1.92431495e-03,-1.57608795e-03, 2.25274292e-04]

qacc:
[  29.92729352,  -6.60899739,  32.87053315, -94.9563964 ,  46.3060813 ,
  -16.24160119,  78.9997418 ,-151.37081718,  29.62284322, -15.19586429,
   71.72647372,-135.88012705,-102.22411581, -63.72477033,  -3.51249928,
   14.02583863,   1.42713006,  -0.95419704,  -1.62451538,  22.641758  ,
   35.7515897 ,  -2.57680512]

qfrc_actuator:
[-0.0082512 , 0.00834482, 0.00629389, 0.00918318,-0.01240816,-0.00633643,
 -0.01118634, 0.01013244,-0.00805452,-0.00471301,-0.0091502 , 0.00943953,
  0.21      , 0.01466077, 0.01027565,-0.0010259 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019818595288750088
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.00240739e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.00240739e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08151346, -0.06153861,  0.06191579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75072192e-04,-5.95375866e-04,-2.87353116e-04,-2.39152627e-04,
  2.71102547e-04, 5.07829504e-04, 3.72770504e-04,-1.50351811e-04,
  1.73095744e-04, 3.59500806e-04, 3.05585055e-04,-1.39762964e-04,
 -9.81951915e-02,-3.25010428e-04,-1.55058555e-04, 2.89028599e-05,
  1.77571002e-05, 7.70547859e-05,-9.80970251e+00,-1.18025697e-02,
 -2.40249432e-02, 1.05981217e-04]


--- Step 24 ---
qpos:
[-5.18500462e-03, 4.98902920e-03, 3.84443464e-03, 5.79995724e-03,
 -7.70067630e-03,-3.64644704e-03,-6.91395850e-03, 6.47648381e-03,
 -4.95052390e-03,-2.65892937e-03,-5.69431685e-03, 5.98040412e-03,
  1.83321385e-01, 9.26820930e-03, 4.19918492e-03,-9.89053188e-04,
  9.48752731e-02,-7.01761067e-02, 1.03251441e-01, 9.99996320e-01,
  2.21559571e-03,-1.54914366e-03, 2.27659701e-04]

qacc:
[  34.89398981,  -3.46519907,  20.50912995, -73.63633666,  41.72043177,
  -16.81575686,  79.68818663,-148.20732826,  31.7050938 , -15.49426635,
   75.30765864,-148.15689387,-101.04903563, -62.20216362,  -0.7523069 ,
    4.12799388,   1.0113723 ,   2.53787594,  -1.23798682, -61.32042977,
   25.88806747,   2.48042466]

qfrc_actuator:
[-0.00804325, 0.00819346, 0.00615238, 0.00900996,-0.01217874,-0.00620424,
 -0.01094709, 0.00996226,-0.0078794 ,-0.00460239,-0.00896148, 0.00925047,
  0.21      , 0.01436598, 0.01025043,-0.00101306, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018837962347986875
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.36692618e-15,  3.68346309e-15,  1.00000000e+00, -2.71358007e-29,
        1.00000000e+00, -3.68346309e-15, -1.00000000e+00,  0.00000000e+00,
        7.36692618e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08486869, -0.08820648,  0.06191996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.04337822e-04,-5.47065579e-04,-3.05864123e-04,-2.12865018e-04,
  2.44178838e-04, 4.95625792e-04, 3.87690384e-04,-1.37917928e-04,
  1.85370010e-04, 3.74955625e-04, 2.97850689e-04,-1.65446331e-04,
 -8.26360915e-02,-3.22144491e-04,-1.80622691e-04,-2.61963160e-05,
  1.23458089e-05, 1.80552715e-04,-9.80965298e+00,-1.17860426e-02,
 -2.40243736e-02, 1.28610199e-04]


--- Step 25 ---
qpos:
[-5.34373573e-03, 5.16090368e-03, 3.96920203e-03, 5.97799346e-03,
 -7.93323713e-03,-3.76936475e-03,-7.12961103e-03, 6.67223533e-03,
 -5.09869202e-03,-2.75010739e-03,-5.87090295e-03, 6.16121335e-03,
  1.88880368e-01, 9.54972426e-03, 4.37211627e-03,-1.01697224e-03,
  9.48814223e-02,-7.01901919e-02, 1.03339369e-01, 9.99996040e-01,
  2.38739459e-03,-1.47179458e-03, 2.34799693e-04]

qacc:
[  37.66023955,  -3.62130148,  19.38273246, -66.72904894,  41.59856963,
  -15.41018423,  73.57881552,-137.76116451,  35.85951436, -14.88497522,
   74.35789517,-151.0820674 , -99.31182592, -68.26854853,   1.93487   ,
   -5.5704476 ,   0.98973549,   2.47813669,  -1.43893845, -59.73161092,
   25.22138772,   2.41396015]

qfrc_actuator:
[-0.00782015, 0.00801678, 0.00601827, 0.00885341,-0.01194901,-0.00609413,
 -0.01073616, 0.00980037,-0.00768008,-0.00449995,-0.00879627, 0.00904761,
  0.21      , 0.01404194, 0.01021842,-0.00104792, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,  15.43339862,  -7.75611464,  15.43339862,
        48.59245391,  62.32112961,  -7.75611464,  62.32112961,
       141.28157452,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018005323666067871
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.85380126e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.85380126e-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([ 0.08485476, -0.08824213,  0.06192352])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.20501255e-04,-5.48213818e-04,-2.89913042e-04,-1.94270404e-04,
  2.43556067e-04, 4.70148758e-04, 3.59060800e-04,-1.29404486e-04,
  2.09801716e-04, 3.72573490e-04, 2.75640304e-04,-1.79359510e-04,
 -6.72681002e-02,-3.54334334e-04,-2.06500025e-04,-8.05219111e-05,
 -1.29517842e-05, 1.20854597e-04,-9.80982431e+00,-1.17745287e-02,
 -2.40249325e-02, 1.43579908e-04]


--- Step 26 ---
qpos:
[-5.49906203e-03, 5.32936109e-03, 4.09140534e-03, 6.15241594e-03,
 -8.16041500e-03,-3.88985254e-03,-7.34053299e-03, 6.86490376e-03,
 -5.24356440e-03,-2.83935600e-03,-6.04422442e-03, 6.33859556e-03,
  1.94173108e-01, 9.82622536e-03, 4.54459612e-03,-1.04541865e-03,
  9.48914649e-02,-7.01945492e-02, 1.03420899e-01, 9.99996083e-01,
  2.44225385e-03,-1.34509689e-03, 2.46582380e-04]

qacc:
[  29.89627396,  -4.85048464,  25.89712062, -81.71745679,  47.34371377,
  -16.45420096,  76.18196921,-138.71925055,  29.02014359, -13.69124125,
   66.88418419,-132.72761699, -89.3271977 , -53.04828182,   1.4199487 ,
   -4.51404606,   0.97337181,   2.43194993,  -1.59977309, -58.46075979,
   24.69371385,   2.34844846]

qfrc_actuator:
[-0.00764313, 0.0078441 , 0.0058895 , 0.00867239,-0.01168549,-0.00599831,
 -0.01050825, 0.0096446 ,-0.00752142,-0.0044389 ,-0.00864631, 0.00887374,
  0.21      , 0.013792  , 0.01019299,-0.00107509, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017174732634462411
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.61607032e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.61607032e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08484086, -0.08827757,  0.06192705])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75051901e-04,-5.40923260e-04,-2.82250993e-04,-2.17881077e-04,
  2.77187576e-04, 4.35889271e-04, 3.67486961e-04,-1.25208696e-04,
  1.69726203e-04, 3.24520249e-04, 2.56623874e-04,-1.51521271e-04,
 -5.21739444e-02,-2.83733558e-04,-2.18316543e-04,-7.93019145e-05,
 -3.33739976e-05, 6.67896272e-05,-9.80992543e+00,-1.17674483e-02,
 -2.40225519e-02, 1.50498295e-04]


--- Step 27 ---
qpos:
[-5.65155881e-03, 5.49446145e-03, 4.21112027e-03, 6.32296186e-03,
 -8.38253946e-03,-4.00788286e-03,-7.54692629e-03, 7.05353644e-03,
 -5.38600095e-03,-2.92668896e-03,-6.21435423e-03, 6.51287323e-03,
  1.99268966e-01, 1.00978422e-02, 4.71610424e-03,-1.07341398e-03,
  9.49053532e-02,-7.01893183e-02, 1.03495519e-01, 9.99996444e-01,
  2.38217459e-03,-1.16987018e-03, 2.62895814e-04]

qacc:
[  24.8386087 ,  -5.51421426,  29.50531101, -90.05764634,  44.4376058 ,
  -17.80981791,  85.10008696,-163.83413155,  21.46208063, -12.82645382,
   62.43883386,-122.60257367, -66.04142371, -52.00190224,  -2.43807353,
    7.52174929,   0.96141895,   2.3970532 ,  -1.72734358, -57.46038599,
   24.28433152,   2.28336699]

qfrc_actuator:
[-0.00749458, 0.00767516, 0.0057649 , 0.00847843,-0.01143973,-0.00589409,
 -0.01028998, 0.00944041,-0.00740575,-0.00434997,-0.00848897, 0.00871827,
  0.21      , 0.0135522 , 0.01017155,-0.00104419, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016353884175568587
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.24296383e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.24296383e-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([ 0.08482709, -0.08831252,  0.06193054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.45449625e-04,-5.32690703e-04,-2.76500318e-04,-2.30718296e-04,
  2.60227608e-04, 4.26877952e-04, 3.51897701e-04,-1.74731277e-04,
  1.25470336e-04, 3.22645494e-04, 2.52664391e-04,-1.35297885e-04,
 -3.85824307e-02,-2.72192027e-04,-2.11395797e-04,-2.07482466e-05,
 -4.93366117e-05, 1.76496687e-05,-9.80996150e+00,-1.17647268e-02,
 -2.40173468e-02, 1.49592042e-04]


--- Step 28 ---
qpos:
[-5.80124150e-03, 5.65607697e-03, 4.32845801e-03, 6.49021852e-03,
 -8.60021011e-03,-4.12323517e-03,-7.74938169e-03, 7.23827722e-03,
 -5.52550357e-03,-3.01211550e-03,-6.38066417e-03, 6.68354991e-03,
  2.04219546e-01, 1.03630120e-02, 4.88680711e-03,-1.10099593e-03,
  9.49230541e-02,-7.01746012e-02, 1.03562829e-01, 9.99997072e-01,
  2.20869644e-03,-9.46732193e-04, 2.83627244e-04]

qacc:
[  24.70557286,  -4.78411771,  24.17827997, -74.6508602 ,  39.14822925,
  -15.56007273,  76.91229442,-152.39367972,  25.85472642, -15.62572059,
   74.48280328,-144.2199434 , -48.70176212, -69.47022811,  -2.17891167,
    6.70435968,   0.95315176,   2.37154771,  -1.8274874 , -56.6906856 ,
   23.97588229,   2.2182199 ]

qfrc_actuator:
[-0.00734615, 0.00749202, 0.00564375, 0.00831392,-0.01122421,-0.00576806,
 -0.01009693, 0.00924487,-0.00726309,-0.00424508,-0.00829292, 0.00853939,
  0.21      , 0.01323159, 0.01016322,-0.00101473, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015548805403019783
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.46265403e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.46265403e-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([ 0.08481356, -0.08834676,  0.06193395])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44651397e-04,-5.41779009e-04,-2.71126707e-04,-2.00978388e-04,
  2.29373600e-04, 4.38106046e-04, 3.21122247e-04,-1.67988707e-04,
  1.51110749e-04, 3.37328538e-04, 2.91024119e-04,-1.58617551e-04,
 -2.84697005e-02,-3.47899915e-04,-1.65483594e-04,-1.25941843e-05,
 -6.11404407e-05,-2.70573213e-05,-9.80993623e+00,-1.17663042e-02,
 -2.40094056e-02, 1.41033454e-04]


--- Step 29 ---
qpos:
[-5.94847554e-03, 5.81417641e-03, 4.44373197e-03, 6.65453752e-03,
 -8.81382662e-03,-4.23607032e-03,-7.94759070e-03, 7.41993652e-03,
 -5.66177388e-03,-3.09570451e-03,-6.54268920e-03, 6.85073690e-03,
  2.09063247e-01, 1.06218747e-02, 5.05694578e-03,-1.12816535e-03,
  9.49445469e-02,-7.01504688e-02, 1.03622518e-01, 9.99997875e-01,
  1.92296431e-03,-6.76127980e-04, 3.08662383e-04]

qacc:
[  21.50249866,  -4.97110348,  23.31148698, -68.18844007,  35.64959543,
  -14.95891818,  71.05121716,-132.89481818,  28.48855673, -16.79258674,
   78.0325185 ,-146.52698357, -35.81049664, -68.19836646,  -1.89139242,
    6.01320367,   0.94796012,   2.35383938,  -1.90517429, -56.11825204,
   23.7537983 ,   2.15254122]

qfrc_actuator:
[-0.00721665, 0.00731958, 0.0055433 , 0.00816803,-0.01102826,-0.00564791,
 -0.00988473, 0.00909149,-0.0071057 ,-0.00414912,-0.00807555, 0.00836595,
  0.21      , 0.01291927, 0.01016277,-0.00098626, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001476413101206199
  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([ 0.08480034, -0.08838014,  0.06193727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25845343e-04,-5.33891859e-04,-2.50647475e-04,-1.81980862e-04,
  2.08800874e-04, 4.32267165e-04, 3.38984699e-04,-1.26288706e-04,
  1.66467403e-04, 3.43427736e-04, 3.19252429e-04,-1.51680493e-04,
 -2.09453370e-02,-3.37150981e-04,-1.20105936e-04,-3.58937801e-06,
 -6.89914265e-05,-6.76423477e-05,-9.80985219e+00,-1.17721331e-02,
 -2.39987948e-02, 1.24949892e-04]


--- Step 30 ---
qpos:
[-6.09315899e-03, 5.96884123e-03, 4.55718679e-03, 6.81580943e-03,
 -9.02331307e-03,-4.34645176e-03,-8.14132736e-03, 7.59834547e-03,
 -5.79569743e-03,-3.17697288e-03,-6.70180147e-03, 7.01458349e-03,
  2.13828637e-01, 1.08752844e-02, 5.22659163e-03,-1.15520251e-03,
  9.49698210e-02,-7.01169660e-02, 1.03674349e-01, 9.99998715e-01,
  1.52578459e-03,-3.58354474e-04, 3.37884684e-04]

qacc:
[  22.40091972,  -5.7746643 ,  26.79165766, -74.01037561,  36.3181425 ,
  -16.02334708,  75.43551368,-140.51400158,  20.65805311, -11.99545413,
   61.25137174,-125.35308438, -26.22579517, -59.03491221,  -0.98785028,
    2.85232078,   0.94533041,   2.34258943,  -1.96463274, -55.71501755,
   23.60583834,   2.0858956 ]

qfrc_actuator:
[-0.00708154, 0.00715499, 0.00545591, 0.00801653,-0.01082767,-0.0055322 ,
 -0.00966292, 0.00892864,-0.0069942 ,-0.00404146,-0.00793615, 0.0081971 ,
  0.21      , 0.01264988, 0.01015108,-0.00097632, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014003336388638196
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98206876e-14,  2.47758595e-14,  1.00000000e+00, -4.91074572e-28,
        1.00000000e+00, -2.47758595e-14, -1.00000000e+00,  0.00000000e+00,
        1.98206876e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08478748, -0.08841253,  0.06194048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31097949e-04,-5.16699944e-04,-2.32812122e-04,-1.86181264e-04,
  2.12708484e-04, 4.29887596e-04, 3.50982211e-04,-1.34579588e-04,
  1.20903458e-04, 3.64546629e-04, 2.46219877e-04,-1.45721148e-04,
 -1.53468395e-02,-2.90437672e-04,-9.80941355e-05,-1.30846342e-05,
 -7.30156415e-05,-1.04260435e-04,-9.80971103e+00,-1.17821774e-02,
 -2.39855624e-02, 1.01431342e-04]


--- Step 31 ---
qpos:
[-6.23455155e-03, 6.12027054e-03, 4.66869059e-03, 6.97365638e-03,
 -9.22830410e-03,-4.45411758e-03,-8.33119378e-03, 7.77343181e-03,
 -5.92715439e-03,-3.25595893e-03,-6.85819770e-03, 7.17446632e-03,
  2.18536973e-01, 1.11245012e-02, 5.39575750e-03,-1.18197291e-03,
  9.49999151e-02,-7.00836417e-02, 1.03725033e-01, 9.99999293e-01,
  1.13104648e-03, 1.42086118e-05, 3.65436598e-04]

qacc:
[ 2.88907743e+01,-5.93361860e+00, 2.93135815e+01,-8.29839122e+01,
  3.94928132e+01,-1.41489470e+01, 6.95491024e+01,-1.35096858e+02,
  2.17025223e+01,-1.27820444e+01, 6.66106089e+01,-1.41154325e+02,
 -1.91010732e+01,-4.53830576e+01,-1.41341277e+00, 4.25239126e+00,
  1.20501773e+00,-4.46330864e-02,-2.86614111e-01, 1.22995182e+00,
  2.73930230e+01,-8.77384984e-01]

qfrc_actuator:
[-0.00690862, 0.00699643, 0.00535919, 0.0078452 ,-0.01060825,-0.00540233,
 -0.00947277, 0.00876152,-0.00687514,-0.00394575,-0.00780837, 0.00799676,
  0.21      , 0.0124434 , 0.01013798,-0.00095961, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013334673702291885
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.99297787e-07, -1.71227946e-06,  1.00000000e+00, -1.02616529e-12,
        1.00000000e+00,  1.71227946e-06, -1.00000000e+00,  0.00000000e+00,
       -5.99297787e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08471132, -0.0686147 ,  0.06194331])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69206507e-04,-4.97653206e-04,-2.36580900e-04,-2.04751069e-04,
  2.31519427e-04, 4.44678541e-04, 3.19967535e-04,-1.38712992e-04,
  1.27068152e-04, 3.49465069e-04, 2.30146892e-04,-1.78732926e-04,
 -1.11813226e-02,-2.23480597e-04,-8.11093184e-05,-1.82939338e-06,
 -7.32704282e-05,-1.36928234e-04,-9.80951369e+00,-1.17964102e-02,
 -2.39697410e-02, 7.05365462e-05]


--- Step 32 ---
qpos:
[-6.37256756e-03, 6.26850385e-03, 4.77790882e-03, 7.12824769e-03,
 -9.42895632e-03,-4.55908842e-03,-8.51754712e-03, 7.94588036e-03,
 -6.05504070e-03,-3.33318319e-03,-7.01104316e-03, 7.33071966e-03,
  2.23204069e-01, 1.13699722e-02, 5.56435898e-03,-1.20737918e-03,
  9.50263574e-02,-7.00605008e-02, 1.03775303e-01, 9.99999498e-01,
  8.57491429e-04, 3.37688562e-04, 3.92899699e-04]

qacc:
[ 2.96273290e+01,-4.59881378e+00, 2.39130923e+01,-7.41454002e+01,
  3.81033688e+01,-1.17647133e+01, 5.81222556e+01,-1.11236820e+02,
  3.14291952e+01,-1.51338398e+01, 7.25538266e+01,-1.42228625e+02,
 -1.37928316e+01,-4.06396484e+01,-4.89593374e+00, 1.61619830e+01,
 -9.12955925e-01,-2.54584193e+00,-1.03811623e-01, 6.05827415e+01,
 -2.45637443e+01,-1.57189902e-02]

qfrc_actuator:
[-0.00673253, 0.00682491, 0.00523997, 0.00768132,-0.0103973 ,-0.00528298,
 -0.00930281, 0.00862872,-0.00669934,-0.00387585,-0.00763526, 0.00781498,
  0.21      , 0.01225785, 0.01012406,-0.00088578, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012802461532270895
  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([ 0.09872851, -0.05177475,  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:
[ 1.73614152e-04,-5.01653683e-04,-2.56293541e-04,-1.96988600e-04,
  2.23456770e-04, 4.35701686e-04, 2.98820065e-04,-1.04931494e-04,
  1.83871625e-04, 3.10387639e-04, 2.69196191e-04,-1.62020157e-04,
 -8.08201078e-03,-1.98574477e-04,-6.56301122e-05, 5.98120289e-05,
 -1.41407711e-04,-1.92024221e-04,-9.80943996e+00,-1.18115408e-02,
 -2.39554217e-02, 4.09746458e-05]


--- Step 33 ---
qpos:
[-6.50822688e-03, 6.41357275e-03, 4.88485787e-03, 7.27967453e-03,
 -9.62575224e-03,-4.66160332e-03,-8.70018363e-03, 8.11438527e-03,
 -6.18008586e-03,-3.40896247e-03,-7.16016702e-03, 7.48430417e-03,
  2.27841696e-01, 1.16105972e-02, 5.73241195e-03,-1.23203914e-03,
  9.50492551e-02,-7.00472377e-02, 1.03824046e-01, 9.99999477e-01,
  7.01445884e-04, 6.14125398e-04, 4.21121268e-04]

qacc:
[  20.6698859 ,  -4.39755157,  22.90150439, -71.63809071,  33.87754822,
  -15.33121371,  75.90776124,-151.78912541,  25.03358003, -14.03893504,
   64.00866557,-117.12082302,  -9.82582059, -52.831644  ,  -3.02977835,
    9.59514115,  -0.88617668,  -2.46945005,  -0.38139541,  58.74545159,
  -23.54426983,   0.41928788]

qfrc_actuator:
[-0.0066092 , 0.00666462, 0.00512613, 0.00752311,-0.01021082,-0.00518875,
 -0.0091284 , 0.00842838,-0.0065626 ,-0.00382183,-0.00745464, 0.00768109,
  0.21      , 0.01201508, 0.01009369,-0.0008499 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,  -6.89025254,  15.83892444,  -6.89025254,
       101.69103885,  36.72367326,  15.83892444,  36.72367326,
        33.24826803,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012427674942567385
  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([ 0.09873199, -0.05176015,  0.06194718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21129432e-04,-4.96531779e-04,-2.53954205e-04,-1.92030571e-04,
  1.98614853e-04, 4.02477614e-04, 2.99929379e-04,-1.72931422e-04,
  1.46316743e-04, 2.81319826e-04, 2.73981825e-04,-1.14134126e-04,
 -5.77600768e-03,-2.53212215e-04,-6.23990945e-05, 2.86404260e-05,
 -1.35209074e-04,-1.43354282e-04,-9.80966405e+00,-1.18235446e-02,
 -2.39451092e-02, 2.53745995e-05]


--- Step 34 ---
qpos:
[-6.64114262e-03, 6.55579008e-03, 4.98975005e-03, 7.42797868e-03,
 -9.81867271e-03,-4.76195344e-03,-8.87908678e-03, 8.27887880e-03,
 -6.30347142e-03,-3.48320425e-03,-7.30619241e-03, 7.63547172e-03,
  2.32458610e-01, 1.18457374e-02, 5.89995716e-03,-1.25608828e-03,
  9.50686964e-02,-7.00436063e-02, 1.03870347e-01, 9.99999323e-01,
  6.59905195e-04, 8.45186265e-04, 4.50785910e-04]

qacc:
[  24.06388371,  -4.4980937 ,  23.67197648, -72.24259526,  34.04578508,
  -15.90188415,  77.66973882,-154.53518635,  14.63809771, -11.63562051,
   54.58900772,-102.4518468 ,  -6.87431768, -59.93885845,  -2.58103699,
    8.05713424,  -0.86408246,  -2.40790093,  -0.61067793,  57.24244827,
  -22.71153659,   0.77263841]

qfrc_actuator:
[-0.0064646 , 0.00654782, 0.00503415, 0.00736951,-0.01002253,-0.00511043,
 -0.00895293, 0.00822538,-0.00648551,-0.00375997,-0.0073066 , 0.00755868,
  0.21      , 0.01174056, 0.01006945,-0.00081895, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,  -8.40640776,  15.08904954,  -8.40640776,
       125.14866782,  60.09981884,  15.08904954,  60.09981884,
        50.75552433,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012020151439189539
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15454351e-14, -1.73181526e-14,  1.00000000e+00,  1.99945607e-28,
        1.00000000e+00,  1.73181526e-14, -1.00000000e+00,  0.00000000e+00,
        1.15454351e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0987362 , -0.05174446,  0.06194892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41056671e-04,-4.49596964e-04,-2.30595045e-04,-1.87025378e-04,
  1.99588525e-04, 3.65152176e-04, 2.91866925e-04,-1.78300467e-04,
  8.55059193e-05, 2.75818154e-04, 2.37601968e-04,-1.02812049e-04,
 -4.06037089e-03,-2.84548274e-04,-5.38518124e-05, 2.34182312e-05,
 -1.27388228e-04,-9.10516025e-05,-9.80981512e+00,-1.18306080e-02,
 -2.39363072e-02, 1.53454711e-05]


--- Step 35 ---
qpos:
[-6.77176889e-03, 6.69563258e-03, 5.09195682e-03, 7.57293110e-03,
 -1.00073837e-02,-4.86040418e-03,-9.05430244e-03, 8.43970631e-03,
 -6.42489232e-03,-3.55583204e-03,-7.44952379e-03, 7.78367507e-03,
  2.37061322e-01, 1.20761032e-02, 6.06723101e-03,-1.27995285e-03,
  9.50847538e-02,-7.00494102e-02, 1.03913450e-01, 9.99999084e-01,
  7.30434256e-04, 1.03222841e-03, 4.82451485e-04]

qacc:
[  20.04680124,  -2.57451057,  18.70853086, -70.6045327 ,  36.97152315,
  -15.41879768,  73.97068701,-144.58009677,  17.30003578, -11.53615942,
   56.68244843,-113.41658154,  -4.69562275, -52.21313925,  -0.95030007,
    2.82138981,  -0.84597001,  -2.35884914,  -0.7994227 ,  56.02409847,
  -22.03391251,   1.06236898]

qfrc_actuator:
[-0.00634408, 0.00644032, 0.00490274, 0.00720215,-0.00981696,-0.00504235,
 -0.00877833, 0.0080402 ,-0.00639089,-0.00369408,-0.00717898, 0.00740846,
  0.21      , 0.01150284, 0.01005955,-0.00080888, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011590478778211732
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.19734379e-14,  1.19734379e-14,  1.00000000e+00, -1.43363216e-28,
        1.00000000e+00, -1.19734379e-14, -1.00000000e+00,  0.00000000e+00,
        1.19734379e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09874094, -0.05172804,  0.06195075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17702141e-04,-4.09119880e-04,-2.57326833e-04,-1.97877788e-04,
  2.16770427e-04, 3.32004732e-04, 2.82065903e-04,-1.62485872e-04,
  1.01206285e-04, 2.69654401e-04, 2.11938293e-04,-1.31892283e-04,
 -2.78397766e-03,-2.47131046e-04,-3.30152086e-05, 4.08880776e-06,
 -1.18311401e-04,-3.43614388e-05,-9.80989903e+00,-1.18329533e-02,
 -2.39291770e-02, 1.08279410e-05]


--- Step 36 ---
qpos:
[-6.90109906e-03, 6.83323262e-03, 5.19170315e-03, 7.71437850e-03,
 -1.01924030e-02,-4.95681758e-03,-9.22601641e-03, 8.59637614e-03,
 -6.54381110e-03,-3.62697510e-03,-7.58981770e-03, 7.92857841e-03,
  2.41654678e-01, 1.23025228e-02, 6.23415176e-03,-1.30317248e-03,
  9.50974862e-02,-7.00644954e-02, 1.03952736e-01, 9.99998760e-01,
  9.11084536e-04, 1.17635051e-03, 5.16577012e-04]

qacc:
[  11.33202484,  -3.32726334,  22.32288757, -77.36091699,  32.42004745,
  -15.72063831,  77.40269907,-156.34291137,  22.02859259, -13.36790175,
   64.3675425 ,-127.35098093,  -3.07729524, -43.18962737,  -2.47419392,
    7.9473515 ,  -0.83124029,  -2.32032248,  -0.95425934,  55.04896804,
  -21.48562251,   1.30250635]

qfrc_actuator:
[-0.00627414, 0.00633906, 0.00478462, 0.00702801,-0.00963841,-0.00494551,
 -0.0086057 , 0.00783145,-0.00626898,-0.00362647,-0.00702894, 0.00724307,
  0.21      , 0.01130644, 0.01004228,-0.00077565, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011147302504465814
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48989167e-14,  1.24494583e-14,  1.00000000e+00,  3.09978026e-28,
        1.00000000e+00, -1.24494583e-14, -1.00000000e+00,  0.00000000e+00,
       -2.48989167e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09874604, -0.05171118,  0.06195263])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.65862241e-05,-3.86332681e-04,-2.39371785e-04,-2.04063539e-04,
  1.90123424e-04, 3.40736133e-04, 2.72541408e-04,-1.87510067e-04,
  1.28865608e-04, 2.61314765e-04, 2.28890653e-04,-1.48784313e-04,
 -1.83435760e-03,-2.03882456e-04,-3.13837052e-05, 2.92266169e-05,
 -1.08250178e-04, 2.72487963e-05,-9.80992021e+00,-1.18307516e-02,
 -2.39238298e-02, 1.17672498e-05]


--- Step 37 ---
qpos:
[-7.02802256e-03, 6.96846385e-03, 5.28954884e-03, 7.85262201e-03,
 -1.03737402e-02,-5.05107313e-03,-9.39439187e-03, 8.75001961e-03,
 -6.65992159e-03,-3.69661509e-03,-7.72716759e-03, 8.07003639e-03,
  2.46242284e-01, 1.25241366e-02, 6.40068802e-03,-1.32514339e-03,
  9.51047149e-02,-7.00877274e-02, 1.03988249e-01, 9.99998358e-01,
  1.18685904e-03, 1.25150974e-03, 5.55570505e-04]

qacc:
[  21.09347387,  -4.45817822,  24.80835019, -75.40050478,  32.32494066,
  -12.7749577 ,  62.35503461,-121.54261651,  24.71003923, -13.38693455,
   65.07522894,-130.42863351,  -1.84859583, -52.68473888,  -4.36413687,
   14.46330386,  -1.37595084,  -2.036713  ,  -0.94343914,  47.54141311,
  -34.50369493,   2.52136439]

qfrc_actuator:
[-0.00614572, 0.00622461, 0.00469308, 0.00686905,-0.00945949,-0.00483231,
 -0.00843553, 0.00768153,-0.00613201,-0.00355833,-0.00688462, 0.00707011,
  0.21      , 0.01106488, 0.01002593,-0.0007113 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010708252702335552
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.23997486e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.23997486e-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([ 0.10269578, -0.05381764,  0.06195449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23741497e-04,-3.83411437e-04,-2.06107997e-04,-1.87408931e-04,
  1.89636147e-04, 3.58794534e-04, 2.69793917e-04,-1.29128492e-04,
  1.44622578e-04, 2.59861154e-04, 2.22915677e-04,-1.56470459e-04,
 -1.12788958e-03,-2.47159243e-04,-2.47535478e-05, 6.24603231e-05,
 -9.74126800e-05, 9.41475442e-05,-9.80988193e+00,-1.18241346e-02,
 -2.39203424e-02, 1.81147123e-05]


--- Step 38 ---
qpos:
[-7.15288994e-03, 7.10108052e-03, 5.38537945e-03, 7.98793113e-03,
 -1.05507321e-02,-5.14295773e-03,-9.55980555e-03, 8.90136750e-03,
 -6.77306665e-03,-3.76453459e-03,-7.86205985e-03, 8.20833190e-03,
  2.50826823e-01, 1.27407938e-02, 6.56699428e-03,-1.34650304e-03,
  9.51051749e-02,-7.01102060e-02, 1.04024061e-01, 9.99997990e-01,
  1.45213470e-03, 1.24799349e-03, 5.94281847e-04]

qacc:
[ 1.80159818e+01,-3.90201377e+00, 2.12268140e+01,-6.68023355e+01,
  3.81146720e+01,-9.94660871e+00, 4.95743709e+01,-9.56472756e+01,
  2.60678308e+01,-1.11599129e+01, 5.63529539e+01,-1.16187842e+02,
 -9.43357807e-01,-5.43734666e+01,-2.21033520e+00, 7.24208425e+00,
 -1.69215493e+00, 1.88359554e-01, 7.50507073e-02,-5.27111365e+00,
 -3.93349519e+01,-1.00965488e-01]

qfrc_actuator:
[-0.0060371 , 0.00606776, 0.00458241, 0.0067203 ,-0.00924631,-0.00471023,
 -0.00828584, 0.00756745,-0.00598732,-0.00347274,-0.0067626 , 0.00691181,
  0.21      , 0.01081644, 0.01001014,-0.00068241, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001034078633345363
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.34204376e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.34204376e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10354455, -0.07020946,  0.06195606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05688783e-04,-4.16666622e-04,-2.20001113e-04,-1.75609274e-04,
  2.23778250e-04, 3.79572997e-04, 2.54690735e-04,-9.14912560e-05,
  1.52715801e-04, 2.74833895e-04, 1.99269082e-04,-1.42226011e-04,
 -6.02385916e-04,-2.54325044e-04,-1.59878437e-05, 3.00571584e-05,
 -6.42300761e-05, 1.37876655e-04,-9.80981062e+00,-1.18141403e-02,
 -2.39199309e-02, 2.90423163e-05]


--- Step 39 ---
qpos:
[-7.27595145e-03, 7.23075100e-03, 5.47958555e-03, 8.12077303e-03,
 -1.07240386e-02,-5.23269721e-03,-9.72202954e-03, 9.05053657e-03,
 -6.88386810e-03,-3.83065471e-03,-7.99449443e-03, 8.34399430e-03,
  2.55410288e-01, 1.29528001e-02, 6.73311828e-03,-1.36766770e-03,
  9.50989874e-02,-7.01319514e-02, 1.04059504e-01, 9.99997661e-01,
  1.70738315e-03, 1.16692441e-03, 6.33017328e-04]

qacc:
[ 1.58366482e+01,-4.46581344e+00, 2.06360559e+01,-5.85141571e+01,
  3.23405925e+01,-1.06302148e+01, 5.11054267e+01,-9.53769063e+01,
  2.06085523e+01,-9.95473210e+00, 4.99907852e+01,-1.00741708e+02,
 -2.76200540e-01,-5.10415721e+01,-8.81295871e-01, 2.68251379e+00,
 -1.66187821e+00, 1.83316985e-01,-9.23516776e-02,-5.03667557e+00,
 -3.87733677e+01, 6.21096273e-02]

qfrc_actuator:
[-0.00594096, 0.00590442, 0.00449663, 0.00659644,-0.00906796,-0.0046194 ,
 -0.00813163, 0.00745759,-0.00587478,-0.0033775 ,-0.00663691, 0.00678117,
  0.21      , 0.01058368, 0.0099947 ,-0.00067465, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00099828091213134
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.78033721e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.78033721e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10355377, -0.07020999,  0.06195758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.27985974e-05,-4.44211010e-04,-2.03302675e-04,-1.52400887e-04,
  1.89807010e-04, 3.58286045e-04, 2.62883295e-04,-8.61766976e-05,
  1.20717653e-04, 2.88473496e-04, 2.03580699e-04,-1.14482563e-04,
 -2.11541696e-04,-2.38221791e-04,-1.46108928e-05, 8.39523328e-06,
 -2.33245471e-05, 8.43356626e-05,-9.80983123e+00,-1.18050564e-02,
 -2.39197869e-02, 3.99190211e-05]


--- Step 40 ---
qpos:
[-7.39598903e-03, 7.35767678e-03, 5.57197368e-03, 8.25143626e-03,
 -1.08944527e-02,-5.32052158e-03,-9.88041616e-03, 9.19722057e-03,
 -6.99273092e-03,-3.89524094e-03,-8.12396560e-03, 8.47669376e-03,
  2.59994163e-01, 1.31603816e-02, 6.89898423e-03,-1.38822117e-03,
  9.50862472e-02,-7.01529819e-02, 1.04094024e-01, 9.99997358e-01,
  1.95300437e-03, 1.00920045e-03, 6.72040114e-04]

qacc:
[  26.50624297,  -3.0850684 ,  14.84528576, -47.52980463,  25.41544867,
  -13.36147082,  61.71928162,-112.18314715,  17.07382727, -12.39163395,
   59.57507472,-116.66118434,   0.22208233, -48.59301203,  -2.25821424,
    7.32562514,  -1.63818007,   0.17870133,  -0.23091427,  -4.83806067,
  -38.32407103,   0.20346664]

qfrc_actuator:
[-0.00578188, 0.00577407, 0.00440846, 0.00648822,-0.00892934,-0.0045303 ,
 -0.00794063, 0.00733331,-0.00578209,-0.00331274,-0.00649225, 0.00663234,
  0.21      , 0.01036202, 0.00997946,-0.00064389, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009614903393275753
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.88672434e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.88672434e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1035631 , -0.07021063,  0.06195914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55496190e-04,-4.22263974e-04,-2.08556080e-04,-1.36916170e-04,
  1.48986918e-04, 3.46434230e-04, 2.96436418e-04,-1.01124672e-04,
  9.98669988e-05, 2.67595785e-04, 2.26835051e-04,-1.31392801e-04,
  7.91087504e-05,-2.26294348e-04,-1.54177496e-05, 3.05438417e-05,
 -1.47502958e-05, 3.58431723e-05,-9.80982588e+00,-1.17963606e-02,
 -2.39228031e-02, 5.23281037e-05]


--- Step 41 ---
qpos:
[-7.51433897e-03, 7.48197858e-03, 5.66255369e-03, 8.37977565e-03,
 -1.10617859e-02,-5.40630159e-03,-1.00349630e-02, 9.34126417e-03,
 -7.09991007e-03,-3.95841853e-03,-8.25085481e-03, 8.60662512e-03,
  2.64579552e-01, 1.33640544e-02, 7.06468609e-03,-1.40922416e-03,
  9.50670276e-02,-7.01733147e-02, 1.04127157e-01, 9.99997049e-01,
  2.18934098e-03, 7.75531770e-04, 7.11580299e-04]

qacc:
[  14.78381982,  -3.22917994,  16.24313364, -51.58761095,  27.05962603,
  -13.5203524 ,  63.18409008,-116.4299533 ,  14.82591438, -11.0851792 ,
   53.86183315,-106.88193486,   0.58362078, -42.93348221,   1.09613445,
   -4.21216606,  -1.61983862,   0.17443911,  -0.34666828,  -4.66807024,
  -37.96863033,   0.32817526]

qfrc_actuator:
[-0.00569349, 0.00564674, 0.00431969, 0.00637233,-0.00877975,-0.0044251 ,
 -0.00774722, 0.00720156,-0.00570185,-0.00326672,-0.00637319, 0.00649174,
  0.21      , 0.01016639, 0.00995903,-0.00067084, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009242749544142725
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00295659e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.00295659e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10357244, -0.07021133,  0.06196072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.67270173e-05,-4.07494499e-04,-2.04772094e-04,-1.43536786e-04,
  1.58692820e-04, 3.62068653e-04, 2.99974836e-04,-1.08238956e-04,
  8.67367477e-05, 2.41172204e-04, 1.99167206e-04,-1.23587688e-04,
  2.95218942e-04,-1.99594162e-04,-1.76254210e-05,-2.58236581e-05,
 -3.71403401e-05,-8.02173458e-06,-9.80979558e+00,-1.17880769e-02,
 -2.39289283e-02, 6.62498506e-05]


--- Step 42 ---
qpos:
[-7.63220340e-03, 7.60358881e-03, 5.75141722e-03, 8.50573614e-03,
 -1.12255879e-02,-5.49018399e-03,-1.01860623e-02, 9.48197105e-03,
 -7.20487967e-03,-4.02028728e-03,-8.37522945e-03, 8.73388361e-03,
  2.69167274e-01, 1.35631207e-02, 7.23018505e-03,-1.43037619e-03,
  9.50430328e-02,-7.01832277e-02, 1.04156790e-01, 9.99996955e-01,
  2.30230108e-03, 4.86319908e-04, 7.43284030e-04]

qacc:
[ 4.24698247e+00,-3.66754514e+00, 1.79445521e+01,-5.43771649e+01,
  3.09877511e+01,-1.40597453e+01, 6.77524885e+01,-1.32300674e+02,
  1.94372452e+01,-1.08415013e+01, 5.23840243e+01,-1.03557908e+02,
  8.77007349e-01,-5.06138657e+01, 1.21709112e-01,-8.96625655e-01,
 -1.19382510e+00, 2.60492744e+00,-8.74924238e-01,-6.17050233e+01,
 -2.77362767e+01,-3.90533079e+00]

qfrc_actuator:
[-0.00566514, 0.00550444, 0.00423128, 0.00625285,-0.00860715,-0.0043644 ,
 -0.00758941, 0.00703097,-0.00559409,-0.00321469,-0.00625255, 0.00635707,
  0.21      , 0.00993439, 0.00994614,-0.00067834, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008883510922100685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.81098145e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.81098145e-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([ 0.10115204, -0.08844769,  0.06196224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.48541616e-05,-4.13798193e-04,-2.01145901e-04,-1.46489355e-04,
  1.81860346e-04, 3.26630565e-04, 2.67756803e-04,-1.46431262e-04,
  1.13796947e-04, 2.26961811e-04, 1.92132115e-04,-1.19601779e-04,
  4.55829492e-04,-2.35049661e-04,-1.69953236e-05,-9.70766419e-06,
 -8.95177129e-05,-4.75928814e-05,-9.80974110e+00,-1.17802236e-02,
 -2.39381204e-02, 8.16697877e-05]


--- Step 43 ---
qpos:
[-7.74823455e-03, 7.72272632e-03, 5.83846119e-03, 8.62926988e-03,
 -1.13859577e-02,-5.57205320e-03,-1.03343280e-02, 9.61957483e-03,
 -7.30732854e-03,-4.08106125e-03,-8.49707070e-03, 8.85891473e-03,
  2.73757937e-01, 1.37575306e-02, 7.39530046e-03,-1.45010513e-03,
  9.50143381e-02,-7.01828903e-02, 1.04182335e-01, 9.99997064e-01,
  2.29401244e-03, 1.42018029e-04, 7.68130387e-04]

qacc:
[  16.05272646,  -3.21170007,  16.90113359, -54.11539551,  30.09717587,
  -11.70751934,  58.60398833,-118.21536393,  22.1696196 , -10.26483226,
   48.02754259, -91.35386888,   1.08942204, -51.19881064,  -4.9141252 ,
   16.32416085,  -1.17494096,   2.56262468,  -1.02192993, -60.64323403,
  -27.50780783,  -3.39481841]

qfrc_actuator:
[-0.00556577, 0.00538978, 0.00414372, 0.00613221,-0.00844019,-0.00427782,
 -0.00745411, 0.00687434,-0.00547102,-0.00317725,-0.00613192, 0.00624473,
  0.21      , 0.00970057, 0.00993247,-0.00060328, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008593166102886518
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.65242854e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.65242854e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10115895, -0.08845992,  0.06196348])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.42300435e-05,-3.89107272e-04,-2.01263963e-04,-1.47857923e-04,
  1.76774419e-04, 3.24289501e-04, 2.32600180e-04,-1.35862450e-04,
  1.29803784e-04, 2.03051122e-04, 1.88422650e-04,-9.80619355e-05,
  5.75127487e-04,-2.37405062e-04,-1.52220779e-05, 7.39428952e-05,
 -1.74630497e-04,-4.52004263e-05,-9.80978393e+00,-1.17758517e-02,
 -2.39462871e-02, 9.59709877e-05]


--- Step 44 ---
qpos:
[-7.86124876e-03, 7.83948130e-03, 5.92374014e-03, 8.75038694e-03,
 -1.15436808e-02,-5.65204235e-03,-1.04797615e-02, 9.75494600e-03,
 -7.40778366e-03,-4.14092527e-03,-8.61639559e-03, 8.98200194e-03,
  2.78351995e-01, 1.39483408e-02, 7.56025253e-03,-1.46976686e-03,
  9.49900133e-02,-7.01716601e-02, 1.04204857e-01, 9.99997344e-01,
  2.15844156e-03,-1.46331727e-04, 7.94261496e-04]

qacc:
[ 26.42375702, -3.24444511, 17.11318538,-54.26853176, 23.21923375,
 -10.0741083 , 48.87273263,-93.34263957, 17.54857366, -9.8686591 ,
  45.07947121,-83.35343076,  1.21832826,-39.58921211, -0.47357945,
   1.26483514,  1.09244727,  2.72320835, -0.75581551,-63.61972993,
  28.02632659,  0.56909242]

qfrc_actuator:
[-0.00540757, 0.00527482, 0.00405746, 0.00601186,-0.00831343,-0.00419433,
 -0.00731532, 0.00676269,-0.00537546,-0.0031489 ,-0.00601233, 0.00614639,
  0.21      , 0.00952082, 0.00991301,-0.00060446, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008374483098005231
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.31430314e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.31430314e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08471024, -0.08866311,  0.06196441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55155621e-04,-3.75744381e-04,-1.94956398e-04,-1.46539438e-04,
  1.36329631e-04, 3.12950063e-04, 2.31597086e-04,-9.20020993e-05,
  1.02673252e-04, 1.80673070e-04, 1.82704857e-04,-8.47860212e-05,
  6.63750849e-04,-1.83168644e-04,-1.01981573e-05, 2.74588010e-06,
 -2.94157178e-04, 2.44090740e-05,-9.80974868e+00,-1.17761257e-02,
 -2.39577024e-02, 1.06893936e-04]


--- Step 45 ---
qpos:
[-7.97090654e-03, 7.95398795e-03, 6.00698995e-03, 8.86912624e-03,
 -1.16982270e-02,-5.73015114e-03,-1.06226510e-02, 9.88829798e-03,
 -7.50624652e-03,-4.19985439e-03,-8.73330681e-03, 9.10296173e-03,
  2.82949780e-01, 1.41362263e-02, 7.72493538e-03,-1.48892557e-03,
  9.49699686e-02,-7.01497396e-02, 1.04223647e-01, 9.99997788e-01,
  1.89795391e-03,-3.80214352e-04, 8.22410645e-04]

qacc:
[ 29.38400515, -2.25416432, 13.66556943,-49.8133857 , 27.84780484,
  -8.8374365 , 43.54728056,-83.84592668, 17.53028202, -9.92642906,
  46.10815385,-87.41244519,  1.31948759,-32.19818062, -1.94935479,
   6.19888108,  1.07002529,  2.67254757, -0.93305602,-62.43661943,
  27.28529084,  0.95931044]

qfrc_actuator:
[-0.00523376, 0.00516057, 0.0039549 , 0.00589266,-0.00815812,-0.00411336,
 -0.00719333, 0.00666064,-0.00527914,-0.00310848,-0.00589436, 0.00603933,
  0.21      , 0.0093743 , 0.00989541,-0.00057959, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008158460388081115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.40206047e-14,  8.93040874e-14,  1.00000000e+00,  3.03817906e-27,
        1.00000000e+00, -8.93040874e-14, -1.00000000e+00,  0.00000000e+00,
       -3.40206047e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08470756, -0.08867303,  0.06196533])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72634029e-04,-3.66296740e-04,-2.07716479e-04,-1.44593189e-04,
  1.63622913e-04, 3.05641804e-04, 2.13825736e-04,-8.20678451e-05,
  1.02597238e-04, 1.79516152e-04, 1.76195530e-04,-9.44234364e-05,
  7.29524567e-04,-1.48502448e-04,-1.43368884e-05, 2.53920129e-05,
 -2.44833590e-04, 1.33162610e-04,-9.80979277e+00,-1.17811982e-02,
 -2.39669914e-02, 1.10390565e-04]


--- Step 46 ---
qpos:
[-8.07738883e-03, 8.06618221e-03, 6.08868107e-03, 8.98514903e-03,
 -1.18492809e-02,-5.80641104e-03,-1.07632112e-02, 1.00197608e-02,
 -7.60272514e-03,-4.25742143e-03,-8.84834682e-03, 9.22202953e-03,
  2.87551542e-01, 1.43212612e-02, 7.88943992e-03,-1.50763237e-03,
  9.49541288e-02,-7.01172917e-02, 1.04238107e-01, 9.99998332e-01,
  1.51446016e-03,-5.60846764e-04, 8.53189152e-04]

qacc:
[ 27.809843  , -4.348902  , 22.44673692,-65.16784282, 30.59652551,
  -8.0160736 , 40.00019008,-77.67178842, 17.43437654, -7.36048242,
  36.78478713,-73.46162403,  1.40317707,-31.39089487, -1.66037469,
   5.38083143,  1.05125016,  2.63185706, -1.08263935,-61.48061237,
  26.67814292,  1.28748625]

qfrc_actuator:
[-0.00506987, 0.00504756, 0.00387903, 0.00575732,-0.00798727,-0.00403467,
 -0.00708226, 0.00656503,-0.00518316,-0.00302572,-0.00579601, 0.00594573,
  0.21      , 0.00923075, 0.00988426,-0.00055731, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007921122207055903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.50399538e-14,  2.62799653e-14,  1.00000000e+00,  9.20848772e-28,
        1.00000000e+00, -2.62799653e-14, -1.00000000e+00,  0.00000000e+00,
       -3.50399538e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08470433, -0.08868374,  0.06196633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.63322665e-04,-3.62444214e-04,-1.80618811e-04,-1.60742203e-04,
  1.79848163e-04, 2.95934298e-04, 1.99511717e-04,-7.63679106e-05,
  1.02200074e-04, 2.19384388e-04, 1.55168557e-04,-8.14180462e-05,
  7.78305364e-04,-1.44588335e-04,-6.72726947e-06, 2.36627763e-05,
 -1.94351929e-04, 2.44315649e-04,-9.80976036e+00,-1.17912180e-02,
 -2.39736557e-02, 1.05321349e-04]


--- Step 47 ---
qpos:
[-8.18152682e-03, 8.17604970e-03, 6.16911957e-03, 9.09863293e-03,
 -1.19970298e-02,-5.88112859e-03,-1.09008617e-02, 1.01483703e-02,
 -7.69724032e-03,-4.31321490e-03,-8.96179549e-03, 9.33901926e-03,
  2.92157465e-01, 1.45028102e-02, 8.05401535e-03,-1.52628017e-03,
  9.49456872e-02,-7.00896639e-02, 1.04254295e-01, 9.99998697e-01,
  1.18779851e-03,-6.54514195e-04, 8.75882968e-04]

qacc:
[ 2.05345173e+01,-4.84356687e+00, 2.34575401e+01,-6.36097605e+01,
  2.89775708e+01,-1.20260535e+01, 5.77863104e+01,-1.12853948e+02,
  1.72343382e+01,-6.41713145e+00, 3.49966145e+01,-7.47502010e+01,
  1.48129562e+00,-3.83636916e+01,-1.04491935e-01, 4.68457142e-01,
  1.84951831e+00,-1.20502440e+00, 4.32277244e-01, 2.84509674e+01,
  4.34520027e+01,-4.12405246e+00]

qfrc_actuator:
[-0.0049486 , 0.00493627, 0.00381952, 0.00563133,-0.00782643,-0.00397581,
 -0.00694303, 0.00642071,-0.00508817,-0.00291834,-0.00570986, 0.00584308,
  0.21      , 0.00905456, 0.00988763,-0.00055448, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007753351494484279
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08120607, -0.06135752,  0.06196704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20544879e-04,-3.53800451e-04,-1.60727218e-04,-1.50603720e-04,
  1.70204845e-04, 2.67836984e-04, 2.24049011e-04,-1.25891217e-04,
  1.01144368e-04, 2.62423747e-04, 1.49038886e-04,-8.92424331e-05,
  8.14419023e-04,-1.76988182e-04, 1.08633929e-05, 5.03759809e-06,
 -1.42004696e-04, 3.58253216e-04,-9.80965640e+00,-1.18060316e-02,
 -2.39775941e-02, 9.18891961e-05]


--- Step 48 ---
qpos:
[-8.28384747e-03, 8.28352393e-03, 6.24826096e-03, 9.21008623e-03,
 -1.21412764e-02,-5.95415014e-03,-1.10351968e-02, 1.02735173e-02,
 -7.78947539e-03,-4.36747151e-03,-9.07328033e-03, 9.45422227e-03,
  2.96767688e-01, 1.46801647e-02, 8.21851260e-03,-1.54437922e-03,
  9.49444465e-02,-7.00667236e-02, 1.04271184e-01, 9.99998963e-01,
  9.16126505e-04,-6.63271723e-04, 8.91188176e-04]

qacc:
[  15.91594782,  -3.75106287,  17.30440932, -48.55616546,  30.70946037,
  -14.21453231,  68.45084733,-134.81963949,  20.02548716,  -7.17653863,
   36.01099229, -71.13330611,   1.54940649, -46.15543098,  -1.8143727 ,
    6.12415642,   1.80026507,  -1.17186142,   0.17524887,  27.52961738,
   42.42639483,  -3.76267996]

qfrc_actuator:
[-0.00485334, 0.00480919, 0.00375239, 0.00552963,-0.00765506,-0.00387603,
 -0.00677068, 0.00624888,-0.0049768 ,-0.00285042,-0.00561374, 0.00575369,
  0.21      , 0.00884282, 0.0098784 ,-0.00052761, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007675607958255656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80803760e-14, -9.04018801e-15,  1.00000000e+00,  1.63449999e-28,
        1.00000000e+00,  9.04018801e-15, -1.00000000e+00,  0.00000000e+00,
        1.80803760e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08120325, -0.06135684,  0.06196738])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.34191438e-05,-3.60318541e-04,-1.63790980e-04,-1.25075902e-04,
  1.80371873e-04, 2.95871441e-04, 2.52645840e-04,-1.54725872e-04,
  1.17436499e-04, 2.45362881e-04, 1.66842168e-04,-7.45037895e-05,
  8.41073240e-04,-2.13153997e-04, 3.39325207e-06, 3.01043359e-05,
 -4.48341549e-05, 2.08010489e-04,-9.80978066e+00,-1.18169730e-02,
 -2.39843896e-02, 7.50715772e-05]


--- Step 49 ---
qpos:
[-8.38433021e-03, 8.38882696e-03, 6.32537377e-03, 9.31948131e-03,
 -1.22822681e-02,-6.02555469e-03,-1.11663624e-02, 1.03960026e-02,
 -7.87925310e-03,-4.42053357e-03,-9.18228981e-03, 9.56747043e-03,
  3.01382310e-01, 1.48536275e-02, 8.38282608e-03,-1.56229617e-03,
  9.49502455e-02,-7.00483592e-02, 1.04287905e-01, 9.99999178e-01,
  6.97912362e-04,-5.88827178e-04, 8.99682440e-04]

qacc:
[ 1.60670513e+01,-1.46963047e+00, 9.71231988e+00,-4.04364683e+01,
  2.85379206e+01,-1.22570545e+01, 5.79455617e+01,-1.10167402e+02,
  2.15995803e+01,-9.40798725e+00, 4.40154732e+01,-8.26081899e+01,
  1.57822592e+00,-4.28332990e+01,-8.58077254e-01, 2.55241506e+00,
  1.75988011e+00,-1.14398805e+00,-4.22137318e-02, 2.67637426e+01,
  4.15740364e+01,-3.46128547e+00]

qfrc_actuator:
[-0.00475634, 0.00469139, 0.00364573, 0.00542524,-0.00749664,-0.00380573,
 -0.00661552, 0.00611555,-0.0048567 ,-0.00280663,-0.00549491, 0.00565505,
  0.21      , 0.00864734, 0.00985629,-0.00052233, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007557288106049762
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83634494e-14, -9.18172472e-15,  1.00000000e+00,  1.68608138e-28,
        1.00000000e+00,  9.18172472e-15, -1.00000000e+00,  0.00000000e+00,
        1.83634494e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08119961, -0.06135536,  0.06196788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.44832271e-05,-3.54308968e-04,-2.04187672e-04,-1.27647961e-04,
  1.67628630e-04, 2.86621869e-04, 2.43723169e-04,-1.14601328e-04,
  1.26548030e-04, 2.15905957e-04, 1.88712813e-04,-8.35928032e-05,
  8.60636706e-04,-1.97584551e-04,-9.50338567e-06, 9.09440367e-06,
  4.64293364e-06, 9.52014779e-05,-9.80985979e+00,-1.18265636e-02,
 -2.39870215e-02, 5.97956689e-05]


--- Step 50 ---
qpos:
[-8.48296664e-03, 8.49203628e-03, 6.40032905e-03, 9.42608832e-03,
 -1.24205318e-02,-6.09574145e-03,-1.12946603e-02, 1.05160162e-02,
 -7.96717927e-03,-4.47234332e-03,-9.28869150e-03, 9.67829741e-03,
  3.06001403e-01, 1.50241177e-02, 8.54676944e-03,-1.57897316e-03,
  9.49629529e-02,-7.00344776e-02, 1.04303723e-01, 9.99999358e-01,
  5.31887845e-04,-4.32583340e-04, 9.01850342e-04]

qacc:
[  16.13229301,  -2.51010878,  16.65178316, -59.8581687 ,  23.92469319,
  -11.54173044,  53.84367546,-102.02091793,  16.29008249, -10.65167801,
   50.54753195, -97.48523354,   1.58364374, -32.76462223,  -4.33668883,
   14.32263697,   1.72712707,  -1.12069752,  -0.22578001,  26.12973802,
   40.87391853,  -3.20707277]

qfrc_actuator:
[-0.00465906, 0.00457989, 0.00353435, 0.00528458,-0.0073649 ,-0.00378921,
 -0.00648962, 0.00598816,-0.00476795,-0.0027421 ,-0.00536373, 0.00553399,
  0.21      , 0.00849851, 0.00983712,-0.00045884, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000740791938102732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.87337187e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.87337187e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08119533, -0.06135328,  0.06196852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.49179630e-05,-3.53176807e-04,-2.12753189e-04,-1.65116723e-04,
  1.40493621e-04, 2.27413695e-04, 2.12813521e-04,-1.08598956e-04,
  9.53721179e-05, 2.24217535e-04, 1.97311437e-04,-1.06704011e-04,
  8.74938838e-04,-1.50478370e-04,-1.41926084e-05, 6.46181943e-05,
  9.54960874e-06, 1.64298413e-05,-9.80989727e+00,-1.18347415e-02,
 -2.39856853e-02, 4.59543653e-05]


--- Step 51 ---
qpos:
[-8.57976538e-03, 8.59295173e-03, 6.47397287e-03, 9.53015238e-03,
 -1.25564103e-02,-6.16480648e-03,-1.14203057e-02, 1.06336039e-02,
 -8.05399034e-03,-4.52287578e-03,-9.39211735e-03, 9.78713128e-03,
  3.10625019e-01, 1.51911756e-02, 8.71045873e-03,-1.59376319e-03,
  9.49824260e-02,-7.00261825e-02, 1.04317663e-01, 9.99999486e-01,
  4.30703305e-04,-1.95612246e-04, 8.97069513e-04]

qacc:
[ 16.084529  , -4.63528491, 22.8102936 ,-62.97952779, 20.91936408,
 -10.96647647, 51.42491337,-98.40424447,  9.84471945,-10.75322844,
  49.17209117,-89.33147299,  1.61751009,-37.82390711, -6.12934146,
  20.83837433,  1.6914103 , -1.39662144, -0.46933608, 32.45488061,
  40.33250482, -3.50983254]

qfrc_actuator:
[-0.00456234, 0.00447296, 0.00347434, 0.00515921,-0.00724994,-0.00375195,
 -0.00636447, 0.0058652 ,-0.00471615,-0.00266566,-0.00520853, 0.00543623,
  0.21      , 0.00832505, 0.00983039,-0.00036157, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007236931904281821
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.67053663e-14,  2.35643670e-06,  1.00000000e+00,  1.80751340e-19,
        1.00000000e+00, -2.35643670e-06, -1.00000000e+00,  0.00000000e+00,
       -7.67053663e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08113456, -0.05925878,  0.06196924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.44726727e-05,-3.51422607e-04,-1.63528688e-04,-1.50804779e-04,
  1.22845345e-04, 2.08804751e-04, 1.96188941e-04,-1.07659007e-04,
  5.74722095e-05, 2.41479993e-04, 2.23295701e-04,-8.32032865e-05,
  8.85433910e-04,-1.73935884e-04, 2.86798469e-06, 1.01041064e-04,
 -2.76951643e-05,-3.09384539e-05,-9.80989570e+00,-1.18414621e-02,
 -2.39805323e-02, 3.34626404e-05]


--- Step 52 ---
qpos:
[-8.67474569e-03, 8.69183137e-03, 6.54618639e-03, 9.63222886e-03,
 -1.26897801e-02,-6.23248306e-03,-1.15432433e-02, 1.07484255e-02,
 -8.13910467e-03,-4.57216715e-03,-9.49276277e-03, 9.89362300e-03,
  3.15253198e-01, 1.53548818e-02, 8.87430887e-03,-1.60828143e-03,
  9.49982505e-02,-7.00277965e-02, 1.04330205e-01, 9.99999499e-01,
  4.47776286e-04,-4.47517633e-06, 8.95349027e-04]

qacc:
[  15.90568014,  -2.8174975 ,  14.47981662, -45.03747107,  21.99162332,
  -11.4712615 ,  55.16917485,-108.31810422,  14.93639194, -10.98350173,
   51.38014493, -97.22277038,   1.62616271, -36.91799866,  -0.61835532,
    2.45205819,  -0.91212479,  -2.47727888,  -0.34940207,  59.10849657,
  -22.96939547,   1.52852585]

qfrc_actuator:
[-0.00446669, 0.00438757, 0.00340967, 0.00506164,-0.00712804,-0.00366714,
 -0.00622297, 0.0057281 ,-0.00463326,-0.0026181 ,-0.00507582, 0.00531748,
  0.21      , 0.00815621, 0.00983113,-0.00035168, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007122463187624606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94845343e-14, -1.94845343e-14,  1.00000000e+00,  3.79647076e-28,
        1.00000000e+00,  1.94845343e-14, -1.00000000e+00,  0.00000000e+00,
        1.94845343e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09878586, -0.05156009,  0.06196973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.34919647e-05,-3.18202268e-04,-1.61301214e-04,-1.20953667e-04,
  1.29204387e-04, 2.42468153e-04, 2.06665013e-04,-1.23166907e-04,
  8.74061168e-05, 2.28563846e-04, 2.08362444e-04,-1.02093299e-04,
  8.93041633e-04,-1.69750850e-04, 2.15920069e-05, 1.77371819e-05,
 -1.09362501e-04,-4.40856355e-05,-9.80986255e+00,-1.18462982e-02,
 -2.39717282e-02, 2.31941027e-05]


--- Step 53 ---
qpos:
[-8.76793233e-03, 8.78847790e-03, 6.61715391e-03, 9.73235902e-03,
 -1.28202345e-02,-6.29864031e-03,-1.16629957e-02, 1.08603200e-02,
 -8.22147482e-03,-4.62013588e-03,-9.59121655e-03, 9.99720728e-03,
  3.19885969e-01, 1.55156651e-02, 9.03836724e-03,-1.62418698e-03,
  9.50105010e-02,-7.00391435e-02, 1.04340637e-01, 9.99999419e-01,
  5.80645936e-04, 1.41930419e-04, 8.96846240e-04]

qacc:
[  15.69593477,  -3.50821299,  16.39063675, -46.38438101,  25.55855038,
  -12.97060797,  61.43396631,-118.21610855,  24.09488622, -10.41204698,
   51.8548239 ,-106.56707899,   1.62226925, -32.19088959,   4.48359479,
  -15.29038637,  -0.89352244,  -2.43323366,  -0.52758676,  57.87830914,
  -22.41684523,   1.61864593]

qfrc_actuator:
[-0.0043724 , 0.0042625 , 0.00334283, 0.00496346,-0.00698531,-0.00357226,
 -0.00605501, 0.00558381,-0.00449724,-0.00257059,-0.00497536, 0.00516953,
  0.21      , 0.00800919, 0.00982033,-0.00042886, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007005582244407615
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.98096137e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.98096137e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09878713, -0.05155592,  0.06197023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.22113816e-05,-3.37638528e-04,-1.55313760e-04,-1.19488275e-04,
  1.50158891e-04, 2.72768981e-04, 2.40796350e-04,-1.28848354e-04,
  1.41314530e-04, 2.17337576e-04, 1.70930821e-04,-1.32733790e-04,
  8.98461455e-04,-1.47748740e-04, 8.04130798e-06,-7.18826372e-05,
 -9.31748595e-05, 8.88163619e-06,-9.80992481e+00,-1.18453549e-02,
 -2.39638496e-02, 2.18849537e-05]


--- Step 54 ---
qpos:
[-8.85935356e-03, 8.88269065e-03, 6.68716235e-03, 9.83088997e-03,
 -1.29478927e-02,-6.36327442e-03,-1.17797156e-02, 1.09689391e-02,
 -8.30152122e-03,-4.66659260e-03,-9.68829828e-03, 1.00982497e-02,
  3.24523353e-01, 1.56731156e-02, 9.20216285e-03,-1.64080974e-03,
  9.50192397e-02,-7.00600797e-02, 1.04348354e-01, 9.99999221e-01,
  8.27314565e-04, 2.44512707e-04, 9.01701137e-04]

qacc:
[  15.45893248,  -3.86029236,  15.79647123, -40.09451595,  24.50804728,
  -13.2539897 ,  63.92591064,-126.49914218,  20.37992518,  -7.11086853,
   38.91650125, -86.14346466,   1.64700516, -36.70607613,   1.75228321,
   -6.75070405,  -0.87795771,  -2.39733074,  -0.67890608,  56.8796014 ,
  -21.96168753,   1.69969277]

qfrc_actuator:
[-0.00427963, 0.00413238, 0.00329285, 0.00488343,-0.00684923,-0.00350754,
 -0.00590825, 0.00541873,-0.00438433,-0.00250594,-0.00491252, 0.00504108,
  0.21      , 0.00784066, 0.00979196,-0.00046798, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006862874552911388
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02215379e-14, -1.01107690e-14,  1.00000000e+00,  2.04455298e-28,
        1.00000000e+00,  1.01107690e-14, -1.00000000e+00,  0.00000000e+00,
        2.02215379e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09878882, -0.05155071,  0.06197083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.07503303e-05,-3.52324683e-04,-1.41719081e-04,-1.01950791e-04,
  1.44020683e-04, 2.66269350e-04, 2.29834377e-04,-1.47279285e-04,
  1.19678075e-04, 2.19071893e-04, 1.25280236e-04,-1.15625845e-04,
  9.02179118e-04,-1.68666682e-04,-2.54624026e-05,-4.04867707e-05,
 -7.62953685e-05, 6.82662982e-05,-9.80992024e+00,-1.18398556e-02,
 -2.39580389e-02, 2.61975745e-05]


--- Step 55 ---
qpos:
[-8.94903960e-03, 8.97476322e-03, 6.75595290e-03, 9.92767989e-03,
 -1.30732024e-02,-6.42633908e-03,-1.18945495e-02, 1.10748147e-02,
 -8.37988427e-03,-4.71195151e-03,-9.78342169e-03, 1.01969831e-02,
  3.29165362e-01, 1.58273501e-02, 9.36523879e-03,-1.65637394e-03,
  9.50245182e-02,-7.00904900e-02, 1.04352841e-01, 9.99998836e-01,
  1.18618491e-03, 3.04013080e-04, 9.10040235e-04]

qacc:
[ 15.17897929, -3.04005547, 14.03470119,-40.59057546, 20.55506312,
  -8.88538758, 46.20529869,-97.78585873, 14.79231312, -8.80642022,
  43.20370975,-87.05384864,  1.65574518,-35.45434444, -4.30734717,
  13.46347307, -0.86502921, -2.36848881, -0.8073774 , 56.08104319,
 -21.590063  ,  1.77372239]

qfrc_actuator:
[-0.00418846, 0.00403584, 0.00323543, 0.00479695,-0.00673596,-0.00346152,
 -0.00582858, 0.0052782 ,-0.00430371,-0.00246723,-0.00481905, 0.00492511,
  0.21      , 0.00767856, 0.00975308,-0.00041336, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006701166712161435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.03547549e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.03547549e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09879082, -0.05154472,  0.06197152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.92057243e-05,-3.23477441e-04,-1.49929326e-04,-1.08210677e-04,
  1.20964684e-04, 2.40773979e-04, 1.59375800e-04,-1.23752902e-04,
  8.67041893e-05, 1.85309983e-04, 1.51205397e-04,-1.04311745e-04,
  9.04578766e-04,-1.62629279e-04,-4.59424395e-05, 5.11359720e-05,
 -5.87912937e-05, 1.34009747e-04,-9.80985238e+00,-1.18298919e-02,
 -2.39542894e-02, 3.60782415e-05]


--- Step 56 ---
qpos:
[-9.03667641e-03, 9.06509017e-03, 6.82309941e-03, 1.00223182e-02,
 -1.31957670e-02,-6.48778076e-03,-1.20081519e-02, 1.11792635e-02,
 -8.45662054e-03,-4.75654628e-03,-9.87624276e-03, 1.02939266e-02,
  3.33812006e-01, 1.59777773e-02, 9.52783178e-03,-1.67117346e-03,
  9.50242835e-02,-7.01250633e-02, 1.04357842e-01, 9.99998261e-01,
  1.59359221e-03, 2.97426640e-04, 9.22295646e-04]

qacc:
[ 17.9038515 , -2.17820915, 13.44295166,-46.70512847, 23.9987138 ,
  -4.28166102, 24.32229166,-52.09467876, 14.31231076, -9.13885995,
  41.55906178,-76.73020936,  1.67818142,-41.94280057, -3.06965477,
   9.63823568, -1.37831264, -1.04079197,  0.12850798, 24.23790307,
 -33.06310235,  2.00481424]

qfrc_actuator:
[-0.00408117, 0.00396012, 0.00315644, 0.00468964,-0.00660152,-0.00339187,
 -0.00577148, 0.00520644,-0.004225  ,-0.00244427,-0.00470835, 0.00483517,
  0.21      , 0.00748604, 0.00972924,-0.000375  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006527984003394976
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.18883773e-14, -2.08649539e-06,  1.00000000e+00,  6.65349523e-20,
        1.00000000e+00,  2.08649539e-06, -1.00000000e+00, -1.20370622e-35,
        3.18883773e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10149574, -0.06196481,  0.06197225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05385094e-04,-2.88557705e-04,-1.66792409e-04,-1.28218759e-04,
  1.41382486e-04, 2.36505511e-04, 1.23646996e-04,-5.80645000e-05,
  8.37803316e-05, 1.56439365e-04, 1.65036171e-04,-7.86126848e-05,
  9.06109542e-04,-1.92839424e-04,-2.85479090e-05, 3.77123318e-05,
 -4.07351034e-05, 2.06024131e-04,-9.80972380e+00,-1.18155352e-02,
 -2.39525928e-02, 5.14806714e-05]


--- Step 57 ---
qpos:
[-9.12277460e-03, 9.15369960e-03, 6.88872004e-03, 1.01152719e-02,
 -1.33150107e-02,-6.54799628e-03,-1.21197527e-02, 1.12820426e-02,
 -8.53142209e-03,-4.80046018e-03,-9.96720277e-03, 1.03894286e-02,
  3.38463285e-01, 1.61247580e-02, 9.69036468e-03,-1.68577699e-03,
  9.50170220e-02,-7.01588533e-02, 1.04364402e-01, 9.99997559e-01,
  1.99105581e-03, 2.08116684e-04, 9.35330209e-04]

qacc:
[ 13.43848366, -1.50042948,  9.12316079,-34.52641477, 29.05676701,
  -7.46776849, 35.93029516,-68.82784255, 16.99720728, -7.30339553,
  33.37524105,-61.7407599 ,  1.66766832,-37.97466586, -0.71786197,
   2.32083647, -1.75668706,  0.19586324,  0.38962201, -5.01000694,
 -41.35646192,  0.45406869]

qfrc_actuator:
[-0.00400072, 0.00387961, 0.00308317, 0.00460644,-0.00643798,-0.00334423,
 -0.00567477, 0.00512246,-0.0041303 ,-0.00243086,-0.00462393, 0.00476126,
  0.21      , 0.00731263, 0.00973042,-0.00036427, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006479386396150422
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.28367347e-14,  2.14183674e-14,  1.00000000e+00,  9.17492920e-28,
        1.00000000e+00, -2.14183674e-14, -1.00000000e+00,  0.00000000e+00,
       -4.28367347e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10363631, -0.07021706,  0.06197245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.91053923e-05,-2.78243962e-04,-1.56653059e-04,-1.03589386e-04,
  1.71004501e-04, 2.07450855e-04, 1.60219639e-04,-7.04301495e-05,
  9.96230663e-05, 1.34631175e-04, 1.35355732e-04,-6.28517427e-05,
  9.06964908e-04,-1.74325620e-04, 2.00434741e-06, 1.13450983e-05,
 -7.47805133e-06, 1.93029029e-04,-9.80964952e+00,-1.17994204e-02,
 -2.39538478e-02, 6.90246842e-05]


--- Step 58 ---
qpos:
[-9.20732100e-03, 9.24043067e-03, 6.95298078e-03, 1.02072095e-02,
 -1.34309566e-02,-6.60697769e-03,-1.22296012e-02, 1.13833825e-02,
 -8.60480316e-03,-4.84371177e-03,-1.00563784e-02, 1.04833134e-02,
  3.43119200e-01, 1.62692419e-02, 9.85305462e-03,-1.70016310e-03,
  9.50145071e-02,-7.01808769e-02, 1.04370771e-01, 9.99996999e-01,
  2.25043699e-03, 1.78549685e-04, 9.51298232e-04]

qacc:
[ 1.35602043e+01,-8.00812725e-01, 3.49819225e+00,-1.74809302e+01,
  2.88441372e+01,-6.28568544e+00, 3.07581502e+01,-5.92737716e+01,
  1.24884761e+01,-7.46641937e+00, 3.46777542e+01,-6.59636164e+01,
  1.63825809e+00,-2.75544550e+01,-4.56315845e-01, 1.87641903e+00,
  1.18665411e+00, 2.94158439e+00,-4.75289013e-02,-6.90135564e+01,
  2.99388887e+01, 1.39281495e+00]

qfrc_actuator:
[-0.00391894, 0.00377914, 0.00301388, 0.00455586,-0.00627639,-0.00329229,
 -0.00559105, 0.00504971,-0.00406248,-0.00240566,-0.00453801, 0.00467958,
  0.21      , 0.00718737, 0.00974125,-0.00035211, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006425902133683076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15966374e-14, -7.55882308e-14,  1.00000000e+00,  1.63245161e-27,
        1.00000000e+00,  7.55882308e-14, -1.00000000e+00,  0.00000000e+00,
        2.15966374e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08468049, -0.0887511 ,  0.06197268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.97783090e-05,-2.89359136e-04,-1.48468339e-04,-6.97070839e-05,
  1.69816930e-04, 2.02412135e-04, 1.45256327e-04,-5.94233946e-05,
  7.31540169e-05, 1.28707967e-04, 1.29215094e-04,-7.22828881e-05,
  9.07424451e-04,-1.25684367e-04, 2.10589400e-05, 1.48429538e-05,
  1.22261863e-05, 1.05185201e-04,-9.80964796e+00,-1.17839236e-02,
 -2.39575524e-02, 8.73106700e-05]


--- Step 59 ---
qpos:
[-9.28996543e-03, 9.32538948e-03, 7.01561382e-03, 1.02978349e-02,
 -1.35443448e-02,-6.66443350e-03,-1.23380499e-02, 1.14840900e-02,
 -8.67675280e-03,-4.88610115e-03,-1.01438717e-02, 1.05751281e-02,
  3.47779752e-01, 1.64111303e-02, 1.00159308e-02,-1.71525932e-03,
  9.50166236e-02,-7.01914454e-02, 1.04375954e-01, 9.99996686e-01,
  2.37551885e-03, 2.06950112e-04, 9.70389037e-04]

qacc:
[ 16.60992947, -0.52729452,  3.96559361,-22.7090527 , 22.36023017,
  -3.24145841, 17.07798142,-31.303406  , 12.57678045, -7.85017281,
  38.34132849,-77.4500244 ,  1.64208622,-28.62770013,  2.39817051,
  -8.04623374,  1.15782849,  2.86377561, -0.29663057,-67.12244087,
  29.05099682,  1.48405405]

qfrc_actuator:
[-0.00381923, 0.00368529, 0.00292966, 0.00448934,-0.0061528 ,-0.00320277,
 -0.00551569, 0.00501965,-0.00399329,-0.00235589,-0.00445186, 0.00457623,
  0.21      , 0.00705592, 0.00973656,-0.00039245, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006466165601089133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.29243192e-14,  1.07310798e-14,  1.00000000e+00, -4.60624294e-28,
        1.00000000e+00, -1.07310798e-14, -1.00000000e+00,  0.00000000e+00,
        4.29243192e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08468171, -0.08874981,  0.06197252])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.78049330e-05,-2.85871501e-04,-1.63529677e-04,-8.51768291e-05,
  1.31733051e-04, 2.34438451e-04, 1.34363965e-04,-1.72662564e-05,
  7.37266584e-05, 1.48235112e-04, 1.27123499e-04,-9.45980328e-05,
  9.07627551e-04,-1.30687640e-04, 1.37276739e-05,-3.52296558e-05,
 -2.00259873e-06, 6.30838686e-05,-9.80985044e+00,-1.17733531e-02,
 -2.39585764e-02, 1.02959293e-04]


--- Step 60 ---
qpos:
[-9.37154090e-03, 9.40873235e-03, 7.07667990e-03, 1.03869382e-02,
 -1.36556517e-02,-6.72050445e-03,-1.24441136e-02, 1.15829167e-02,
 -8.74726645e-03,-4.92799263e-03,-1.02292218e-02, 1.06653533e-02,
  3.52444943e-01, 1.65500232e-02, 1.01786513e-02,-1.72999732e-03,
  9.50232745e-02,-7.01908212e-02, 1.04379091e-01, 9.99996657e-01,
  2.36947541e-03, 2.91842276e-04, 9.92729585e-04]

qacc:
[  9.32361541, -0.90890974,  6.53744271,-29.15522296, 18.22884341,
  -8.74281062, 41.70896605,-79.02962284, 12.63661034, -8.62957797,
  38.39239937,-69.65088981,  1.66176346,-33.03579142, -1.34962715,
   4.32542318,  1.13360238,  2.79816647, -0.51153927,-65.53569476,
  28.31322726,  1.54406109]

qfrc_actuator:
[-0.00376299, 0.00361381, 0.00285506, 0.00441397,-0.00605257,-0.003127  ,
 -0.00539242, 0.0049262 ,-0.00392385,-0.00234509,-0.00434843, 0.0044965 ,
  0.21      , 0.0069041 , 0.00972255,-0.00037468, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000645550818510407
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.29951831e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.29951831e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08468193, -0.08875064,  0.06197257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.49362543e-05,-2.65393108e-04,-1.55616302e-04,-9.47121215e-05,
  1.07212081e-04, 2.38057439e-04, 1.88966937e-04,-7.88383920e-05,
  7.39477314e-05, 1.18733883e-04, 1.47388510e-04,-7.06640498e-05,
  9.07421410e-04,-1.51095446e-04,-4.39706639e-06, 1.91752741e-05,
 -1.20110243e-05, 2.67182449e-05,-9.80996126e+00,-1.17678787e-02,
 -2.39566396e-02, 1.09313746e-04]


--- Step 61 ---
qpos:
[-9.45257495e-03, 9.49050936e-03, 7.13635395e-03, 1.04740849e-02,
 -1.37648307e-02,-6.77495943e-03,-1.25478888e-02, 1.16787999e-02,
 -8.81704337e-03,-4.96917286e-03,-1.03127014e-02, 1.07539154e-02,
  3.57114768e-01, 1.66863955e-02, 1.03410969e-02,-1.74403525e-03,
  9.50343792e-02,-7.01792239e-02, 1.04379441e-01, 9.99996891e-01,
  2.23494576e-03, 4.32010643e-04, 1.01839748e-03]

qacc:
[   4.71504566,  -2.21758466,  13.14906573, -43.61845083,  18.62631839,
  -10.35643964,  52.39149034,-108.12067571,   6.49874791,  -7.72520036,
   35.90856127, -68.18490689,   1.6475592 , -27.83553943,  -2.55971116,
    8.304625  ,   1.11345351,   2.74327449,  -0.69658106, -64.21625142,
   27.70568891,   1.57930165]

qfrc_actuator:
[-0.00373276, 0.00353856, 0.00278681, 0.00431627,-0.00594916,-0.00304218,
 -0.00527747, 0.00477847,-0.00389035,-0.0023044 ,-0.00425352, 0.00441352,
  0.21      , 0.006777  , 0.00970297,-0.00034059, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006404108505401324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.33402644e-14,  1.08350661e-14,  1.00000000e+00, -4.69594631e-28,
        1.00000000e+00, -1.08350661e-14, -1.00000000e+00,  0.00000000e+00,
        4.33402644e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08468135, -0.08875318,  0.06197278])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.77869625e-05,-2.56552519e-04,-1.44399318e-04,-1.16079516e-04,
  1.09621515e-04, 2.57676137e-04, 1.85975318e-04,-1.32277437e-04,
  3.79659813e-05, 1.37284026e-04, 1.36081692e-04,-7.40054708e-05,
  9.06914539e-04,-1.26760223e-04,-1.10000294e-05, 3.64890461e-05,
 -1.79286117e-05,-4.51758231e-06,-9.80998787e+00,-1.17673747e-02,
 -2.39517908e-02, 1.06679116e-04]


--- Step 62 ---
qpos:
[-9.53234784e-03, 9.57097352e-03, 7.19435844e-03, 1.05590280e-02,
 -1.38722067e-02,-6.82777794e-03,-1.26492147e-02, 1.17725027e-02,
 -8.88617614e-03,-5.00910017e-03,-1.03951700e-02, 1.08407868e-02,
  3.61789227e-01, 1.68202155e-02, 1.05034263e-02,-1.75853598e-03,
  9.50405741e-02,-7.01568126e-02, 1.04377663e-01, 9.99997386e-01,
  1.97145754e-03, 5.12242027e-04, 1.03900096e-03]

qacc:
[ 10.99232228, -1.62812045, 12.55407047,-47.01766721, 15.79199443,
  -9.20177404, 45.10137702,-87.90492005,  5.65112785, -4.66240757,
  26.14614623,-57.92799841,  1.64652768,-28.16649464,  1.20017216,
  -4.50679858, -1.2274443 ,  2.70352065, -0.53226435,-64.50880606,
 -29.90844839, -2.49321012]

qfrc_actuator:
[-0.00366479, 0.00347938, 0.00270507, 0.00420621,-0.00586247,-0.00295273,
 -0.00515061, 0.004671  ,-0.00386053,-0.00222844,-0.00419981, 0.0043293 ,
  0.21      , 0.0066477 , 0.00968538,-0.00036819, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006334694509097169
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.09537941e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.09537941e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10120689, -0.0885534 ,  0.06197307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.48426719e-05,-2.34160181e-04,-1.55426524e-04,-1.28085175e-04,
  9.28991788e-05, 2.70300869e-04, 1.99693570e-04,-9.23285834e-05,
  3.32178763e-05, 1.80410243e-04, 9.71948075e-05,-7.49022996e-05,
  9.06271106e-04,-1.28325986e-04,-9.66391590e-06,-2.49905353e-05,
 -1.98494799e-05,-3.10082028e-05,-9.80993597e+00,-1.17717377e-02,
 -2.39440758e-02, 9.53008094e-05]


--- Step 63 ---
qpos:
[-9.61110533e-03, 9.65006189e-03, 7.25089858e-03, 1.06423344e-02,
 -1.39779957e-02,-6.87905190e-03,-1.27478748e-02, 1.18641892e-02,
 -8.95333521e-03,-5.04783962e-03,-1.04769181e-02, 1.09260047e-02,
  3.66468313e-01, 1.69518246e-02, 1.06654580e-02,-1.77353712e-03,
  9.50395818e-02,-7.01336318e-02, 1.04378777e-01, 9.99997869e-01,
  1.69757581e-03, 5.05696387e-04, 1.06039919e-03]

qacc:
[  8.85089352, -1.11330743,  8.21190002,-33.15452741, 13.91295602,
  -9.58697076, 45.61194412,-85.86010983, 17.28689185, -3.88249343,
  23.04380309,-53.62540347,  1.6352481 ,-24.42488427,  1.04725658,
  -4.36000399, -1.79680692,  0.19235481,  0.72311311, -5.24201509,
 -43.38221287,  0.48025572]

qfrc_actuator:
[-0.0036106 , 0.00341248, 0.00263383, 0.00412527,-0.00578634,-0.00287891,
 -0.00501768, 0.00457035,-0.00376212,-0.00218539,-0.0041707 , 0.00424504,
  0.21      , 0.00653588, 0.00965834,-0.00039643, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006319532914977818
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.3920296e-14,  2.1960148e-14,  1.0000000e+00, -9.6449620e-28,
        1.0000000e+00, -2.1960148e-14, -1.0000000e+00,  0.0000000e+00,
        4.3920296e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10363821, -0.07021521,  0.06197314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.21922212e-05,-2.32199179e-04,-1.42099529e-04,-9.86247630e-05,
  8.17802953e-05, 2.66198128e-04, 2.11422003e-04,-8.37231105e-05,
  1.01643378e-04, 1.63506779e-04, 7.66635669e-05,-7.44668939e-05,
  9.05436168e-04,-1.10815668e-04,-2.57299780e-05,-2.89635132e-05,
  1.97574232e-05, 2.87470701e-05,-9.80986074e+00,-1.17832756e-02,
 -2.39393759e-02, 8.05118285e-05]


--- Step 64 ---
qpos:
[-9.68832891e-03, 9.72742331e-03, 7.30682513e-03, 1.07243578e-02,
 -1.40813036e-02,-6.92889345e-03,-1.28443243e-02, 1.19540070e-02,
 -9.01840469e-03,-5.08547972e-03,-1.05573598e-02, 1.10088330e-02,
  3.71152023e-01, 1.70814492e-02, 1.08268399e-02,-1.78737752e-03,
  9.50315365e-02,-7.01096763e-02, 1.04381930e-01, 9.99998329e-01,
  1.41347520e-03, 4.14402914e-04, 1.08254676e-03]

qacc:
[ 13.41342173, -3.23648527, 13.59958368,-33.50473682, 21.70514302,
  -8.17430638, 39.71075195,-76.56689572, 18.32023845, -7.15461925,
  37.64592215,-81.8375835 ,  1.63198247,-21.96912192, -4.50881696,
  14.31900518, -1.76322902,  0.19368482,  0.50988853, -5.15452831,
 -42.36776772,  0.44402826]

qfrc_actuator:
[-0.00352944, 0.00332378, 0.00260485, 0.00406212,-0.0056638 ,-0.00283279,
 -0.00491781, 0.00447449,-0.00365963,-0.00212703,-0.00410322, 0.00412588,
  0.21      , 0.00643522, 0.00962565,-0.00033607, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006306715019826076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.8019121e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        8.8019121e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10363811, -0.07021492,  0.06197319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.88720819e-05,-2.48936739e-04,-9.67834779e-05,-7.97214233e-05,
  1.27794122e-04, 2.38936370e-04, 1.79238629e-04,-7.85312766e-05,
  1.07609893e-04, 1.65097993e-04, 1.09009128e-04,-1.10795659e-04,
  9.04477756e-04,-9.91803470e-05,-3.83899664e-05, 5.75448106e-05,
  8.51885327e-06, 9.52457671e-05,-9.80986120e+00,-1.17953111e-02,
 -2.39393458e-02, 6.95364747e-05]


--- Step 65 ---
qpos:
[-9.76370628e-03, 9.80339494e-03, 7.36160920e-03, 1.08046379e-02,
 -1.41822848e-02,-6.97738697e-03,-1.29384765e-02, 1.20426777e-02,
 -9.08238706e-03,-5.12225334e-03,-1.06357535e-02, 1.10899150e-02,
  3.75840352e-01, 1.72081980e-02, 1.09877338e-02,-1.79972755e-03,
  9.50165493e-02,-7.00849397e-02, 1.04386390e-01, 9.99998734e-01,
  1.11927248e-03, 2.40022198e-04, 1.10538730e-03]

qacc:
[ 16.11772724, -2.26551219, 12.71871379,-39.98427693, 20.35989508,
  -7.0396509 , 32.46045173,-56.90596536,  9.56798739, -8.19318703,
  38.21565068,-72.31797622,  1.66661552,-31.75612538, -5.27434857,
  17.33735095, -1.73550003,  0.19528583,  0.3266841 , -5.09612591,
 -41.53758317,  0.403145  ]

qfrc_actuator:
[-0.00343303, 0.0032584 , 0.00254771, 0.00397443,-0.00555044,-0.00276828,
 -0.00480288, 0.00441767,-0.00360888,-0.00207762,-0.00399583, 0.00404044,
  0.21      , 0.00628866, 0.00960559,-0.0002595 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006258512069998029
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.43485214e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.43485214e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10363898, -0.0702148 ,  0.06197339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.49580655e-05,-2.24852862e-04,-1.22191238e-04,-1.03039889e-04,
  1.19845688e-04, 2.35573518e-04, 1.84850053e-04,-4.16768315e-05,
  5.60077678e-05, 1.62085807e-04, 1.51943899e-04,-7.66018003e-05,
  9.03487566e-04,-1.44741544e-04,-2.08376865e-05, 7.71937167e-05,
 -4.00868447e-05, 1.64952731e-04,-9.80983147e+00,-1.18078240e-02,
 -2.39426941e-02, 6.01927440e-05]


--- Step 66 ---
qpos:
[-9.83706719e-03, 9.87809946e-03, 7.41499231e-03, 1.08825582e-02,
 -1.42814132e-02,-7.02464826e-03,-1.30301582e-02, 1.21306753e-02,
 -9.14522180e-03,-5.15828092e-03,-1.07121765e-02, 1.11697108e-02,
  3.80533294e-01, 1.73318929e-02, 1.11482912e-02,-1.81072131e-03,
  9.49978376e-02,-7.00705255e-02, 1.04390768e-01, 9.99998912e-01,
  9.47454451e-04, 1.77533158e-05, 1.13065692e-03]

qacc:
[ 1.75925271e+01,-2.65341863e+00, 1.69348257e+01,-5.45418281e+01,
  1.62276111e+01,-6.69253532e+00, 2.90136849e+01,-4.54631353e+01,
  1.00972334e+01,-7.19012531e+00, 3.24642914e+01,-5.83907813e+01,
  1.67308771e+00,-3.37102162e+01,-4.64476303e+00, 1.54585797e+01,
 -9.31108256e-01,-2.58063075e+00,-2.06412692e-02, 6.11656341e+01,
 -2.40103077e+01, 1.25615346e+00]

qfrc_actuator:
[-3.32838072e-03, 3.18962233e-03, 2.47444242e-03, 3.85525306e-03,
 -5.46117479e-03,-2.71099236e-03,-4.67988868e-03, 4.38431000e-03,
 -3.55348213e-03,-2.05153019e-03,-3.90127363e-03, 3.97554345e-03,
  2.10000000e-01, 6.13400120e-03, 9.58778202e-03,-1.91762126e-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: -0.0006210793024026898
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.93785238e-14,  2.79307887e-14,  1.00000000e+00,  2.49641266e-27,
        1.00000000e+00, -2.79307887e-14, -1.00000000e+00,  0.00000000e+00,
       -8.93785238e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09878751, -0.05152501,  0.0619736 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03725740e-04,-2.21103627e-04,-1.37301772e-04,-1.34844591e-04,
  9.54410107e-05, 2.29131467e-04, 1.94158800e-04,-1.74629583e-05,
  5.91169245e-05, 1.47344608e-04, 1.44954067e-04,-5.40367356e-05,
  9.02390876e-04,-1.53809992e-04,-9.12854725e-06, 7.15347924e-05,
 -1.23905597e-04, 2.37945558e-04,-9.80977338e+00,-1.18207995e-02,
 -2.39493539e-02, 5.24471969e-05]


--- Step 67 ---
qpos:
[-9.90798204e-03, 9.95122927e-03, 7.46747964e-03, 1.09584526e-02,
 -1.43786487e-02,-7.07087685e-03,-1.31197193e-02, 1.22172977e-02,
 -9.20686394e-03,-5.19323758e-03,-1.07874900e-02, 1.12477837e-02,
  3.85230842e-01, 1.74528082e-02, 1.13086094e-02,-1.82013809e-03,
  9.49754579e-02,-7.00662102e-02, 1.04394225e-01, 9.99998897e-01,
  8.95139559e-04,-2.51186851e-04, 1.15845343e-03]

qacc:
[ 21.36404385, -3.791893  , 18.98131548,-51.375464  , 16.56940502,
  -7.42471741, 34.20490196,-62.0984105 , 10.45768186, -5.25353781,
  28.02436474,-60.36818729,  1.66234424,-30.70468329, -5.1685975 ,
  17.50058939, -0.91702051, -2.52469386, -0.22999491, 59.72519147,
 -23.40197681,  1.28671645]

qfrc_actuator:
[-3.20195350e-03, 3.10147940e-03, 2.42772293e-03, 3.75399227e-03,
 -5.36907840e-03,-2.69395833e-03,-4.58865573e-03, 4.31174376e-03,
 -3.49579978e-03,-2.00416292e-03,-3.85065566e-03, 3.88770646e-03,
  2.10000000e-01, 5.99355837e-03, 9.57666332e-03,-1.12030398e-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: -0.0006214284113154195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.23320781e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.23320781e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0987867 , -0.05152508,  0.06197358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25829093e-04,-2.42928883e-04,-1.12969761e-04,-1.17911444e-04,
  9.75018348e-05, 1.88157339e-04, 1.63032914e-04,-5.61509132e-05,
  6.14400774e-05, 1.59861659e-04, 9.78700923e-05,-7.74147590e-05,
  9.01247595e-04,-1.39724927e-04, 1.67107483e-06, 8.45757286e-05,
 -1.59638374e-04, 1.40763616e-04,-9.80984321e+00,-1.18284710e-02,
 -2.39600685e-02, 4.83554323e-05]


--- Step 68 ---
qpos:
[-9.97793187e-03, 1.00227746e-02, 7.51900129e-03, 1.10328981e-02,
 -1.44739736e-02,-7.11608894e-03,-1.32076438e-02, 1.23020725e-02,
 -9.26729617e-03,-5.22698524e-03,-1.08619392e-02, 1.13238537e-02,
  3.89932989e-01, 1.75714831e-02, 1.14690974e-02,-1.82986349e-03,
  9.49603652e-02,-7.00666118e-02, 1.04398931e-01, 9.99998807e-01,
  8.98847492e-04,-4.32384120e-04, 1.17939502e-03]

qacc:
[  8.424316  , -2.39570814, 11.59259139,-33.92992944, 16.70738923,
  -7.06611857, 34.88926703,-70.17264494, 10.59818066, -4.96281567,
  28.43494327,-65.33677783,  1.63406232,-24.76240061,  1.15670165,
  -3.74256408,  1.82178377, -1.17924145,  0.31205135, 28.06137732,
  43.83587474, -3.47371565]

qfrc_actuator:
[-3.15245677e-03, 3.02028653e-03, 2.37923377e-03, 3.68184615e-03,
 -5.27606214e-03,-2.66586611e-03,-4.51711655e-03, 4.21662752e-03,
 -3.43724908e-03,-1.94464982e-03,-3.80857782e-03, 3.78705617e-03,
  2.10000000e-01, 5.88034688e-03, 9.57488514e-03,-1.32381370e-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: -0.0006215789177939982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.46533414e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.46533414e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0811583 , -0.06134232,  0.06197358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.95941511e-05,-2.42519042e-04,-1.15697506e-04,-8.85678490e-05,
  9.84102468e-05, 1.68147457e-04, 1.29680513e-04,-8.22910452e-05,
  6.23341510e-05, 1.68232982e-04, 8.52910133e-05,-9.17787858e-05,
  9.00126703e-04,-1.12098411e-04, 1.69339197e-05,-1.35012096e-05,
 -1.92804704e-04, 5.34555806e-05,-9.80984195e+00,-1.18314198e-02,
 -2.39727687e-02, 5.01099051e-05]


--- Step 69 ---
qpos:
[-1.00464651e-02, 1.00926959e-02, 7.56983469e-03, 1.11062344e-02,
 -1.45673927e-02,-7.16021517e-03,-1.32940040e-02, 1.23847034e-02,
 -9.32686318e-03,-5.25968285e-03,-1.09352920e-02, 1.13984780e-02,
  3.94639730e-01, 1.76882609e-02, 1.16296547e-02,-1.84004978e-03,
  9.49524037e-02,-7.00716441e-02, 1.04404052e-01, 9.99998690e-01,
  9.57125380e-04,-5.27877183e-04, 1.19381171e-03]

qacc:
[ 12.37625555, -2.53189062, 10.55468913,-27.41327226, 16.65874647,
  -7.38273339, 37.40272979,-77.75140613,  7.59030359, -4.6681554 ,
  24.73652946,-52.25700052,  1.61961204,-20.99711456,  1.47165719,
  -5.05776243,  1.78277607, -1.15768711,  0.10364308, 27.33408628,
  42.81693386, -3.31274552]

qfrc_actuator:
[-3.07760517e-03, 2.94390333e-03, 2.34786365e-03, 3.62740226e-03,
 -5.18326886e-03,-2.61378320e-03,-4.44000513e-03, 4.10900374e-03,
 -3.39642435e-03,-1.89616829e-03,-3.75406998e-03, 3.71519245e-03,
  2.10000000e-01, 5.78404690e-03, 9.56803150e-03,-1.58269251e-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: -0.0006218641291478311
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.23164308e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.23164308e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08115828, -0.061343  ,  0.06197357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.28384443e-05,-2.36853825e-04,-9.78254674e-05,-7.03711096e-05,
  9.81569723e-05, 1.72870051e-04, 1.26084228e-04,-9.73232068e-05,
  4.45883949e-05, 1.58620978e-04, 9.73877947e-05,-6.33510653e-05,
  8.98977753e-04,-9.44877408e-05, 6.65404382e-06,-2.28391258e-05,
 -8.07375258e-05, 6.45479618e-06,-9.80992851e+00,-1.18292025e-02,
 -2.39809686e-02, 5.32772741e-05]


--- Step 70 ---
qpos:
[-1.01136333e-02, 1.01612668e-02, 7.61980491e-03, 1.11783275e-02,
 -1.46592694e-02,-7.20334251e-03,-1.33784125e-02, 1.24646992e-02,
 -9.38544006e-03,-5.29160906e-03,-1.10073228e-02, 1.14720286e-02,
  3.99351058e-01, 1.78030120e-02, 1.17900696e-02,-1.84976318e-03,
  9.49514426e-02,-7.00812353e-02, 1.04408869e-01, 9.99998561e-01,
  1.06878199e-03,-5.39364045e-04, 1.20196393e-03]

qacc:
[ 1.19144631e+01,-1.95572068e+00, 9.59186907e+00,-2.86903339e+01,
  1.35001759e+01,-9.58531800e+00, 4.71745190e+01,-9.65931401e+01,
  8.69537394e+00,-4.90294091e+00, 2.34650755e+01,-4.46987096e+01,
  1.62783188e+00,-2.24355529e+01,-1.67396023e+00, 5.48857994e+00,
  1.75008298e+00,-1.13970935e+00,-7.58102862e-02, 2.67378235e+01,
  4.19681825e+01,-3.18651216e+00]

qfrc_actuator:
[-3.00613086e-03, 2.88883199e-03, 2.30912117e-03, 3.56606699e-03,
 -5.10912130e-03,-2.56553449e-03,-4.34238018e-03, 3.97715819e-03,
 -3.34862183e-03,-1.87238299e-03,-3.69268201e-03, 3.66084455e-03,
  2.10000000e-01, 5.68069409e-03, 9.55813550e-03,-1.33945664e-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: -0.0006183758067944758
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.24423201e-14, -2.24423201e-14,  1.00000000e+00,  5.03657732e-28,
        1.00000000e+00,  2.24423201e-14, -1.00000000e+00,  0.00000000e+00,
        2.24423201e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08115731, -0.06134291,  0.06197372])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01964896e-05,-2.07951619e-04,-1.01216834e-04,-7.60519838e-05,
  7.94535896e-05, 1.70220367e-04, 1.46587739e-04,-1.21763871e-04,
  5.10068724e-05, 1.32224845e-04, 1.04744866e-04,-4.52766142e-05,
  8.97763307e-04,-1.01066835e-04,-1.66283718e-06, 2.56428351e-05,
 -1.78190790e-05,-6.51882899e-06,-9.80997087e+00,-1.18255469e-02,
 -2.39852260e-02, 5.78986327e-05]


--- Step 71 ---
qpos:
[-1.01801758e-02, 1.02286658e-02, 7.66859487e-03, 1.12487816e-02,
 -1.47498401e-02,-7.24586326e-03,-1.34605163e-02, 1.25425226e-02,
 -9.44329691e-03,-5.32289907e-03,-1.10776710e-02, 1.15440053e-02,
  4.04066967e-01, 1.79156689e-02, 1.19503159e-02,-1.85875177e-03,
  9.49573734e-02,-7.00953264e-02, 1.04412767e-01, 9.99998406e-01,
  1.23285166e-03,-4.68243075e-04, 1.20405652e-03]

qacc:
[  5.44506766, -1.63608314, 10.48814257,-36.08725206, 11.45559933,
 -10.13315252, 46.42888623,-88.12164696,  6.34387236, -7.11488801,
  33.21237064,-63.58858383,  1.63095964,-23.18491057, -2.47716043,
   8.24065994,  1.72301214, -1.12496367, -0.22982003, 26.25451381,
  41.26911177, -3.08808046]

qfrc_actuator:
[-2.97270328e-03, 2.82917108e-03, 2.24865288e-03, 3.48342181e-03,
 -5.04656012e-03,-2.55543892e-03,-4.23346024e-03, 3.86763363e-03,
 -3.31485628e-03,-1.84580417e-03,-3.61007746e-03, 3.58170714e-03,
  2.10000000e-01, 5.57399792e-03, 9.54643066e-03,-9.79972528e-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: -0.0006119027149234652
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.26797291e-14, -1.13398645e-14,  1.00000000e+00,  2.57185056e-28,
        1.00000000e+00,  1.13398645e-14, -1.00000000e+00,  0.00000000e+00,
        2.26797291e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08115559, -0.0613422 ,  0.06197399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.21465847e-05,-1.97378523e-04,-1.17604974e-04,-9.63548559e-05,
  6.72775224e-05, 1.33710706e-04, 1.58997895e-04,-9.93252548e-05,
  3.71020015e-05, 1.22514545e-04, 1.22026938e-04,-7.05935465e-05,
  8.96487428e-04,-1.04486027e-04,-1.20921677e-06, 3.90588733e-05,
 -8.20373055e-07, 1.21157770e-05,-9.80997204e+00,-1.18204291e-02,
 -2.39856602e-02, 6.38984905e-05]


--- Step 72 ---
qpos:
[-1.02451727e-02, 1.02948461e-02, 7.71627662e-03, 1.13180472e-02,
 -1.48385652e-02,-7.28762403e-03,-1.35412460e-02, 1.26188225e-02,
 -9.50026355e-03,-5.35338486e-03,-1.11465231e-02, 1.16144676e-02,
  4.08787450e-01, 1.80262084e-02, 1.21103839e-02,-1.86687849e-03,
  9.49701080e-02,-7.01138699e-02, 1.04415218e-01, 9.99998181e-01,
  1.44856364e-03,-3.15648816e-04, 1.20024990e-03]

qacc:
[ 13.47845635, -0.98742135,  6.15648337,-24.01101058, 16.1288926 ,
  -6.0031023 , 29.24060318,-58.3078378 ,  7.82442903, -6.2518995 ,
  30.20232105,-59.37264819,  1.63178871,-23.44220274, -2.90704571,
   9.72320181,  1.70092463, -1.11311862, -0.3616607 , 25.86882825,
  40.70183745, -3.01186527]

qfrc_actuator:
[-2.89089990e-03, 2.76711800e-03, 2.19356406e-03, 3.42438909e-03,
 -4.95582619e-03,-2.53273723e-03,-4.17215482e-03, 3.78984563e-03,
 -3.27188623e-03,-1.79996996e-03,-3.53338508e-03, 3.50637827e-03,
  2.10000000e-01, 5.46617406e-03, 9.53364800e-03,-5.55150287e-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: -0.0006031143804978711
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.30102088e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.30102088e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08115329, -0.06134102,  0.06197436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.94982499e-05,-1.98154517e-04,-1.12770864e-04,-7.32520589e-05,
  9.50431978e-05, 1.29373722e-04, 1.06132313e-04,-6.82894472e-05,
  4.58672248e-05, 1.38790441e-04, 1.15351758e-04,-6.70969822e-05,
  8.95167968e-04,-1.05619243e-04,-5.37829289e-07, 4.64113629e-05,
 -2.72277918e-05, 6.05271289e-05,-9.80993428e+00,-1.18138345e-02,
 -2.39823611e-02, 7.12193156e-05]


--- Step 73 ---
qpos:
[-1.03087452e-02, 1.03600931e-02, 7.76277555e-03, 1.13863830e-02,
 -1.49247778e-02,-7.32826926e-03,-1.36210169e-02, 1.26932383e-02,
 -9.55554749e-03,-5.38322490e-03,-1.12138499e-02, 1.16838449e-02,
  4.13512502e-01, 1.81342873e-02, 1.22702285e-02,-1.87373441e-03,
  9.49894385e-02,-7.01364607e-02, 1.04416071e-01, 9.99997823e-01,
  1.71111272e-03,-8.42783158e-05, 1.19105067e-03]

qacc:
[ 12.41029799,  0.1338724 ,  1.61650193,-15.08490798, 21.92679146,
  -5.12689123, 28.30131192,-63.18718918, 14.76424028, -5.67214711,
  25.9934611 ,-47.6308395 ,  1.64796768,-27.21764984, -4.21616526,
  14.20204819,  1.64898579, -1.01181699, -0.3994601 , 23.46503072,
  39.35601606, -2.76067341]

qfrc_actuator:
[-2.81674654e-03, 2.73965056e-03, 2.14210301e-03, 3.37972903e-03,
 -4.83149783e-03,-2.46736263e-03,-4.12165675e-03, 3.69581432e-03,
 -3.18834640e-03,-1.77851028e-03,-3.46072636e-03, 3.45165743e-03,
  2.10000000e-01, 5.34078171e-03, 9.52022558e-03, 8.21314291e-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: -0.0005925188305553795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46546238e-06,  4.18703528e-06,  1.00000000e+00,  6.13594268e-12,
        1.00000000e+00, -4.18703528e-06, -1.00000000e+00,  8.07793567e-28,
       -1.46546238e-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([ 0.08147108, -0.0620212 ,  0.06197481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.32625357e-05,-1.62059001e-04,-1.07931272e-04,-5.83018897e-05,
  1.29392404e-04, 1.59974163e-04, 8.89684165e-05,-8.59492290e-05,
  8.66499215e-05, 1.22255503e-04, 1.13966014e-04,-4.59569409e-05,
  8.93810451e-04,-1.23141557e-04,-4.76585339e-08, 6.81565018e-05,
 -9.51157043e-05, 1.37353290e-04,-9.80985917e+00,-1.18057536e-02,
 -2.39753953e-02, 7.98182395e-05]


--- Step 74 ---
qpos:
[-1.03713394e-02, 1.04242887e-02, 7.80834944e-03, 1.14533067e-02,
 -1.50084398e-02,-7.36815175e-03,-1.36988905e-02, 1.27659319e-02,
 -9.60902141e-03,-5.41225339e-03,-1.12797766e-02, 1.17513259e-02,
  4.18242117e-01, 1.82400625e-02, 1.24299684e-02,-1.88105867e-03,
  9.50134829e-02,-7.01491181e-02, 1.04415952e-01, 9.99997549e-01,
  1.85751549e-03, 2.03702346e-04, 1.18722322e-03]

qacc:
[  8.52683737, -1.72908005, 10.08234202,-32.24000889, 22.29159688,
  -7.88243996, 36.76573425,-70.09033735, 15.87058833, -6.77630932,
  33.67130287,-69.2736578 ,  1.63578987,-25.47168165,  1.23302785,
  -4.60224627,  1.1784628 ,  2.48335926, -0.24303923,-58.03916137,
  28.37878633,  2.64229569]

qfrc_actuator:
[-2.76543270e-03, 2.67987867e-03, 2.09333649e-03, 3.30840385e-03,
 -4.70617069e-03,-2.43030174e-03,-4.02451964e-03, 3.61075966e-03,
 -3.09936592e-03,-1.73633328e-03,-3.39111563e-03, 3.35621960e-03,
  2.10000000e-01, 5.22379114e-03, 9.49577820e-03,-2.25806062e-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: -0.0005863437064369203
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.04910650e-06, -5.85459010e-06,  1.00000000e+00, -1.19966786e-11,
        1.00000000e+00,  5.85459010e-06, -1.00000000e+00,  0.00000000e+00,
       -2.04910650e-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([ 0.0846716 , -0.08594756,  0.06197507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.03061630e-05,-1.72596174e-04,-9.66858904e-05,-8.29652966e-05,
  1.31340225e-04, 1.44390931e-04, 1.39172026e-04,-7.66059815e-05,
  9.32100453e-05, 1.34296032e-04, 1.08040091e-04,-8.70246502e-05,
  8.92385863e-04,-1.15066579e-04,-8.34114492e-06,-2.50678078e-05,
 -1.99519538e-04, 2.35178111e-04,-9.80975383e+00,-1.17962825e-02,
 -2.39649842e-02, 8.93791247e-05]


--- Step 75 ---
qpos:
[-1.04325457e-02, 1.04870965e-02, 7.85319522e-03, 1.15181978e-02,
 -1.50902494e-02,-7.40741807e-03,-1.37749320e-02, 1.28377579e-02,
 -9.66097950e-03,-5.44031859e-03,-1.13443989e-02, 1.18167822e-02,
  4.22976286e-01, 1.83439997e-02, 1.25896479e-02,-1.88966995e-03,
  9.50303428e-02,-7.01609571e-02, 1.04418523e-01, 9.99997226e-01,
  1.99454130e-03, 4.05390874e-04, 1.18526498e-03]

qacc:
[ 12.11151406, -4.00955929, 20.17575825,-53.12708805, 16.201322  ,
  -6.12268043, 26.62155805,-44.9620168 , 13.28928548, -6.5669995 ,
  33.76630136,-71.5565721 ,  1.61101975,-20.35315245,  3.78344776,
 -13.42462498, -1.79611653,  0.20456955,  0.67239147, -4.7398424 ,
 -43.13865504,  1.01382473]

qfrc_actuator:
[-2.69244110e-03, 2.58346284e-03, 2.04640205e-03, 3.20418127e-03,
 -4.61679257e-03,-2.41032248e-03,-3.93622624e-03, 3.56718807e-03,
 -3.02567408e-03,-1.68214997e-03,-3.32381861e-03, 3.25534972e-03,
  2.10000000e-01, 5.13042156e-03, 9.48069058e-03,-9.11040346e-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: -0.0005882322217303573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.436945e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
        9.436945e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10364775, -0.07021579,  0.06197499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.13755400e-05,-2.13914491e-04,-9.65115974e-05,-1.16407010e-04,
  9.53933011e-05, 1.29273442e-04, 1.33586854e-04,-3.38773829e-05,
  7.80734750e-05, 1.49984681e-04, 1.06039140e-04,-9.29494370e-05,
  8.90845879e-04,-9.11957032e-05,-1.32329559e-05,-6.90706043e-05,
 -2.52381685e-04, 1.30376327e-04,-9.80978735e+00,-1.17897752e-02,
 -2.39549565e-02, 8.80044219e-05]


--- Step 76 ---
qpos:
[-1.04924591e-02, 1.05486199e-02, 7.89713659e-03, 1.15809924e-02,
 -1.51703082e-02,-7.44590285e-03,-1.38493762e-02, 1.29091920e-02,
 -9.71196232e-03,-5.46764108e-03,-1.14071015e-02, 1.18811986e-02,
  4.27714998e-01, 1.84467428e-02, 1.27490582e-02,-1.89802176e-03,
  9.50401546e-02,-7.01720044e-02, 1.04423008e-01, 9.99996909e-01,
  2.12237595e-03, 5.22760138e-04, 1.18507894e-03]

qacc:
[ 11.27280884, -3.50954259, 18.86344806,-52.71559933, 15.30513365,
  -4.26714608, 18.31720522,-28.17457359,  8.58163299, -6.54174135,
  29.11140861,-50.69646624,  1.58367582,-13.31661471, -1.21018285,
   3.5980445 , -1.76202063,  0.19796379,  0.47846785, -4.64589831,
 -42.15230241,  0.96831914]

qfrc_actuator:
[-2.62499640e-03, 2.51907557e-03, 2.00073994e-03, 3.09915826e-03,
 -4.53155324e-03,-2.36524547e-03,-3.85393286e-03, 3.54834048e-03,
 -2.97933787e-03,-1.63899189e-03,-3.22286880e-03, 3.20536534e-03,
  2.10000000e-01, 5.06943298e-03, 9.47121860e-03,-7.47434746e-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: -0.0005892213095198551
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.7105519e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.7105519e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10364725, -0.07021602,  0.06197495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.64825402e-05,-2.06437151e-04,-1.04929665e-04,-1.19627677e-04,
  9.01756527e-05, 1.46514781e-04, 1.25234488e-04,-9.16551552e-06,
  5.02457415e-05, 1.47001196e-04, 1.42462051e-04,-4.15790100e-05,
  8.89307120e-04,-5.82048090e-05,-1.47500589e-05, 1.27336976e-05,
 -1.32142556e-04, 9.05126278e-05,-9.80987891e+00,-1.17837813e-02,
 -2.39471034e-02, 8.85003444e-05]


--- Step 77 ---
qpos:
[-1.05504653e-02, 1.06092293e-02, 7.93968948e-03, 1.16427194e-02,
 -1.52483357e-02,-7.48350455e-03,-1.39222216e-02, 1.29791438e-02,
 -9.76161694e-03,-5.49386512e-03,-1.14682358e-02, 1.19448401e-02,
  4.32458249e-01, 1.85476478e-02, 1.29083421e-02,-1.90612175e-03,
  9.50430567e-02,-7.01820827e-02, 1.04428757e-01, 9.99996634e-01,
  2.23885142e-03, 5.57743658e-04, 1.18642576e-03]

qacc:
[ 16.61153849,  0.44176959,  1.12416859,-16.65152968, 17.74671002,
  -6.3868762 , 30.66629741,-59.46655638, 11.6528344 , -4.54931838,
  21.56022293,-38.24705508,  1.61274184,-20.38386782, -0.9800258 ,
   3.09393172, -1.72743082,  0.24221209,  0.31615858, -5.72883778,
 -41.18439885,  0.85085959]

qfrc_actuator:
[-2.52583462e-03, 2.49210970e-03, 1.93855614e-03, 3.04778968e-03,
 -4.43168403e-03,-2.32327428e-03,-3.77573752e-03, 3.47318816e-03,
 -2.91397553e-03,-1.56710840e-03,-3.13836978e-03, 3.16798474e-03,
  2.10000000e-01, 4.97470638e-03, 9.46513697e-03,-6.17420913e-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: -0.0005868110129189248
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.47140696e-08, -1.84897359e-07,  1.00000000e+00, -1.19654605e-14,
        1.00000000e+00,  1.84897359e-07, -1.00000000e+00, -1.57772181e-30,
       -6.47140696e-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([ 0.10360433, -0.07054393,  0.06197506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.81244713e-05,-1.66765183e-04,-1.21072602e-04,-6.60102845e-05,
  1.04615182e-04, 1.52318536e-04, 1.24503715e-04,-6.45432130e-05,
  6.84253255e-05, 1.83733880e-04, 1.31646212e-04,-2.68442586e-05,
  8.87905193e-04,-9.11194631e-05,-2.45361246e-06, 1.38509112e-05,
 -5.16776776e-05, 5.61536234e-05,-9.80993856e+00,-1.17783612e-02,
 -2.39425805e-02, 9.07259115e-05]


--- Step 78 ---
qpos:
[-1.06065424e-02, 1.06687722e-02, 7.98118760e-03, 1.17033493e-02,
 -1.53252078e-02,-7.52011898e-03,-1.39938186e-02, 1.30469746e-02,
 -9.80972681e-03,-5.51880720e-03,-1.15284683e-02, 1.20072176e-02,
  4.37206033e-01, 1.86459798e-02, 1.30675421e-02,-1.91464316e-03,
  9.50410661e-02,-7.01813231e-02, 1.04432290e-01, 9.99996676e-01,
  2.22769913e-03, 5.32904158e-04, 1.18360488e-03]

qacc:
[ 16.81259077, -0.75346959,  5.21661643,-21.67204833, 10.09433913,
  -6.56945715, 34.23914133,-73.63591693, 13.52272907, -3.45478792,
  20.06729761,-44.2786248 ,  1.64624074,-28.43635398,  1.11916835,
  -4.16335575, -1.22317211,  2.70950113, -0.55414135,-63.84834343,
 -29.84045272, -2.05265533]

qfrc_actuator:
[-2.42652680e-03, 2.43448224e-03, 1.88505779e-03, 2.99291838e-03,
 -4.37727555e-03,-2.28358073e-03,-3.71839411e-03, 3.36550021e-03,
 -2.83794058e-03,-1.51414776e-03,-3.09966282e-03, 3.10281216e-03,
  2.10000000e-01, 4.84310607e-03, 9.45043481e-03,-8.63576283e-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: -0.0005858738499713648
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.7374662e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.7374662e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10121996, -0.08857393,  0.0619751 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.92412743e-05,-1.76341342e-04,-1.04351372e-04,-6.73342481e-05,
  5.95253779e-05, 1.50693634e-04, 1.02819881e-04,-9.79383330e-05,
  7.95735705e-05, 1.83702673e-04, 9.26004537e-05,-5.31537840e-05,
  8.86398965e-04,-1.28674740e-04,-5.93480880e-06,-2.22696007e-05,
 -8.22502219e-06, 2.60878151e-05,-9.80996949e+00,-1.17735864e-02,
 -2.39413074e-02, 9.45147124e-05]


--- Step 79 ---
qpos:
[-1.06613920e-02, 1.07268223e-02, 8.02219436e-03, 1.17628688e-02,
 -1.54011346e-02,-7.55554168e-03,-1.40642875e-02, 1.31133180e-02,
 -9.85686617e-03,-5.54311831e-03,-1.15874382e-02, 1.20680456e-02,
  4.41958342e-01, 1.87420128e-02, 1.32264825e-02,-1.92367501e-03,
  9.50342587e-02,-7.01698979e-02, 1.04433002e-01, 9.99997021e-01,
  2.09107691e-03, 4.49266902e-04, 1.17665767e-03]

qacc:
[ 10.7172762 , -2.90783882, 12.15735043,-29.45316426,  8.256571  ,
  -4.65566756, 25.13905741,-53.53727437,  8.51978505, -5.90192956,
  28.76810652,-58.04215673,  1.63249582,-25.43338448,  1.13045041,
  -4.57829298, -1.20418301,  2.66640083, -0.7052223 ,-62.76879401,
 -29.32920392, -2.0312803 ]

qfrc_actuator:
[-2.36342130e-03, 2.34122322e-03, 1.85474503e-03, 2.93640186e-03,
 -4.33232743e-03,-2.21020593e-03,-3.65609830e-03, 3.29278028e-03,
 -2.79175514e-03,-1.52642162e-03,-3.05288673e-03, 3.02176325e-03,
  2.10000000e-01, 4.72635687e-03, 9.42523526e-03,-1.15218163e-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: -0.0005816140280045165
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10122076, -0.08857594,  0.06197528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.31206385e-05,-2.14004770e-04,-8.11552288e-05,-6.88420081e-05,
  4.87284044e-05, 1.77498353e-04, 1.03598227e-04,-6.44409600e-05,
  4.99911288e-05, 1.09201231e-04, 9.49227176e-05,-7.08986897e-05,
  8.84703703e-04,-1.14613530e-04,-2.20705270e-05,-2.89790172e-05,
 -1.92386812e-06, 6.87517543e-07,-9.80999850e+00,-1.17739984e-02,
 -2.39423082e-02, 9.42417213e-05]


--- Step 80 ---
qpos:
[-1.07158016e-02, 1.07836883e-02, 8.06238792e-03, 1.18219241e-02,
 -1.54755481e-02,-7.59004019e-03,-1.41330855e-02, 1.31782730e-02,
 -9.90305615e-03,-5.56718667e-03,-1.16451897e-02, 1.21281763e-02,
  4.46715166e-01, 1.88359424e-02, 1.33852229e-02,-1.93298627e-03,
  9.50204971e-02,-7.01576977e-02, 1.04434873e-01, 9.99997381e-01,
  1.94556597e-03, 2.83881012e-04, 1.17142923e-03]

qacc:
[  3.83199102, -0.25549327,  0.58722359, -6.43602601, 13.22758589,
  -6.33102872, 30.16410746,-57.49782062,  8.34022997, -4.53649213,
  19.55685669,-33.72276986,  1.62156784,-23.29278625,  0.51945097,
  -2.31207302, -1.73857612,  0.19373201,  0.28979904, -4.49283936,
 -40.86717281,  0.94285477]

qfrc_actuator:
[-2.33986001e-03, 2.29844869e-03, 1.82044948e-03, 2.91485567e-03,
 -4.25780247e-03,-2.17047964e-03,-3.57345749e-03, 3.22350350e-03,
 -2.74577044e-03,-1.54219271e-03,-3.00199066e-03, 2.98523775e-03,
  2.10000000e-01, 4.61927355e-03, 9.41505928e-03,-1.28615482e-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: -0.0005755263180169043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.41132115e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.41132115e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10365069, -0.07021728,  0.06197553])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25897768e-05,-1.79917477e-04,-9.01283869e-05,-3.47142536e-05,
  7.79504321e-05, 1.60397066e-04, 1.30724280e-04,-5.91719963e-05,
  4.88858035e-05, 6.37133307e-05, 8.33138907e-05,-2.98337684e-05,
  8.82985425e-04,-1.04561721e-04,-1.44253797e-05,-1.57836389e-05,
 -3.29120392e-05, 4.90813127e-05,-9.80994602e+00,-1.17792676e-02,
 -2.39461148e-02, 9.06467816e-05]


--- Step 81 ---
qpos:
[-1.07699030e-02, 1.08397102e-02, 8.10142779e-03, 1.18802438e-02,
 -1.55481066e-02,-7.62395962e-03,-1.42001567e-02, 1.32419365e-02,
 -9.94830767e-03,-5.59083379e-03,-1.17021871e-02, 1.21874133e-02,
  4.51476496e-01, 1.89282482e-02, 1.35439605e-02,-1.94339560e-03,
  9.49998677e-02,-7.01447285e-02, 1.04437344e-01, 9.99997713e-01,
  1.79113094e-03, 3.77455498e-05, 1.16776797e-03]

qacc:
[  2.66516773,  0.58916483, -0.62176031, -9.63650967, 16.21384754,
  -6.75050437, 30.57974093,-56.06485532,  8.22660003, -3.4063871 ,
  16.69924144,-33.65320761,  1.59250685,-18.02305264,  3.296444  ,
 -11.59827379, -1.71693779,  0.19225231,  0.15021118, -4.50953287,
 -40.36792556,  0.86088214]

qfrc_actuator:
[-2.32197604e-03, 2.26850072e-03, 1.76653002e-03, 2.87858433e-03,
 -4.16647740e-03,-2.16890423e-03,-3.49735628e-03, 3.15678837e-03,
 -2.70027325e-03,-1.52442103e-03,-2.96683619e-03, 2.93968855e-03,
  2.10000000e-01, 4.53646633e-03, 9.40857562e-03,-1.86019618e-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: -0.0005707346792002757
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.72626218e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.72626218e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10365212, -0.07021765,  0.06197574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58152256e-05,-1.48454696e-04,-1.02640864e-04,-4.76246997e-05,
  9.55312061e-05, 1.18467284e-04, 1.24157120e-04,-5.63065257e-05,
  4.83281729e-05, 7.11442461e-05, 5.81549616e-05,-4.04114091e-05,
  8.81334940e-04,-7.99907560e-05,-6.09845367e-06,-5.81539624e-05,
 -9.74604925e-05, 8.22318742e-05,-9.80990022e+00,-1.17850404e-02,
 -2.39525892e-02, 8.87101338e-05]


--- Step 82 ---
qpos:
[-1.08234209e-02, 1.08946586e-02, 8.13988086e-03, 1.19376678e-02,
 -1.56193137e-02,-7.65696257e-03,-1.42661550e-02, 1.33043108e-02,
 -9.99297915e-03,-5.61413398e-03,-1.17579943e-02, 1.22452795e-02,
  4.56242326e-01, 1.90181922e-02, 1.37023889e-02,-1.95435813e-03,
  9.49836128e-02,-7.01209284e-02, 1.04436472e-01, 9.99998167e-01,
  1.50935302e-03,-1.54132263e-04, 1.16823040e-03]

qacc:
[  5.08696578, -1.63343287,  7.52952383,-21.28420783, 11.79564235,
  -4.46351442, 23.0767214 ,-47.73826691,  5.10517607, -5.70043615,
  26.76139107,-52.62772878,  1.63300087,-26.12785204,  1.18573883,
  -4.88002185,  1.09362811,  2.70773184, -0.8359897 ,-63.63979918,
  27.20680678,  2.0107791 ]

qfrc_actuator:
[-0.00228979, 0.00221088, 0.00173701, 0.00283394,-0.00410152,-0.00211923,
 -0.00344366, 0.00309207,-0.00267319,-0.00150455,-0.00290564, 0.00287145,
  0.21      , 0.00441533, 0.00938299,-0.00021564, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005656761190375587
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.90661965e-14, -8.58658439e-14,  1.00000000e+00,  4.21311037e-27,
        1.00000000e+00,  8.58658439e-14, -1.00000000e+00,  0.00000000e+00,
        4.90661965e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08467344, -0.08879151,  0.06197595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.99809084e-05,-1.61691674e-04,-7.37383075e-05,-5.53394704e-05,
  6.96103423e-05, 1.41820585e-04, 9.23631925e-05,-5.62840174e-05,
  2.98802718e-05, 7.17108367e-05, 8.22503752e-05,-6.38631047e-05,
  8.79728064e-04,-1.17697226e-04,-2.67565627e-05,-3.18167231e-05,
 -1.95107423e-04, 1.19238622e-04,-9.80982769e+00,-1.17913230e-02,
 -2.39622746e-02, 8.83790794e-05]


--- Step 83 ---
qpos:
[-1.08761878e-02, 1.09485475e-02, 8.17770357e-03, 1.19941139e-02,
 -1.56891518e-02,-7.68909390e-03,-1.43310000e-02, 1.33657727e-02,
 -1.00369514e-02,-5.63713013e-03,-1.18123487e-02, 1.23022120e-02,
  4.61012648e-01, 1.91056828e-02, 1.38602745e-02,-1.96455980e-03,
  9.49725822e-02,-7.00972458e-02, 1.04438232e-01, 9.99998523e-01,
  1.22901241e-03,-2.83811984e-04, 1.16733748e-03]

qacc:
[ 6.54663367e+00,-1.66532745e+00, 8.01256787e+00,-2.31263755e+01,
  1.19532111e+01,-3.97220534e+00, 1.96472501e+01,-3.78815508e+01,
  6.15718473e+00,-5.59254710e+00, 2.44457670e+01,-4.31323185e+01,
  1.64114269e+00,-2.71578439e+01,-3.14477405e+00, 9.76411509e+00,
  1.30604493e+00,-2.93704067e-02, 6.57801763e-01, 7.54948296e-01,
  3.10971192e+01,-7.24665013e-01]

qfrc_actuator:
[-2.24942124e-03, 2.15496742e-03, 1.70426442e-03, 2.78471329e-03,
 -4.03488092e-03,-2.07677962e-03,-3.38568001e-03, 3.04681358e-03,
 -2.63941955e-03,-1.48351854e-03,-2.82956778e-03, 2.82593195e-03,
  2.10000000e-01, 4.29033305e-03, 9.35663196e-03,-1.75436644e-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: -0.0005671572594113453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.44690297e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.44690297e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08463119, -0.06875312,  0.06197589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.86119999e-05,-1.61760231e-04,-7.64090868e-05,-5.96317289e-05,
  7.05244667e-05, 1.41038162e-04, 9.75319726e-05,-3.69207794e-05,
  3.60172214e-05, 7.71346439e-05, 9.94010371e-05,-4.07371259e-05,
  8.77909487e-04,-1.22350261e-04,-3.29055484e-05, 3.70911794e-05,
 -1.55099269e-04, 2.27355033e-04,-9.80976353e+00,-1.18031991e-02,
 -2.39691557e-02, 8.07634844e-05]


--- Step 84 ---
qpos:
[-1.09281101e-02, 1.10013103e-02, 8.21461919e-03, 1.20495619e-02,
 -1.57569224e-02,-7.72050181e-03,-1.43945084e-02, 1.34251874e-02,
 -1.00801504e-02,-5.65963672e-03,-1.18656783e-02, 1.23578182e-02,
  4.65787447e-01, 1.91917344e-02, 1.40180556e-02,-1.97458399e-03,
  9.49687941e-02,-7.00783082e-02, 1.04440966e-01, 9.99998770e-01,
  1.00342913e-03,-3.26381359e-04, 1.16066298e-03]

qacc:
[  7.3529433 , -1.02291628,  5.67749503,-20.64806498, 18.04595669,
  -7.0279032 , 35.02991956,-73.06873272,  6.78695446, -4.96110581,
  24.20553673,-49.13711121,  1.58100874,-16.02323649, -0.72045192,
   2.23382909,  1.81066856, -1.18624532,  0.24381174, 27.42871776,
  43.51958172, -2.95202669]

qfrc_actuator:
[-2.20454392e-03, 2.08274927e-03, 1.65211523e-03, 2.73318848e-03,
 -3.93227566e-03,-2.05673042e-03,-3.32564849e-03, 2.94236517e-03,
 -2.60198792e-03,-1.46188247e-03,-2.78080439e-03, 2.75865706e-03,
  2.10000000e-01, 4.21731667e-03, 9.35646353e-03,-1.65443387e-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: -0.0005725708522734685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.84753555e-14, -6.05941944e-15,  1.00000000e+00, -2.93732511e-28,
        1.00000000e+00,  6.05941944e-15, -1.00000000e+00,  0.00000000e+00,
       -4.84753555e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08114602, -0.06133731,  0.06197566])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.34162749e-05,-1.78871260e-04,-9.63181415e-05,-6.21161914e-05,
  1.06467872e-04, 1.20043983e-04, 1.00716657e-04,-9.55948349e-05,
  3.98280545e-05, 8.52785330e-05, 7.61110927e-05,-6.12221573e-05,
  8.76115402e-04,-7.04115157e-05,-1.21532493e-06, 1.00815878e-05,
 -8.56613420e-05, 1.82922620e-04,-9.80980534e+00,-1.18141642e-02,
 -2.39746047e-02, 6.88174403e-05]


--- Step 85 ---
qpos:
[-1.09794841e-02, 1.10528264e-02, 8.25097256e-03, 1.21039558e-02,
 -1.58229012e-02,-7.75110636e-03,-1.44568211e-02, 1.34828910e-02,
 -1.01221939e-02,-5.68158156e-03,-1.19177559e-02, 1.24121622e-02,
  4.70566715e-01, 1.92759384e-02, 1.41759438e-02,-1.98476123e-03,
  9.49721153e-02,-7.00640173e-02, 1.04443925e-01, 9.99998955e-01,
  8.31363306e-04,-2.83624914e-04, 1.14841795e-03]

qacc:
[ 4.78209818e+00,-2.25696003e+00, 1.00910280e+01,-2.65026407e+01,
  1.56371781e+01,-5.83241780e+00, 2.95096633e+01,-6.15741635e+01,
  1.01367532e+01,-5.37487946e+00, 2.55366464e+01,-4.97600606e+01,
  1.59986691e+00,-2.04978859e+01, 5.91994666e-01,-1.90657116e+00,
  1.77729540e+00,-1.16167167e+00, 5.62149451e-02, 2.68073344e+01,
  4.26289949e+01,-2.83676826e+00]

qfrc_actuator:
[-2.17510797e-03, 2.01898886e-03, 1.62435636e-03, 2.68069328e-03,
 -3.84484472e-03,-2.01481915e-03,-3.26502812e-03, 2.85715853e-03,
 -2.54496064e-03,-1.42243930e-03,-2.71307677e-03, 2.69684548e-03,
  2.10000000e-01, 4.12219705e-03, 9.36133957e-03,-1.73296885e-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: -0.0005750215315457399
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08114657, -0.06133773,  0.06197556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.81612753e-05,-1.84234835e-04,-7.80128799e-05,-6.45597571e-05,
  9.22822846e-05, 1.28247136e-04, 9.53052750e-05,-7.82905177e-05,
  5.95105201e-05, 1.01922109e-04, 9.31694019e-05,-5.66163938e-05,
  8.74569999e-04,-9.12670790e-05, 1.35768297e-05,-5.61291630e-06,
 -1.92997108e-05, 8.41099896e-05,-9.80988945e+00,-1.18229016e-02,
 -2.39772936e-02, 5.66602002e-05]


--- Step 86 ---
qpos:
[-1.10294637e-02, 1.11031592e-02, 8.28670168e-03, 1.21572960e-02,
 -1.58879741e-02,-7.78082118e-03,-1.45180259e-02, 1.35401580e-02,
 -1.01628565e-02,-5.70300235e-03,-1.19683326e-02, 1.24656769e-02,
  4.75350445e-01, 1.93587402e-02, 1.43335854e-02,-1.99454564e-03,
  9.49824343e-02,-7.00542893e-02, 1.04446459e-01, 9.99999095e-01,
  7.11771690e-04,-1.57022674e-04, 1.13079475e-03]

qacc:
[ 12.1549347 , -2.01306452,  9.31593805,-25.63908278,  7.91223767,
  -2.83414583, 13.62907834,-23.58496227, 12.11646031, -5.23317634,
  23.12579487,-40.22413489,  1.57721167,-15.62961308, -1.5837485 ,
   4.94792158,  1.74946795, -1.14073878, -0.10631506, 26.28447819,
  41.89048045, -2.73134797]

qfrc_actuator:
[-2.10172046e-03, 1.96087423e-03, 1.59349704e-03, 2.62807111e-03,
 -3.80257498e-03,-1.96015995e-03,-3.20444828e-03, 2.83723768e-03,
 -2.47686756e-03,-1.39033252e-03,-2.63460776e-03, 2.65653077e-03,
  2.10000000e-01, 4.05030475e-03, 9.33727228e-03,-1.56093626e-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: -0.0005739117124565832
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.2090525e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.2090525e-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([ 0.08114622, -0.06133754,  0.0619756 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.17270398e-05,-1.77941713e-04,-8.00590713e-05,-6.43318836e-05,
  4.66772626e-05, 1.45135899e-04, 9.68709151e-05,-1.25071175e-05,
  7.11115991e-05, 1.07576036e-04, 1.09593360e-04,-3.37298960e-05,
  8.72920071e-04,-6.84494816e-05,-1.11784201e-05, 2.02713525e-05,
 -2.96712044e-07, 1.88704069e-05,-9.80993030e+00,-1.18300900e-02,
 -2.39761181e-02, 4.59116707e-05]


--- Step 87 ---
qpos:
[-1.10775317e-02, 1.11521563e-02, 8.32216527e-03, 1.22092425e-02,
 -1.59520009e-02,-7.80962531e-03,-1.45780131e-02, 1.35963871e-02,
 -1.02027064e-02,-5.72407657e-03,-1.20177246e-02, 1.25183386e-02,
  4.80138623e-01, 1.94414693e-02, 1.44908277e-02,-2.00399228e-03,
  9.49890503e-02,-7.00545728e-02, 1.04447928e-01, 9.99999119e-01,
  7.11927580e-04,-7.58689507e-05, 1.11764212e-03]

qacc:
[ 16.67315345, -3.9266364 , 17.2670985 ,-39.92103963,  9.13754963,
  -4.35280127, 21.61863761,-42.16646339,  7.13917883, -4.62279167,
  20.72477175,-37.61053285,  1.50112855, -1.05071812, -1.63346795,
   4.80644407, -0.92577682, -2.50288474, -0.26633039, 59.8483947 ,
 -22.79036084,  2.24212012]

qfrc_actuator:
[-2.00302758e-03, 1.88882969e-03, 1.57881697e-03, 2.55804127e-03,
 -3.75172744e-03,-1.91601234e-03,-3.14428318e-03, 2.78488776e-03,
 -2.43832783e-03,-1.39831982e-03,-2.58594881e-03, 2.61143377e-03,
  2.10000000e-01, 4.04590058e-03, 9.30651855e-03,-1.42093598e-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: -0.0005732177417982418
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.53943593e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.53943593e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09879264, -0.0515108 ,  0.06197564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.83366675e-05,-1.88805327e-04,-6.28441443e-05,-8.15417412e-05,
  5.39055852e-05, 1.47161860e-04, 1.02405059e-04,-4.28781556e-05,
  4.18555036e-05, 7.49679229e-05, 8.37476647e-05,-3.72599574e-05,
  8.71214020e-04,-3.74463732e-07,-2.49558230e-05, 1.56535742e-05,
 -2.59725629e-05,-1.49444316e-05,-9.80993052e+00,-1.18357248e-02,
 -2.39711773e-02, 3.65027474e-05]


--- Step 88 ---
qpos:
[-1.11247778e-02, 1.11999806e-02, 8.35686277e-03, 1.22599621e-02,
 -1.60145430e-02,-7.83778977e-03,-1.46369239e-02, 1.36512541e-02,
 -1.02414148e-02,-5.74486578e-03,-1.20660610e-02, 1.25700697e-02,
  4.84931244e-01, 1.95231981e-02, 1.46477072e-02,-2.01285334e-03,
  9.49920302e-02,-7.00647091e-02, 1.04447677e-01, 9.99999041e-01,
  8.29470432e-04,-3.93286619e-05, 1.10878335e-03]

qacc:
[  7.15751092, -1.94989421,  9.85946417,-28.98150245, 12.95756639,
  -4.99165884, 24.73355199,-50.45664184, 10.01136919, -4.50886647,
  20.51913964,-38.48855031,  1.55201045,-11.22953632, -2.33749513,
   7.33817449, -0.90898732, -2.46318195, -0.42979207, 58.66869802,
 -22.37077135,  2.15841169]

qfrc_actuator:
[-1.96123682e-03, 1.82680550e-03, 1.53823019e-03, 2.49608098e-03,
 -3.67848328e-03,-1.91405381e-03,-3.10267242e-03, 2.71385621e-03,
 -2.38199902e-03,-1.39489045e-03,-2.53770750e-03, 2.56382259e-03,
  2.10000000e-01, 3.99245743e-03, 9.28775294e-03,-1.12364957e-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: -0.0005723771094737901
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.42458819e-14, -1.21229410e-14,  1.00000000e+00,  2.93931395e-28,
        1.00000000e+00,  1.21229410e-14, -1.00000000e+00,  0.00000000e+00,
        2.42458819e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09879297, -0.05151086,  0.06197567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.22487294e-05,-1.82106209e-04,-8.94954751e-05,-7.36829647e-05,
  7.64663275e-05, 1.05911877e-04, 8.38873742e-05,-6.18751758e-05,
  5.87737958e-05, 6.26182478e-05, 7.32790165e-05,-4.21352291e-05,
  8.69626062e-04,-4.77977783e-05,-1.91361198e-05, 2.95122887e-05,
 -1.65355899e-05, 2.38058526e-06,-9.80998533e+00,-1.18351886e-02,
 -2.39667168e-02, 3.59343694e-05]


--- Step 89 ---
qpos:
[-1.11722342e-02, 1.12468234e-02, 8.39071793e-03, 1.23095276e-02,
 -1.60756891e-02,-7.86528081e-03,-1.46948408e-02, 1.37045024e-02,
 -1.02787783e-02,-5.76521509e-03,-1.21134842e-02, 1.26208196e-02,
  4.89728304e-01, 1.96026557e-02, 1.48042055e-02,-2.02093162e-03,
  9.49914305e-02,-7.00845657e-02, 1.04445141e-01, 9.99998825e-01,
  1.06246466e-03,-4.67077637e-05, 1.10408055e-03]

qacc:
[ -1.84198613, -1.31622379,  7.68952309,-25.60194711, 12.1798152 ,
  -5.24276303, 26.77879237,-56.83510953, 11.78342201, -4.0138495 ,
  19.25880367,-37.98388097,  1.62413397,-25.17215522, -2.97180035,
   9.50473113, -0.89491875, -2.43008253, -0.57150063, 57.7014245 ,
 -22.02195868,  2.09400859]

qfrc_actuator:
[-1.97101492e-03, 1.78891757e-03, 1.50045877e-03, 2.43935314e-03,
 -3.61041079e-03,-1.88424407e-03,-3.05478751e-03, 2.63235519e-03,
 -2.31565060e-03,-1.36693553e-03,-2.49006150e-03, 2.51512182e-03,
  2.10000000e-01, 3.87504230e-03, 9.26553971e-03,-7.35820715e-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: -0.0005685029763285374
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.44111084e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.44111084e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09879367, -0.05150966,  0.06197583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08715655e-05,-1.59446237e-04,-8.83164494e-05,-6.89327771e-05,
  7.18964236e-05, 1.06011030e-04, 7.86843682e-05,-7.51270500e-05,
  6.92527207e-05, 7.78293095e-05, 6.86593555e-05,-4.42144900e-05,
  8.67824837e-04,-1.12788236e-04,-1.86047624e-05, 4.00328070e-05,
 -6.54511116e-06, 2.78667368e-05,-9.80997132e+00,-1.18301243e-02,
 -2.39645205e-02, 4.10750172e-05]


--- Step 90 ---
qpos:
[-1.12187926e-02, 1.12928384e-02, 8.42405994e-03, 1.23576414e-02,
 -1.61355128e-02,-7.89196277e-03,-1.47512306e-02, 1.37559622e-02,
 -1.03157221e-02,-5.78523703e-03,-1.21598934e-02, 1.26702547e-02,
  4.94529792e-01, 1.96801370e-02, 1.49605106e-02,-2.02881349e-03,
  9.49922533e-02,-7.01118828e-02, 1.04442091e-01, 9.99998440e-01,
  1.38380414e-03,-3.62793794e-05, 1.09720961e-03]

qacc:
[  7.82138493, -2.66519895, 14.01856611,-37.68758935, 11.55332023,
  -6.90169382, 33.67466518,-67.63000411,  3.69630045, -5.11525626,
  24.4057334 ,-49.01149072,  1.60246882,-21.93011522, -0.91357659,
   2.71203795,  0.35561355, -1.8651157 , -0.12834131, 44.18244347,
   8.85380681, -1.095503  ]

qfrc_actuator:
[-1.92226784e-03, 1.76578933e-03, 1.48251189e-03, 2.36843002e-03,
 -3.54594640e-03,-1.82026060e-03,-2.96798093e-03, 2.54537372e-03,
 -2.29720838e-03,-1.36003942e-03,-2.44305251e-03, 2.44843752e-03,
  2.10000000e-01, 3.77417290e-03, 9.25192422e-03,-6.53033169e-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: -0.0005621142802076305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.87098366e-07, -9.25820711e-15,  1.00000000e+00,  5.43547827e-21,
        1.00000000e+00,  9.25820711e-15, -1.00000000e+00, -7.52316385e-37,
        5.87098366e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09018408, -0.05630163,  0.0619761 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.61854401e-05,-1.31582757e-04,-6.34989252e-05,-8.20216312e-05,
  6.81255865e-05, 1.38545275e-04, 1.16510833e-04,-8.10441404e-05,
  2.16272388e-05, 6.41860466e-05, 7.05060137e-05,-6.17500304e-05,
  8.65768977e-04,-9.76627129e-05,-8.58332038e-06, 1.01867902e-05,
  4.03931844e-06, 6.10272809e-05,-9.80989215e+00,-1.18205930e-02,
 -2.39645151e-02, 5.18671265e-05]


--- Step 91 ---
qpos:
[-1.12637580e-02, 1.13381795e-02, 8.45656572e-03, 1.24045353e-02,
 -1.61940682e-02,-7.91790873e-03,-1.48061088e-02, 1.38059914e-02,
 -1.03521341e-02,-5.80488892e-03,-1.22056757e-02, 1.27188748e-02,
  4.99335697e-01, 1.97555082e-02, 1.51166291e-02,-2.03651525e-03,
  9.49991105e-02,-7.01414603e-02, 1.04439761e-01, 9.99997910e-01,
  1.73088645e-03, 4.59826779e-05, 1.08735073e-03]

qacc:
[ 13.86221817, -1.09260276,  7.70695275,-26.93654755, 11.08178205,
  -6.21741284, 29.58412111,-57.26452907,  4.66290117, -2.95030473,
  14.65509316,-30.02085406,  1.60854457,-23.39874042, -0.85549227,
   2.52134246,  1.50862028, -0.56511549,  0.18005402, 12.91085246,
  35.90058866, -1.54405603]

qfrc_actuator:
[-1.83942979e-03, 1.73400300e-03, 1.44096221e-03, 2.30750170e-03,
 -3.48413177e-03,-1.78943581e-03,-2.89425722e-03, 2.47367413e-03,
 -2.27161738e-03,-1.34808940e-03,-2.41464448e-03, 2.40719437e-03,
  2.10000000e-01, 3.66609188e-03, 9.23813836e-03,-5.73011679e-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: -0.0005592452077264826
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.40906075e-14, -2.52506938e-06,  1.00000000e+00,  2.12334618e-19,
        1.00000000e+00,  2.52506938e-06, -1.00000000e+00, -2.40741243e-35,
        8.40906075e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08300419, -0.06529625,  0.06197622])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.19618875e-05,-1.20109829e-04,-7.87567029e-05,-7.02337418e-05,
  6.53344115e-05, 1.31090115e-04, 1.14587500e-04,-6.31771180e-05,
  2.73898234e-05, 6.12069368e-05, 4.87034681e-05,-3.71698505e-05,
  8.63789580e-04,-1.04469419e-04,-8.17544160e-06, 9.37425313e-06,
 -7.72636378e-08, 1.32411110e-04,-9.80979488e+00,-1.18078489e-02,
 -2.39630693e-02, 6.74427126e-05]


--- Step 92 ---
qpos:
[-1.13077675e-02, 1.13828246e-02, 8.48833596e-03, 1.24499871e-02,
 -1.62513977e-02,-7.94312960e-03,-1.48599853e-02, 1.38561929e-02,
 -1.03872444e-02,-5.82353671e-03,-1.22513766e-02, 1.27672704e-02,
  5.04146010e-01, 1.98287003e-02, 1.52725393e-02,-2.04436362e-03,
  9.49990493e-02,-7.01700239e-02, 1.04439629e-01, 9.99997282e-01,
  2.06625644e-03, 4.57515669e-05, 1.07896938e-03]

qacc:
[  8.31547549, -1.85081923, 11.32541698,-34.56910325, 10.69662567,
  -1.50694274,  6.00011477, -5.11391473, 11.36920975,  0.61539084,
   0.64045564, -5.35246375,  1.61028932,-24.15337404,  0.10199076,
  -0.87574864, -1.72960986,  0.25348387,  0.54944704, -5.90094784,
 -41.2388502 ,  0.80993928]

qfrc_actuator:
[-1.79044916e-03, 1.69719906e-03, 1.40353184e-03, 2.23516638e-03,
 -3.42438184e-03,-1.76100416e-03,-2.84673136e-03, 2.48251156e-03,
 -2.20651173e-03,-1.26227013e-03,-2.39741558e-03, 2.39899477e-03,
  2.10000000e-01, 3.55460818e-03, 9.21893087e-03,-6.72798774e-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: -0.0005616174731549324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73787761e-06,  4.96536457e-06,  1.00000000e+00, -8.62919589e-12,
        1.00000000e+00, -4.96536457e-06, -1.00000000e+00, -3.23117427e-27,
        1.73787761e-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([ 0.10332721, -0.07054012,  0.06197612])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.91721224e-05,-1.21406775e-04,-7.37607069e-05,-8.14531880e-05,
  6.31451615e-05, 1.24849321e-04, 8.72163346e-05, 1.73188860e-05,
  6.70491217e-05, 1.29941122e-04, 3.50666448e-05,-4.53149486e-06,
  8.61772565e-04,-1.07966205e-04,-1.35529412e-05,-8.61100496e-06,
 -4.43884422e-05, 2.15996948e-04,-9.80974814e+00,-1.17945383e-02,
 -2.39588677e-02, 8.43468897e-05]


--- Step 93 ---
qpos:
[-1.13512332e-02, 1.14267269e-02, 8.51942136e-03, 1.24942231e-02,
 -1.63078812e-02,-7.96782769e-03,-1.49127388e-02, 1.39061300e-02,
 -1.04216243e-02,-5.84137269e-03,-1.22961672e-02, 1.28141228e-02,
  5.08960721e-01, 1.99000371e-02, 1.54282014e-02,-2.05224853e-03,
  9.50037295e-02,-7.01869308e-02, 1.04438947e-01, 9.99996852e-01,
  2.26449913e-03, 1.03397027e-04, 1.07598023e-03]

qacc:
[  4.72710344, -1.58058462,  9.32826929,-28.7112922 ,  7.39450069,
  -3.0053707 , 12.81044581,-19.54088934,  6.40069071, -4.66074663,
  24.66954735,-53.41002651,  1.5891732 ,-20.60724136, -0.28808216,
   0.40663212,  1.18534725,  2.9141585 , -0.13746171,-68.53256854,
  29.01775171,  2.63305636]

qfrc_actuator:
[-1.76178317e-03, 1.65767634e-03, 1.36880684e-03, 2.17444984e-03,
 -3.38408823e-03,-1.75204450e-03,-2.79726632e-03, 2.46763001e-03,
 -2.17193791e-03,-1.22167456e-03,-2.35109403e-03, 2.32159353e-03,
  2.10000000e-01, 3.45974858e-03, 9.20180486e-03,-7.00397777e-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: -0.0005736002656827541
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.41941795e-14, -9.67767181e-14,  1.00000000e+00,  2.34143329e-27,
        1.00000000e+00,  9.67767181e-14, -1.00000000e+00,  0.00000000e+00,
        2.41941795e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08466991, -0.08878828,  0.06197562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.79535418e-05,-1.24348827e-04,-7.11076860e-05,-6.99368023e-05,
  4.35831765e-05, 9.96378200e-05, 8.72660314e-05,-6.05070665e-06,
  3.76373675e-05, 1.21699092e-04, 7.77887677e-05,-7.06291482e-05,
  8.59693034e-04,-9.13625090e-05,-1.57898711e-05,-3.04942875e-06,
  5.50592229e-06, 1.34680553e-04,-9.80977771e+00,-1.17805150e-02,
 -2.39592887e-02, 9.79176461e-05]


--- Step 94 ---
qpos:
[-1.13933679e-02, 1.14697660e-02, 8.55015849e-03, 1.25377269e-02,
 -1.63630693e-02,-7.99230053e-03,-1.49642193e-02, 1.39541502e-02,
 -1.04559904e-02,-5.85885202e-03,-1.23395504e-02, 1.28593636e-02,
  5.13779817e-01, 1.99697320e-02, 1.55834709e-02,-2.05940849e-03,
  9.50130447e-02,-7.01924547e-02, 1.04436829e-01, 9.99996683e-01,
  2.32905360e-03, 2.17609708e-04, 1.07802650e-03]

qacc:
[ 11.59675392, -1.69842082,  7.45268693,-18.89184311, 11.3163843 ,
  -7.22673686, 34.2566819 ,-69.59768466,  0.15763504, -6.78027327,
  31.66423035,-62.07201518,  1.57675261,-18.28154001, -2.80934162,
   8.91672254,  1.15874655,  2.84577318, -0.35915237,-66.81402796,
  28.36113201,  2.44660466]

qfrc_actuator:
[-1.69201829e-03, 1.61684740e-03, 1.35370121e-03, 2.13880755e-03,
 -3.32007365e-03,-1.77260840e-03,-2.74715966e-03, 2.36787436e-03,
 -2.17338515e-03,-1.22617516e-03,-2.28817840e-03, 2.23958511e-03,
  2.10000000e-01, 3.37541132e-03, 9.18061302e-03,-3.30145702e-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: -0.0005805481378354654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.56185157e-14,  1.19523145e-14,  1.00000000e+00, -1.14286257e-27,
        1.00000000e+00, -1.19523145e-14, -1.00000000e+00,  0.00000000e+00,
        9.56185157e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08467074, -0.08878538,  0.06197533])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.84795904e-05,-1.26289057e-04,-5.13779825e-05,-4.46735284e-05,
  6.67033697e-05, 5.49872023e-05, 8.18883454e-05,-9.24593453e-05,
  7.37078071e-07, 7.79462718e-05, 9.56467486e-05,-7.53980134e-05,
  8.57665864e-04,-8.04020922e-05,-2.01522842e-05, 3.67839816e-05,
 -2.07458049e-05, 7.53141097e-05,-9.80991431e+00,-1.17727564e-02,
 -2.39587838e-02, 1.07122851e-04]


--- Step 95 ---
qpos:
[-1.14340337e-02, 1.15121602e-02, 8.58041684e-03, 1.25801024e-02,
 -1.64166884e-02,-8.01658713e-03,-1.50149682e-02, 1.40016836e-02,
 -1.04900859e-02,-5.87590580e-03,-1.23818572e-02, 1.29039763e-02,
  5.18603282e-01, 2.00386181e-02, 1.57386517e-02,-2.06577214e-03,
  9.50269057e-02,-7.01868281e-02, 1.04432501e-01, 9.99996776e-01,
  2.26280956e-03, 3.87291867e-04, 1.08479732e-03]

qacc:
[ 12.78732108, -1.86297196, 10.12652131,-28.36861832, 13.68294507,
  -2.82703504, 12.44672881,-22.12950893,  2.39251686, -3.7432858 ,
  16.80733188,-29.70481459,  1.52061637, -9.14899091, -2.56977239,
   8.73914026,  1.13645212,  2.78762537, -0.55242154,-65.3699563 ,
  27.81062235,  2.28329568]

qfrc_actuator:
[-1.61635152e-03, 1.59340500e-03, 1.33255196e-03, 2.08270738e-03,
 -3.24261426e-03,-1.77529276e-03,-2.71501980e-03, 2.34322097e-03,
 -2.16051533e-03,-1.20434515e-03,-2.23392024e-03, 2.20875596e-03,
  2.10000000e-01, 3.33342138e-03, 9.18363258e-03, 9.38219274e-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: -0.0005827093719200441
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.76319362e-14,  1.19079840e-14,  1.00000000e+00, -5.67200336e-28,
        1.00000000e+00, -1.19079840e-14, -1.00000000e+00,  0.00000000e+00,
        4.76319362e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0846708 , -0.08878456,  0.06197523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.55791112e-05,-1.04866709e-04,-5.45368203e-05,-6.40452728e-05,
  8.07813222e-05, 4.30456174e-05, 5.10300362e-05,-2.11420795e-05,
  1.39576724e-05, 8.32789065e-05, 7.99862249e-05,-2.55670041e-05,
  8.55674090e-04,-3.77440970e-05, 6.89186021e-06, 4.39085684e-05,
 -4.10335159e-05, 2.24287927e-05,-9.80996486e+00,-1.17699380e-02,
 -2.39548931e-02, 1.07189682e-04]


--- Step 96 ---
qpos:
[-1.14742048e-02, 1.15540645e-02, 8.60954331e-03, 1.26218488e-02,
 -1.64692796e-02,-8.04050296e-03,-1.50653473e-02, 1.40495914e-02,
 -1.05233971e-02,-5.89259735e-03,-1.24234008e-02, 1.29479039e-02,
  5.23431107e-01, 2.01068609e-02, 1.58937667e-02,-2.07155270e-03,
  9.50405110e-02,-7.01699892e-02, 1.04426804e-01, 9.99997121e-01,
  2.06363927e-03, 5.53550658e-04, 1.09186037e-03]

qacc:
[ 4.28075216e+00, 1.21265408e+00,-2.62143127e+00,-6.08129190e+00,
  8.95678675e+00, 2.10016162e-01,-1.64893395e+00, 7.29785801e+00,
  6.87475580e+00,-3.07787270e+00, 1.45386461e+01,-2.78584695e+01,
  1.50708659e+00,-7.33166897e+00,-1.88828241e+00, 6.40625609e+00,
 -6.39207892e-02, 2.80304750e+00,-3.42278097e-01,-6.64651097e+01,
 -1.63929656e+00, 1.24110953e-01]

qfrc_actuator:
[-1.59107168e-03, 1.56276874e-03, 1.27254106e-03, 2.05052668e-03,
 -3.19338498e-03,-1.74954785e-03,-2.69362804e-03, 2.36296551e-03,
 -2.12156499e-03,-1.20243360e-03,-2.20284106e-03, 2.17279025e-03,
  2.10000000e-01, 3.29891094e-03, 9.17453680e-03, 3.68879325e-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: -0.000580937961804948
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47695230e-07,  1.22009099e-14,  1.00000000e+00,  3.02210717e-21,
        1.00000000e+00, -1.22009099e-14, -1.00000000e+00,  0.00000000e+00,
       -2.47695230e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09302552, -0.08868168,  0.06197531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54359572e-05,-1.01617105e-04,-9.00514678e-05,-3.96980898e-05,
  5.29352573e-05, 6.14271483e-05, 3.64630863e-05, 2.30602028e-05,
  4.03899861e-05, 6.52354743e-05, 5.76989659e-05,-3.00484693e-05,
  8.53915534e-04,-2.92301720e-05, 6.60539664e-06, 3.25713565e-05,
 -5.59832247e-05,-2.46810737e-05,-9.80993495e+00,-1.17719902e-02,
 -2.39477980e-02, 9.83721327e-05]


--- Step 97 ---
qpos:
[-1.15134535e-02, 1.15951916e-02, 8.63781612e-03, 1.26632503e-02,
 -1.65208446e-02,-8.06405808e-03,-1.51147752e-02, 1.40966350e-02,
 -1.05563075e-02,-5.90921642e-03,-1.24643436e-02, 1.29907645e-02,
  5.28263286e-01, 2.01742087e-02, 1.60486088e-02,-2.07688838e-03,
  9.50468553e-02,-7.01523550e-02, 1.04424391e-01, 9.99997475e-01,
  1.85458152e-03, 6.32440831e-04, 1.10031334e-03]

qacc:
[  8.01837189,  0.6328823 , -2.31752419, -1.68723894,  8.95875512,
  -3.97721148, 18.49215702,-35.20421188,  3.52186215, -3.78708639,
  18.13605667,-37.60711063,  1.52167829,-10.09537586, -1.77767119,
   5.57224635, -1.81523541,  0.19884465,  0.8210679 , -4.99180701,
 -43.67735419,  0.7823649 ]

qfrc_actuator:
[-1.54237953e-03, 1.51016661e-03, 1.22556306e-03, 2.03264977e-03,
 -3.14342768e-03,-1.72475703e-03,-2.64311056e-03, 2.31991922e-03,
 -2.10309350e-03,-1.23033264e-03,-2.18578661e-03, 2.11629820e-03,
  2.10000000e-01, 3.25129343e-03, 9.14752138e-03, 5.53537425e-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: -0.0005835476219908237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.51270284e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.51270284e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10364617, -0.07022096,  0.06197519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.74429176e-05,-1.28096783e-04,-7.98845857e-05,-2.60095160e-05,
  5.28504686e-05, 6.95900895e-05, 6.91098550e-05,-3.85879143e-05,
  2.06411638e-05, 2.05183215e-05, 3.70355759e-05,-5.22093826e-05,
  8.52073026e-04,-4.20807277e-05,-1.27671949e-05, 2.28514315e-05,
 -2.48573240e-05,-3.58288628e-05,-9.80986785e+00,-1.17797926e-02,
 -2.39404115e-02, 8.29343884e-05]


--- Step 98 ---
qpos:
[-1.15518510e-02, 1.16354115e-02, 8.66566921e-03, 1.27037588e-02,
 -1.65713835e-02,-8.08700561e-03,-1.51632879e-02, 1.41420787e-02,
 -1.05883756e-02,-5.92610698e-03,-1.25043226e-02, 1.30329815e-02,
  5.33099809e-01, 2.02401655e-02, 1.62033199e-02,-2.08228719e-03,
  9.50460802e-02,-7.01339287e-02, 1.04424406e-01, 9.99997850e-01,
  1.63573627e-03, 6.26033233e-04, 1.11001445e-03]

qacc:
[ 7.41270514e+00,-1.87944217e+00, 8.70663816e+00,-2.27957136e+01,
  8.95178988e+00,-5.06463582e+00, 2.59500059e+01,-5.55220453e+01,
  7.39753588e+00,-4.39150836e+00, 1.78302003e+01,-3.02836171e+01,
  1.54891370e+00,-1.55257040e+01,-3.13633583e-02,-2.36851384e-01,
 -1.77987777e+00, 1.98022085e-01, 6.06883353e-01,-4.94107960e+00,
 -4.26422432e+01, 7.00054577e-01]

qfrc_actuator:
[-1.49801822e-03, 1.46262088e-03, 1.20433197e-03, 1.98781739e-03,
 -3.09344302e-03,-1.68292429e-03,-2.59359964e-03, 2.24028723e-03,
 -2.06133435e-03,-1.25822056e-03,-2.14178472e-03, 2.08365162e-03,
  2.10000000e-01, 3.17856822e-03, 9.13640413e-03, 5.05479441e-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: -0.0005873037527632449
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.36296597e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.36296597e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10364495, -0.07022083,  0.06197504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.37725723e-05,-1.35190463e-04,-5.78951137e-05,-5.34849140e-05,
  5.28572042e-05, 9.52610825e-05, 7.16655604e-05,-7.48961963e-05,
  4.33430786e-05,-9.71642515e-06, 5.14297968e-05,-3.14264405e-05,
  8.50004247e-04,-6.74216007e-05,-5.91572325e-06,-3.23341512e-06,
  8.10704059e-06, 1.08389283e-05,-9.80990344e+00,-1.17884927e-02,
 -2.39370236e-02, 7.24870611e-05]


--- Step 99 ---
qpos:
[-1.15891100e-02, 1.16746148e-02, 8.69313789e-03, 1.27430834e-02,
 -1.66212493e-02,-8.10918379e-03,-1.52109443e-02, 1.41865448e-02,
 -1.06196748e-02,-5.94280080e-03,-1.25433689e-02, 1.30744216e-02,
  5.37940668e-01, 2.03044428e-02, 1.63579386e-02,-2.08769364e-03,
  9.50383042e-02,-7.01147115e-02, 1.04426105e-01, 9.99998238e-01,
  1.40716962e-03, 5.36042796e-04, 1.12083519e-03]

qacc:
[  9.91671991, -2.72726879, 12.73981481,-31.83271062,  5.87359018,
  -3.39991824, 17.70673521,-36.54250476,  6.74868925, -3.95909676,
  17.75160401,-32.81057581,  1.56510957,-18.69211749, -0.14469276,
   0.23899849, -1.75021284,  0.19773515,  0.42122745, -4.9074385 ,
 -41.78502307,  0.62513125]

qfrc_actuator:
[-1.43880049e-03, 1.40079710e-03, 1.18070390e-03, 1.92749765e-03,
 -3.06160498e-03,-1.63125754e-03,-2.54503703e-03, 2.19304317e-03,
 -2.02395688e-03,-1.21477630e-03,-2.08221765e-03, 2.04756297e-03,
  2.10000000e-01, 3.09163235e-03, 9.12949704e-03, 4.98618606e-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: -0.0005871315355561735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.36365907e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.36365907e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10364478, -0.07022082,  0.06197504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.85612151e-05,-1.50106021e-04,-6.00110591e-05,-6.90522776e-05,
  3.46919489e-05, 1.18385024e-04, 7.50660968e-05,-4.20287029e-05,
  3.95985320e-05, 4.85497192e-05, 6.32305859e-05,-3.52643726e-05,
  8.47798255e-04,-8.21536231e-05,-1.97697465e-06, 1.94802952e-07,
  2.29471190e-06, 6.11437781e-05,-9.80990742e+00,-1.17977287e-02,
 -2.39370415e-02, 6.37103246e-05]


--- Step 100 ---
qpos:
[-1.16247157e-02, 1.17127593e-02, 8.72044826e-03, 1.27810258e-02,
 -1.66699755e-02,-8.13078629e-03,-1.52570766e-02, 1.42311145e-02,
 -1.06506082e-02,-5.95917395e-03,-1.25817278e-02, 1.31147631e-02,
  5.42785847e-01, 2.03675781e-02, 1.65125741e-02,-2.09307240e-03,
  9.50236252e-02,-7.00947025e-02, 1.04428849e-01, 9.99998609e-01,
  1.16891685e-03, 3.63872381e-04, 1.13265771e-03]

qacc:
[ 14.40537598, -3.83248277, 17.4215351 ,-40.26082476,  9.95900119,
  -3.30327751, 12.411191  ,-13.44092584,  3.21368221, -3.76511424,
  18.66812379,-39.00807093,  1.52614739,-12.79931012, -0.08608658,
   0.2741323 , -1.72574188,  0.19794378,  0.26102574, -4.88936416,
 -41.08377917,  0.55611821]

qfrc_actuator:
[-1.35354412e-03, 1.34863145e-03, 1.17352287e-03, 1.85853369e-03,
 -3.00520708e-03,-1.59184784e-03,-2.46184552e-03, 2.20075477e-03,
 -2.00722476e-03,-1.19990289e-03,-2.04917116e-03, 1.99204723e-03,
  2.10000000e-01, 3.03252032e-03, 9.13044309e-03, 5.16173803e-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: -0.0005838022409680108
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10364545, -0.0702209 ,  0.06197518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.50640293e-05,-1.49932938e-04,-4.74599627e-05,-7.87155238e-05,
  5.87010093e-05, 1.21138868e-04, 1.16020439e-04, 1.46744326e-05,
  1.88498178e-05, 5.48039519e-05, 5.00563565e-05,-5.18626277e-05,
  8.45537864e-04,-5.46083436e-05, 7.85089999e-06, 3.28342555e-06,
 -3.98605895e-05, 1.15046337e-04,-9.80988187e+00,-1.18074735e-02,
 -2.39403967e-02, 5.65660610e-05]


--- Step 101 ---
qpos:
[-1.16590575e-02, 1.17500773e-02, 8.74735231e-03, 1.28181807e-02,
 -1.67176224e-02,-8.15191956e-03,-1.53014267e-02, 1.42747364e-02,
 -1.06810812e-02,-5.97547081e-03,-1.26195562e-02, 1.31541696e-02,
  5.47635336e-01, 2.04292192e-02, 1.66672227e-02,-2.09804545e-03,
  9.50033675e-02,-7.00789152e-02, 1.04432725e-01, 9.99998852e-01,
  9.80229287e-04, 1.24143326e-04, 1.14842686e-03]

qacc:
[ 11.00148766, -1.60022122,  7.40822766,-19.73981487,  9.44302473,
  -6.32869263, 27.43697369,-47.00515028,  4.0394071 , -3.31466886,
  15.89928984,-32.97203829,  1.54812507,-16.66899393, -1.24057231,
   4.29977949, -1.39467299, -1.05542734,  0.28302824, 24.74366457,
 -33.80501446,  2.02188581]

qfrc_actuator:
[-1.28914006e-03, 1.32046220e-03, 1.15838510e-03, 1.82056036e-03,
 -2.95256160e-03,-1.57765906e-03,-2.37663947e-03, 2.15198633e-03,
 -1.98503164e-03,-1.22012725e-03,-2.03216471e-03, 1.94326040e-03,
  2.10000000e-01, 2.95473149e-03, 9.13076871e-03, 7.25582086e-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: -0.0005778597787371271
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.40158397e-14, -1.65834664e-06,  1.00000000e+00,  3.98265870e-20,
        1.00000000e+00,  1.65834664e-06, -1.00000000e+00,  6.01853108e-36,
        2.40158397e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10150043, -0.06195587,  0.06197543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.50160780e-05,-1.23715633e-04,-5.41913636e-05,-4.74765614e-05,
  5.55959178e-05, 1.08314107e-04, 1.25596500e-04,-3.91703859e-05,
  2.37037244e-05, 1.97490170e-05, 3.31067897e-05,-4.56445694e-05,
  8.43421010e-04,-7.25983331e-05, 1.15655534e-05, 2.37829526e-05,
 -1.16566468e-04, 1.72558394e-04,-9.80982837e+00,-1.18177039e-02,
 -2.39470312e-02, 5.10234788e-05]


--- Step 102 ---
qpos:
[-1.16934289e-02, 1.17867209e-02, 8.77349860e-03, 1.28549429e-02,
 -1.67645887e-02,-8.17256567e-03,-1.53445276e-02, 1.43160907e-02,
 -1.07117225e-02,-5.99150678e-03,-1.26566638e-02, 1.31923042e-02,
  5.52489116e-01, 2.04908902e-02, 1.68219377e-02,-2.10271599e-03,
  9.49794680e-02,-7.00731336e-02, 1.04435341e-01, 9.99998891e-01,
  9.10172013e-04,-1.61444561e-04, 1.16739190e-03]

qacc:
[-2.69366031e-01, 4.18711485e-01,-1.12729569e+00,-3.96216479e+00,
  5.95419130e+00,-7.52559268e+00, 3.73236212e+01,-7.89089802e+01,
 -1.45397153e+00,-4.28503098e+00, 2.11549452e+01,-4.45213126e+01,
  1.44115312e+00, 3.76238205e-02,-8.37044485e-01, 3.01980180e+00,
 -9.10456626e-01,-2.50141702e+00,-3.14927532e-01, 5.92886471e+01,
 -2.29959298e+01, 1.62790440e+00]

qfrc_actuator:
[-1.29077703e-03, 1.28912938e-03, 1.12103198e-03, 1.80113951e-03,
 -2.92031576e-03,-1.57872665e-03,-2.32659775e-03, 2.03483469e-03,
 -1.99530806e-03,-1.19028364e-03,-1.98939522e-03, 1.88103403e-03,
  2.10000000e-01, 2.95530875e-03, 9.13072182e-03, 8.68685093e-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: -0.0005790679521744946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.79314656e-14,  1.19828664e-14,  1.00000000e+00,  5.74356348e-28,
        1.00000000e+00, -1.19828664e-14, -1.00000000e+00,  0.00000000e+00,
       -4.79314656e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09878822, -0.05151473,  0.06197538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55598385e-06,-1.12325921e-04,-7.07545840e-05,-2.74279067e-05,
  3.50687169e-05, 8.55164687e-05, 8.70869509e-05,-1.08821986e-04,
 -8.64567702e-06, 4.69639808e-05, 4.97502501e-05,-6.10529447e-05,
  8.41213439e-04, 5.41721733e-06, 1.50696221e-05, 1.87465726e-05,
 -1.89653177e-04, 1.61018521e-04,-9.80981324e+00,-1.18262230e-02,
 -2.39566340e-02, 4.80430785e-05]


--- Step 103 ---
qpos:
[-1.17282758e-02, 1.18226740e-02, 8.79897499e-03, 1.28915294e-02,
 -1.68104350e-02,-8.19273173e-03,-1.53869043e-02, 1.43554147e-02,
 -1.07425752e-02,-6.00720182e-03,-1.26930320e-02, 1.32293854e-02,
  5.57347183e-01, 2.05521394e-02, 1.69767328e-02,-2.10813908e-03,
  9.49628147e-02,-7.00720500e-02, 1.04438942e-01, 9.99998838e-01,
  8.95517391e-04,-3.59729364e-04, 1.17991656e-03]

qacc:
[ -4.14765595,  0.60625619, -2.72911069,  1.25028992,  9.76214417,
  -5.58694307, 29.382211  ,-66.00067378, -1.83141976, -3.78111902,
  18.58974573,-38.26212686,  1.46622884, -4.89973413,  2.37867323,
  -8.20311167,  1.81152915, -1.17452445,  0.24630611, 27.75177623,
  43.61621819, -3.2643371 ]

qfrc_actuator:
[-1.31349820e-03, 1.25607691e-03, 1.08861624e-03, 1.79277033e-03,
 -2.86483747e-03,-1.57140106e-03,-2.29783455e-03, 1.93160992e-03,
 -2.00686905e-03,-1.16611962e-03,-1.94932286e-03, 1.82920757e-03,
  2.10000000e-01, 2.93096878e-03, 9.11979458e-03, 4.38834989e-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: -0.0005776916670606966
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08114379, -0.06134112,  0.06197544])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.45140877e-05,-1.10263660e-04,-6.48092345e-05,-1.60685991e-05,
  5.76809736e-05, 7.01901960e-05, 5.39383422e-05,-9.85608618e-05,
 -1.08609073e-05, 5.92740978e-05, 5.41940470e-05,-4.92089898e-05,
  8.39298731e-04,-1.76598973e-05, 5.00600886e-06,-3.84311609e-05,
 -2.21760541e-04, 6.58439683e-05,-9.80982090e+00,-1.18297583e-02,
 -2.39692530e-02, 4.92477105e-05]


--- Step 104 ---
qpos:
[-1.17628127e-02, 1.18579449e-02, 8.82386313e-03, 1.29277259e-02,
 -1.68552371e-02,-8.21249336e-03,-1.54289137e-02, 1.43942688e-02,
 -1.07726189e-02,-6.02261612e-03,-1.27283585e-02, 1.32658900e-02,
  5.62209530e-01, 2.06123264e-02, 1.71314085e-02,-2.11431907e-03,
  9.49532650e-02,-7.00755848e-02, 1.04442774e-01, 9.99998748e-01,
  9.34962907e-04,-4.72613406e-04, 1.18624677e-03]

qacc:
[  2.69112838, -0.06592112,  0.56425341, -5.86203717,  9.0941422 ,
  -1.47678511,  7.99504185,-16.98105714,  7.0986512 , -3.74068142,
  16.28714926,-28.11437281,  1.50870362,-11.92338443,  2.09116407,
  -7.63355416,  1.77592368, -1.15456236,  0.05767212, 27.09932273,
  42.66563484, -3.14517015]

qfrc_actuator:
[-1.29515422e-03, 1.22227837e-03, 1.05937817e-03, 1.77321970e-03,
 -2.81388394e-03,-1.55922731e-03,-2.28181309e-03, 1.90842153e-03,
 -1.96583244e-03,-1.14554774e-03,-1.89342329e-03, 1.80166385e-03,
  2.10000000e-01, 2.87436559e-03, 9.10233549e-03, 2.96062354e-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: -0.0005798853721426314
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.19659751e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.19659751e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08114429, -0.06134195,  0.06197535])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.59248854e-05,-1.08135243e-04,-6.00751624e-05,-2.67331532e-05,
  5.37798319e-05, 6.00278078e-05, 3.42886038e-05,-2.01320736e-05,
  4.16583055e-05, 6.39964865e-05, 7.35229113e-05,-2.40139045e-05,
  8.37076713e-04,-5.03932857e-05,-1.23049130e-05,-4.08001425e-05,
 -9.96825079e-05, 1.24081972e-05,-9.80991713e+00,-1.18286589e-02,
 -2.39779087e-02, 5.17255844e-05]


--- Step 105 ---
qpos:
[-1.17965491e-02, 1.18923263e-02, 8.84860612e-03, 1.29630588e-02,
 -1.68990575e-02,-8.23174327e-03,-1.54708242e-02, 1.44339306e-02,
 -1.08015750e-02,-6.03769601e-03,-1.27627583e-02, 1.33021277e-02,
  5.67076139e-01, 2.06724622e-02, 1.72857284e-02,-2.12089410e-03,
  9.49506991e-02,-7.00836709e-02, 1.04446184e-01, 9.99998642e-01,
  1.02743678e-03,-5.01684698e-04, 1.18657667e-03]

qacc:
[  6.97531739, -2.56233152, 11.05252372,-25.08603668,  8.5388374 ,
   2.04563389, -9.75224218, 23.22922785,  9.53093492, -2.71558201,
  11.41864732,-17.73055635,  1.43665994, -0.85043112,  0.6520713 ,
  -3.09578445,  1.74593628, -1.13784498, -0.10563633, 26.56244667,
  41.87206124, -3.05185327]

qfrc_actuator:
[-1.25276648e-03, 1.17054765e-03, 1.04998567e-03, 1.72949210e-03,
 -2.76601759e-03,-1.52650843e-03,-2.27336947e-03, 1.95025935e-03,
 -1.91192569e-03,-1.12720734e-03,-1.84637789e-03, 1.78863440e-03,
  2.10000000e-01, 2.87022412e-03, 9.07564658e-03,-1.86669683e-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: -0.000578504392207399
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.39890794e-14,  1.19945397e-14,  1.00000000e+00, -2.87737966e-28,
        1.00000000e+00, -1.19945397e-14, -1.00000000e+00,  0.00000000e+00,
        2.39890794e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08114387, -0.06134207,  0.06197541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.11636576e-05,-1.24356314e-04,-3.95825276e-05,-5.08653680e-05,
  5.05567036e-05, 7.41528379e-05, 2.48930577e-05, 4.53029125e-05,
  5.60091888e-05, 6.94652406e-05, 6.88841312e-05,-8.14221091e-06,
  8.34597082e-04, 1.37588357e-06,-2.88922288e-05,-2.36650142e-05,
 -2.64060637e-05,-7.57297676e-06,-9.80996949e+00,-1.18260854e-02,
 -2.39826698e-02, 5.56335501e-05]


--- Step 106 ---
qpos:
[-1.18295470e-02, 1.19257879e-02, 8.87337089e-03, 1.29975870e-02,
 -1.69419412e-02,-8.25065585e-03,-1.55122491e-02, 1.44737823e-02,
 -1.08296423e-02,-6.05241413e-03,-1.27968592e-02, 1.33379690e-02,
  5.71947004e-01, 2.07314393e-02, 1.74394845e-02,-2.12664897e-03,
  9.49550171e-02,-7.00962533e-02, 1.04448607e-01, 9.99998515e-01,
  1.17206775e-03,-4.48253413e-04, 1.18105895e-03]

qacc:
[  6.44213551, -2.94727132, 12.12055092,-25.38418815,  8.16179379,
  -0.53604487,  1.72883165,  0.56338055,  7.77159855, -1.18895061,
   6.58085628,-14.15912575,  1.51613814,-13.0133585 , -3.34871181,
  10.43840225,  1.72100214, -1.12408475, -0.24651071, 26.12600208,
  41.21727895, -2.97926246]

qfrc_actuator:
[-1.21431951e-03, 1.12629032e-03, 1.05229269e-03, 1.68964045e-03,
 -2.72035859e-03,-1.51723680e-03,-2.25159842e-03, 1.95901273e-03,
 -1.86865184e-03,-1.12812443e-03,-1.84045199e-03, 1.76648173e-03,
  2.10000000e-01, 2.80821036e-03, 9.04877114e-03, 2.44814139e-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: -0.0005742690288249724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.20830021e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.20830021e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08114272, -0.06134162,  0.06197559])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.79782802e-05,-1.22778252e-04,-2.95563732e-05,-4.74483287e-05,
  4.82378249e-05, 5.94307851e-05, 4.22336616e-05, 1.37700581e-05,
  4.57658190e-05, 5.29515192e-05, 2.88575511e-05,-1.68859189e-05,
  8.32296135e-04,-5.52623580e-05,-3.38752735e-05, 4.01447967e-05,
  1.09463194e-06, 3.72600059e-06,-9.80998081e+00,-1.18220248e-02,
 -2.39836405e-02, 6.09035556e-05]


--- Step 107 ---
qpos:
[-1.18625485e-02, 1.19588214e-02, 8.89750363e-03, 1.30313524e-02,
 -1.69839224e-02,-8.26945718e-03,-1.55526578e-02, 1.45127325e-02,
 -1.08566107e-02,-6.06663925e-03,-1.28303993e-02, 1.33732325e-02,
  5.76822113e-01, 2.07885763e-02, 1.75929164e-02,-2.13153236e-03,
  9.49661375e-02,-7.01132877e-02, 1.04449560e-01, 9.99998331e-01,
  1.36815916e-03,-3.13383893e-04, 1.16981316e-03]

qacc:
[ -0.04366444, -0.36995088,  3.7191144 ,-15.59650183,  7.88428853,
  -4.56292464, 20.26341778,-37.54507908,  9.61393608, -2.1234974 ,
  10.92428604,-22.14950301,  1.56022089,-20.48198603, -3.15515496,
  10.26720596,  1.70058766, -1.11299815, -0.36770484, 25.77702729,
  40.68529917, -2.92324875]

qfrc_actuator:
[-1.21400054e-03, 1.12240850e-03, 1.02600529e-03, 1.65240106e-03,
 -2.67637171e-03,-1.52206383e-03,-2.20450457e-03, 1.91270488e-03,
 -1.81424124e-03,-1.08749922e-03,-1.80568291e-03, 1.73909150e-03,
  2.10000000e-01, 2.71260121e-03, 9.03779268e-03, 6.99329247e-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: -0.00056779343780336
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.44416136e-14, -2.44416136e-14,  1.00000000e+00, -5.97392475e-28,
        1.00000000e+00,  2.44416136e-14, -1.00000000e+00,  0.00000000e+00,
       -2.44416136e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08114101, -0.06134073,  0.06197586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.06334272e-07,-7.93336482e-05,-5.64812703e-05,-4.43568729e-05,
  4.64762506e-05, 3.92952833e-05, 6.55495243e-05,-4.19376767e-05,
  5.65901264e-05, 7.65796206e-05, 4.90461270e-05,-2.43879783e-05,
  8.29750435e-04,-9.00973517e-05,-1.26019967e-05, 4.54929723e-05,
 -1.48109270e-05, 4.46447385e-05,-9.80995323e+00,-1.18164704e-02,
 -2.39809003e-02, 6.74834291e-05]


--- Step 108 ---
qpos:
[-1.18946302e-02, 1.19913043e-02, 8.92116785e-03, 1.30644147e-02,
 -1.70250287e-02,-8.28784766e-03,-1.55919789e-02, 1.45500923e-02,
 -1.08827005e-02,-6.08039985e-03,-1.28629700e-02, 1.34075238e-02,
  5.81701451e-01, 2.08441806e-02, 1.77461533e-02,-2.13582681e-03,
  9.49839948e-02,-7.01347394e-02, 1.04448625e-01, 9.99998026e-01,
  1.61516695e-03,-9.79224911e-05, 1.15293256e-03]

qacc:
[  7.99599112, -0.88189465,  5.03015526,-16.01615286,  7.63923599,
  -5.78393524, 28.10200799,-57.64534608,  7.70040811, -4.1118425 ,
  19.63116723,-38.32271693,  1.53329402,-17.11101623, -2.10510647,
   6.87494311,  1.68420176, -1.10431626, -0.47177304, 25.50448624,
  40.26221987, -2.88044732]

qfrc_actuator:
[-1.16510120e-03, 1.08937018e-03, 1.00095897e-03, 1.61700893e-03,
 -2.63372865e-03,-1.48200100e-03,-2.14294190e-03, 1.83437566e-03,
 -1.77146688e-03,-1.05772985e-03,-1.75398916e-03, 1.69114601e-03,
  2.10000000e-01, 2.63348492e-03, 9.02569956e-03, 9.86343018e-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: -0.000559598255501087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.5499722e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.5499722e-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([ 0.08113886, -0.06133949,  0.06197621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.73177368e-05,-8.96401370e-05,-4.94748158e-05,-4.15180821e-05,
  4.50622735e-05, 7.53208101e-05, 7.67931053e-05,-7.51011774e-05,
  4.52481086e-05, 8.27472953e-05, 7.30643412e-05,-4.33811254e-05,
  8.27156876e-04,-7.43486716e-05,-4.46104283e-06, 3.15194842e-05,
 -7.22970587e-05, 1.13938835e-04,-9.80988826e+00,-1.18094182e-02,
 -2.39745081e-02, 7.53340941e-05]


--- Step 109 ---
qpos:
[-1.19259065e-02, 1.20229750e-02, 8.94475641e-03, 1.30968039e-02,
 -1.70652834e-02,-8.30569840e-03,-1.56302838e-02, 1.45855216e-02,
 -1.09080584e-02,-6.09390453e-03,-1.28942766e-02, 1.34409810e-02,
  5.86585005e-01, 2.08984612e-02, 1.78991885e-02,-2.13938782e-03,
  9.50068553e-02,-7.01563066e-02, 1.04448278e-01, 9.99997604e-01,
  1.86366703e-03, 1.75886489e-04, 1.13467428e-03]

qacc:
[ 7.01813888e+00,-2.26255697e+00, 9.32788509e+00,-2.02345860e+01,
  7.43207942e+00,-6.11393677e+00, 3.09625154e+01,-6.63734730e+01,
  6.43233244e+00,-4.92355964e+00, 2.15464692e+01,-3.81690106e+01,
  1.51530002e+00,-1.48221340e+01,-2.55124828e+00, 8.42378971e+00,
  1.25083323e+00,-2.88700970e-02, 1.46913228e-01, 7.79805736e-01,
  2.91717545e+01,-7.35961072e-01]

qfrc_actuator:
[-1.12348073e-03, 1.03913175e-03, 9.94499239e-04, 1.58297060e-03,
 -2.59222517e-03,-1.45085361e-03,-2.09092836e-03, 1.73788323e-03,
 -1.73589343e-03,-1.05239533e-03,-1.69277372e-03, 1.64924550e-03,
  2.10000000e-01, 2.56469316e-03, 9.01293770e-03, 1.34972179e-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: -0.0005535358176971331
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.52134949e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.52134949e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08462451, -0.06875759,  0.06197646])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.14273561e-05,-1.11053922e-04,-3.20699212e-05,-4.03126567e-05,
  4.38714465e-05, 8.74198377e-05, 7.49124449e-05,-9.19788949e-05,
  3.76987811e-05, 6.58706597e-05, 8.61502167e-05,-3.66119471e-05,
  8.24667339e-04,-6.36128583e-05,-3.48162441e-06, 3.93019044e-05,
 -1.69989538e-04, 2.10701894e-04,-9.80978695e+00,-1.18008663e-02,
 -2.39645049e-02, 8.44273281e-05]


--- Step 110 ---
qpos:
[-1.19575046e-02, 1.20541850e-02, 8.96742809e-03, 1.31282028e-02,
 -1.71047073e-02,-8.32304377e-03,-1.56676922e-02, 1.46202238e-02,
 -1.09331217e-02,-6.10722496e-03,-1.29248103e-02, 1.34740660e-02,
  5.91472765e-01, 2.09508585e-02, 1.80521040e-02,-2.14279748e-03,
  9.50228012e-02,-7.01768320e-02, 1.04450254e-01, 9.99997099e-01,
  2.10121198e-03, 3.66601675e-04, 1.11880158e-03]

qacc:
[ -2.82118739, -0.07985235,  3.59196208,-18.93696895,  7.24937476,
  -3.34726557, 15.95016751,-30.31352423,  2.59519318, -2.68809797,
  11.50135993,-19.30752917,  1.55161993,-20.94783719, -0.66969689,
   2.01160331, -1.72868035,  0.26045094,  0.58062878, -5.52482594,
 -41.53835416,  1.26929899]

qfrc_actuator:
[-1.13973911e-03, 1.01456043e-03, 9.45728108e-04, 1.53224320e-03,
 -2.55173215e-03,-1.42534873e-03,-2.04500802e-03, 1.70247963e-03,
 -1.72259804e-03,-1.06169894e-03,-1.66203284e-03, 1.62897534e-03,
  2.10000000e-01, 2.46699477e-03, 8.99978220e-03, 1.40006604e-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: -0.0005554067264084594
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.75373530e-06,  5.01067237e-06,  1.00000000e+00, -8.78739299e-12,
        1.00000000e+00, -5.01067237e-06, -1.00000000e+00,  1.61558713e-27,
        1.75373530e-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([ 0.10332586, -0.07054267,  0.06197639])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65971216e-05,-9.37486346e-05,-7.66295213e-05,-5.72955322e-05,
  4.28045993e-05, 8.74000261e-05, 7.04927093e-05,-3.07670118e-05,
  1.51759203e-05, 4.47570755e-05, 5.40261324e-05,-1.51216850e-05,
  8.22218211e-04,-9.22211211e-05,-2.60764712e-06, 8.54866109e-06,
 -2.56866769e-04, 2.50324169e-04,-9.80972632e+00,-1.17917669e-02,
 -2.39533060e-02, 9.11771793e-05]


--- Step 111 ---
qpos:
[-1.19890808e-02, 1.20850413e-02, 8.98927675e-03, 1.31583856e-02,
 -1.71433194e-02,-8.33973564e-03,-1.57043127e-02, 1.46542215e-02,
 -1.09581603e-02,-6.12025108e-03,-1.29552960e-02, 1.35066888e-02,
  5.96364722e-01, 2.10010424e-02, 1.82048619e-02,-2.14707258e-03,
  9.50383310e-02,-7.01870383e-02, 1.04452203e-01, 9.99996781e-01,
  2.21714460e-03, 5.51032274e-04, 1.10410563e-03]

qacc:
[ 1.70875481e-01,-6.71730702e-01, 6.85075008e+00,-2.63218774e+01,
  7.07544698e+00,-2.80194103e+00, 1.41955955e+01,-2.81068005e+01,
  2.12544065e-01,-6.96942589e-01, 5.00035054e+00,-1.32930162e+01,
  1.57092633e+00,-2.45503368e+01, 2.35388292e+00,-8.64982712e+00,
 -1.04014032e-01, 2.57974733e+00,-6.58623102e-03,-6.08099164e+01,
 -3.07305256e+00, 5.72581692e-01]

qfrc_actuator:
[-1.13666176e-03, 1.00536267e-03, 9.07946884e-04, 1.47208871e-03,
 -2.51216536e-03,-1.38565825e-03,-2.00303032e-03, 1.66779277e-03,
 -1.72252485e-03,-1.06206348e-03,-1.66734392e-03, 1.60380262e-03,
  2.10000000e-01, 2.35304154e-03, 8.97573883e-03, 9.10424215e-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: -0.0005572093806522511
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.79385188e-06, -7.23935155e-08,  1.00000000e+00, -1.29863244e-13,
        1.00000000e+00,  7.23935155e-08, -1.00000000e+00, -2.52435490e-29,
       -1.79385188e-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([ 0.09331193, -0.08643509,  0.06197631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10935021e-06,-7.86412720e-05,-6.81362739e-05,-6.78506988e-05,
  4.18181185e-05, 1.03254088e-04, 6.81100495e-05,-2.90145587e-05,
  1.28765178e-06, 3.61549162e-05, 1.03961779e-05,-2.16222051e-05,
  8.19576682e-04,-1.09078217e-04,-1.67621655e-05,-4.71064092e-05,
 -1.36417630e-04, 1.84462840e-04,-9.80981621e+00,-1.17810328e-02,
 -2.39461965e-02, 9.60403458e-05]


--- Step 112 ---
qpos:
[-1.20207481e-02, 1.21153380e-02, 9.01108508e-03, 1.31879313e-02,
 -1.71818276e-02,-8.35584508e-03,-1.57398104e-02, 1.46871809e-02,
 -1.09829885e-02,-6.13284652e-03,-1.29854078e-02, 1.35387172e-02,
  6.01260858e-01, 2.10495303e-02, 1.83572844e-02,-2.15153883e-03,
  9.50489049e-02,-7.01861773e-02, 1.04452621e-01, 9.99996755e-01,
  2.20349903e-03, 6.73893449e-04, 1.08663898e-03]

qacc:
[-7.84924912e-01,-1.93798698e+00, 8.52952260e+00,-1.90841537e+01,
  9.29549179e-01,-4.50604184e+00, 2.15656298e+01,-4.17587220e+01,
  1.84250752e+00,-1.70302825e+00, 9.40172367e+00,-2.05975589e+01,
  1.53161768e+00,-1.88951788e+01, 5.05669897e-02,-9.68798440e-01,
 -1.23897116e+00, 2.76685890e+00,-3.82764745e-01,-6.48224385e+01,
 -3.07162318e+01,-1.35295483e+00]

qfrc_actuator:
[-1.13995072e-03, 9.87713669e-04, 9.12537770e-04, 1.44240514e-03,
 -2.50897265e-03,-1.35555931e-03,-1.94591565e-03, 1.61605172e-03,
 -1.71248036e-03,-1.02174307e-03,-1.64061239e-03, 1.57592720e-03,
  2.10000000e-01, 2.26592401e-03, 8.95582203e-03, 8.16458547e-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: -0.0005615346194655646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10121727, -0.088592  ,  0.06197613])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.71758653e-06,-7.73390558e-05,-2.19650145e-05,-3.66451778e-05,
  5.38984261e-06, 1.02081223e-04, 8.62794107e-05,-4.54395041e-05,
  1.08505265e-05, 6.27321393e-05, 3.50627252e-05,-2.63292501e-05,
  8.16747016e-04,-8.25807399e-05,-2.49395767e-05,-1.23681979e-05,
 -1.05886719e-04, 7.38410634e-05,-9.80990404e+00,-1.17760682e-02,
 -2.39403908e-02, 9.51545997e-05]


--- Step 113 ---
qpos:
[-1.20518918e-02, 1.21450493e-02, 9.03251119e-03, 1.32172650e-02,
 -1.72199793e-02,-8.37162329e-03,-1.57739425e-02, 1.47196262e-02,
 -1.10078335e-02,-6.14522190e-03,-1.30146419e-02, 1.35705003e-02,
  6.06161155e-01, 2.10973502e-02, 1.85093934e-02,-2.15607774e-03,
  9.50546120e-02,-7.01744487e-02, 1.04450829e-01, 9.99997033e-01,
  2.06262550e-03, 7.36539403e-04, 1.06604120e-03]

qacc:
[  4.5515634 , -0.15099823,  0.29573531, -2.9074676 ,  3.13778799,
  -4.44184978, 18.6339145 ,-29.94836019, -0.12386227, -2.66647703,
  10.96635953,-16.77968448,  1.44991233, -7.63356514, -0.26755558,
   0.20404456, -1.2167004 ,  2.7168805 , -0.55268649,-63.64576873,
 -30.04193938, -1.54224949]

qfrc_actuator:
[-1.11144985e-03, 9.47588719e-04, 8.88840530e-04, 1.43091165e-03,
 -2.49171618e-03,-1.34915826e-03,-1.88036879e-03, 1.59019895e-03,
 -1.71440124e-03,-1.01052370e-03,-1.59500050e-03, 1.56449982e-03,
  2.10000000e-01, 2.23078123e-03, 8.93840286e-03, 7.79090955e-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: -0.0005621449854878169
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.93744075e-14, -1.23436019e-14,  1.00000000e+00,  6.09458030e-28,
        1.00000000e+00,  1.23436019e-14, -1.00000000e+00,  0.00000000e+00,
        4.93744075e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10121666, -0.08859227,  0.06197611])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.69242296e-05,-8.82126495e-05,-4.32170192e-05,-1.61941753e-05,
  1.83745356e-05, 8.07600617e-05, 9.61393403e-05,-1.92911200e-05,
 -8.51472685e-07, 5.33806361e-05, 6.23048025e-05,-7.98128249e-06,
  8.14081618e-04,-2.99533715e-05,-2.17823618e-05,-5.69800037e-06,
 -3.60655839e-05, 7.51303415e-07,-9.80996569e+00,-1.17761446e-02,
 -2.39368033e-02, 8.95592781e-05]


--- Step 114 ---
qpos:
[-1.20811001e-02, 1.21743789e-02, 9.05314384e-03, 1.32462369e-02,
 -1.72565752e-02,-8.38717602e-03,-1.58068625e-02, 1.47508448e-02,
 -1.10321495e-02,-6.15718079e-03,-1.30431612e-02, 1.36018858e-02,
  6.11065600e-01, 2.11447814e-02, 1.86611583e-02,-2.16060797e-03,
  9.50532400e-02,-7.01619074e-02, 1.04450987e-01, 9.99997365e-01,
  1.91309823e-03, 7.16192242e-04, 1.04757965e-03]

qacc:
[ 16.81297847,  0.93579935, -2.59805775, -2.05191842, 13.56954215,
  -5.63928209, 25.67477649,-48.96266063,  4.6390537 , -2.2749236 ,
  10.57327597,-18.88732079,  1.42518068, -4.57422902, -0.55752541,
   1.15567369, -1.76976696,  0.20319251,  0.48752182, -4.37193881,
 -41.48963853,  1.15048637]

qfrc_actuator:
[-1.01119546e-03, 9.29733122e-04, 8.48528435e-04, 1.41240932e-03,
 -2.41305756e-03,-1.35695771e-03,-1.82820727e-03, 1.52651233e-03,
 -1.68785299e-03,-9.81221325e-04,-1.55646626e-03, 1.54507742e-03,
  2.10000000e-01, 2.20872114e-03, 8.91716657e-03, 7.75262084e-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: -0.0005627207111807767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10364968, -0.07022652,  0.06197608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.96095663e-05,-7.55477691e-05,-6.39963800e-05,-2.40090467e-05,
  8.01139373e-05, 5.77855147e-05, 8.04647512e-05,-5.71898598e-05,
  2.72601005e-05, 7.26425673e-05, 5.72856636e-05,-1.50769159e-05,
  8.11676164e-04,-1.56218690e-05,-2.35826818e-05,-1.60741563e-06,
 -5.88374670e-06, 5.32192461e-06,-9.80994293e+00,-1.17812605e-02,
 -2.39358735e-02, 8.06752496e-05]


--- Step 115 ---
qpos:
[-1.21092513e-02, 1.22032066e-02, 9.07344752e-03, 1.32747464e-02,
 -1.72919261e-02,-8.40260353e-03,-1.58390694e-02, 1.47811075e-02,
 -1.10555996e-02,-6.16859092e-03,-1.30712819e-02, 1.36321096e-02,
  6.15974177e-01, 2.11919839e-02, 1.88125656e-02,-2.16476381e-03,
  9.50449008e-02,-7.01485647e-02, 1.04452443e-01, 9.99997740e-01,
  1.75481067e-03, 6.14107923e-04, 1.03099191e-03]

qacc:
[  9.1910027 , -0.71413123,  3.50545631,-10.58071847, 10.85106913,
  -3.81559454, 17.84544619,-35.5847603 ,  7.56810238, -2.79466749,
  15.89664919,-37.01724135,  1.40996164, -2.82973764, -1.68452496,
   5.07111454, -1.74182222,  0.20033452,  0.32476958, -4.42365949,
 -40.86210671,  1.01192607]

qfrc_actuator:
[-9.58273340e-04, 9.07516986e-04, 8.34316834e-04, 1.38993618e-03,
 -2.35215755e-03,-1.37330422e-03,-1.80222215e-03, 1.47654891e-03,
 -1.64476252e-03,-9.59106235e-04,-1.54011962e-03, 1.48560305e-03,
  2.10000000e-01, 2.19449840e-03, 8.89897984e-03, 9.68559841e-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: -0.0005621836895804769
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.93710083e-14, -2.46855042e-14,  1.00000000e+00,  1.21874823e-27,
        1.00000000e+00,  2.46855042e-14, -1.00000000e+00,  0.00000000e+00,
        4.93710083e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10365017, -0.07022701,  0.0619761 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.43961168e-05,-7.75001406e-05,-3.81363451e-05,-2.83158738e-05,
  6.41038958e-05, 3.14945230e-05, 4.62798294e-05,-4.57371965e-05,
  4.45911815e-05, 7.48744830e-05, 3.82046051e-05,-5.46177391e-05,
  8.09257576e-04,-7.40961653e-06,-2.08268921e-05, 1.81199399e-05,
 -1.11228852e-05, 3.38574272e-05,-9.80994726e+00,-1.17864165e-02,
 -2.39365921e-02, 7.50374515e-05]


--- Step 116 ---
qpos:
[-1.21376095e-02, 1.22314490e-02, 9.09317272e-03, 1.33031397e-02,
 -1.73265991e-02,-8.41791502e-03,-1.58709938e-02, 1.48112601e-02,
 -1.10783372e-02,-6.17984406e-03,-1.30987945e-02, 1.36610778e-02,
  6.20886876e-01, 2.12387067e-02, 1.89638565e-02,-2.16900875e-03,
  9.50296856e-02,-7.01344285e-02, 1.04454637e-01, 9.99998130e-01,
  1.58766776e-03, 4.31314178e-04, 1.01606019e-03]

qacc:
[ -1.80736828,  0.60764299, -2.7922459 ,  2.12991973,  5.90425253,
  -0.87414872,  3.78452147, -6.20614766,  6.24285809, -4.08897085,
  20.16149385,-42.95957822,  1.42287827, -5.57298532,  0.07515783,
  -0.56994031, -1.71896573,  0.1983726 ,  0.18420388, -4.46978855,
 -40.34860872,  0.8960995 ]

qfrc_actuator:
[-9.69151757e-04, 8.65204633e-04, 8.00113146e-04, 1.38307859e-03,
 -2.31997683e-03,-1.37701624e-03,-1.79192887e-03, 1.47054458e-03,
 -1.61004764e-03,-9.77107648e-04,-1.51930244e-03, 1.42077327e-03,
  2.10000000e-01, 2.16722094e-03, 8.89328802e-03, 9.21389269e-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: -0.0005589136719286528
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.96598616e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.96598616e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10365128, -0.07022748,  0.06197624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06825352e-05,-9.35868290e-05,-5.55070869e-05,-1.19737258e-05,
  3.49055724e-05, 2.28059227e-05, 2.13288072e-05,-3.86690642e-06,
  3.66926620e-05, 3.03431070e-05, 3.94059766e-05,-6.13099361e-05,
  8.06828738e-04,-2.02288346e-05,-4.94381013e-06,-4.49011443e-06,
 -5.09382228e-05, 6.63144025e-05,-9.80992325e+00,-1.17921334e-02,
 -2.39405766e-02, 7.10316136e-05]


--- Step 117 ---
qpos:
[-1.21652133e-02, 1.22588848e-02, 9.11243341e-03, 1.33315978e-02,
 -1.73602542e-02,-8.43331615e-03,-1.59024883e-02, 1.48418149e-02,
 -1.11004684e-02,-6.19088385e-03,-1.31258485e-02, 1.36890484e-02,
  6.25803687e-01, 2.12841042e-02, 1.91148827e-02,-2.17258302e-03,
  9.50076678e-02,-7.01195036e-02, 1.04457083e-01, 9.99998487e-01,
  1.41158026e-03, 1.68632993e-04, 1.00260220e-03]

qacc:
[  6.55823238,  0.35303944, -3.10140057,  5.58365101,  8.86974904,
  -0.50901847, -0.08478471,  6.45599385,  5.30841873, -3.06369372,
  15.52767353,-33.66640437,  1.48923711,-14.8541062 , -2.45461054,
   7.94937401, -1.7006815 ,  0.19717742,  0.06323801, -4.51316608,
 -39.93792502,  0.79836843]

qfrc_actuator:
[-9.28706146e-04, 8.11118867e-04, 7.72047948e-04, 1.38542907e-03,
 -2.26945333e-03,-1.39094111e-03,-1.77315267e-03, 1.49045226e-03,
 -1.58055127e-03,-9.65748809e-04,-1.49617198e-03, 1.37104146e-03,
  2.10000000e-01, 2.09694791e-03, 8.87910697e-03, 1.26565390e-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: -0.0005534858866420439
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.01468534e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.01468534e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10365288, -0.07022794,  0.06197647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.87932683e-05,-1.17261606e-04,-5.42617749e-05,-3.73510749e-06,
  5.23983090e-05, 4.34001028e-06, 2.63856167e-05, 2.16239481e-05,
  3.12228923e-05, 3.47332677e-05, 3.24287691e-05,-4.82100589e-05,
  8.04298068e-04,-6.34705750e-05,-9.62583731e-06, 3.52103090e-05,
 -1.24079922e-04, 1.02652132e-04,-9.80987210e+00,-1.17983759e-02,
 -2.39477825e-02, 6.86316137e-05]


--- Step 118 ---
qpos:
[-1.21914535e-02, 1.22853830e-02, 9.13186823e-03, 1.33594914e-02,
 -1.73930248e-02,-8.44876820e-03,-1.59335094e-02, 1.48723640e-02,
 -1.11224058e-02,-6.20148443e-03,-1.31528092e-02, 1.37162025e-02,
  6.30724597e-01, 2.13283674e-02, 1.92655787e-02,-2.17567680e-03,
  9.49789040e-02,-7.01037922e-02, 1.04459367e-01, 9.99998742e-01,
  1.22646050e-03,-1.73299296e-04, 9.90463890e-04]

qacc:
[ 11.87684024, -2.91218135, 10.92887446,-20.24487975,  7.70933655,
  -1.41630717,  4.95048555, -5.73998461,  1.68813186, -1.36470085,
   9.15039415,-23.75003615,  1.47011965,-12.75894927, -1.97368267,
   6.12873472, -1.68649694,  0.19664073, -0.04054537, -4.55589357,
 -39.62002672,  0.71506099]

qfrc_actuator:
[-8.58344594e-04, 7.68177103e-04, 7.83288517e-04, 1.35766457e-03,
 -2.22628790e-03,-1.39308179e-03,-1.74954707e-03, 1.48993370e-03,
 -1.57211740e-03,-9.36892959e-04,-1.48949988e-03, 1.33061270e-03,
  2.10000000e-01, 2.03742030e-03, 8.85452409e-03, 1.48248574e-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: -0.0005463902385271779
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10365487, -0.07022839,  0.06197677])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01574594e-05,-1.18759604e-04,-1.94201471e-05,-3.46651886e-05,
  4.55325602e-05, 7.90405267e-06, 2.88931727e-05, 1.07449297e-06,
  9.99431268e-06, 5.37805970e-05, 1.64637305e-05,-3.87064299e-05,
  8.01508459e-04,-5.36638965e-05,-1.73470070e-05, 2.41730620e-05,
 -2.29677202e-04, 1.42867661e-04,-9.80979475e+00,-1.18051160e-02,
 -2.39581721e-02, 6.78165531e-05]


--- Step 119 ---
qpos:
[-1.22166708e-02, 1.23111626e-02, 9.15094887e-03, 1.33868451e-02,
 -1.74256958e-02,-8.46410794e-03,-1.59643310e-02, 1.49023233e-02,
 -1.11440587e-02,-6.21170759e-03,-1.31795123e-02, 1.37430034e-02,
  6.35649586e-01, 2.13723278e-02, 1.94161745e-02,-2.17915916e-03,
  9.49574266e-02,-7.00928864e-02, 1.04462969e-01, 9.99998834e-01,
  1.09604438e-03,-4.26603545e-04, 9.73609190e-04]

qacc:
[  8.8941562 , -1.08944008,  4.75619456,-12.97475979,  0.87131248,
  -1.62472143,  8.49604494,-19.10267024,  2.48748254, -0.95288095,
   5.60423234,-12.39763733,  1.39493961, -3.63634673,  1.00883059,
  -3.79815842,  1.82162924, -1.20142444,  0.32921843, 27.39537153,
  44.28396957, -2.41719959]

qfrc_actuator:
[-8.06449730e-04, 7.32375258e-04, 7.64401829e-04, 1.33018714e-03,
 -2.22331631e-03,-1.38815483e-03,-1.74101186e-03, 1.45965370e-03,
 -1.55839838e-03,-9.15602748e-04,-1.47476835e-03, 1.31373637e-03,
  2.10000000e-01, 2.02018423e-03, 8.84501873e-03, 1.26702437e-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: -0.0005483877857042838
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.48994592e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.48994592e-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([ 0.08114012, -0.06133526,  0.06197669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.26251151e-05,-1.06627012e-04,-4.66538355e-05,-3.38432889e-05,
  5.13974131e-06, 1.65675204e-05, 1.41466300e-05,-2.88490809e-05,
  1.46638406e-05, 5.39600195e-05, 2.68180566e-05,-1.47047706e-05,
  7.98711635e-04,-1.11033969e-05,-6.74894966e-06,-2.05931011e-05,
 -3.67188165e-04, 1.86991323e-04,-9.80969191e+00,-1.18123312e-02,
 -2.39717129e-02, 6.85702283e-05]


--- Step 120 ---
qpos:
[-1.22421280e-02, 1.23362610e-02, 9.16962771e-03, 1.34140018e-02,
 -1.74580598e-02,-8.47949301e-03,-1.59953121e-02, 1.49317340e-02,
 -1.11653662e-02,-6.22199270e-03,-1.32053856e-02, 1.37697566e-02,
  6.40578641e-01, 2.14157991e-02, 1.95667454e-02,-2.18288065e-03,
  9.49430912e-02,-7.00866884e-02, 1.04467117e-01, 9.99998851e-01,
  1.01921754e-03,-5.93395921e-04, 9.51917624e-04]

qacc:
[ -2.08685753, -0.17863979,  0.16902238, -2.44066292,  2.66542994,
  -0.74858736,  4.89020178,-14.08917908,  3.04504   , -2.50493258,
   9.00434222,-11.10125417,  1.40582737, -5.67791452,  0.6655108 ,
  -2.43845761,  1.78546615, -1.17691962,  0.13689063, 26.83573275,
  43.22713317, -2.47723459]

qfrc_actuator:
[-8.19097537e-04, 7.01013480e-04, 7.45650063e-04, 1.32083585e-03,
 -2.20852480e-03,-1.41463541e-03,-1.75918713e-03, 1.42985581e-03,
 -1.54167651e-03,-9.34471073e-04,-1.43765010e-03, 1.31085474e-03,
  2.10000000e-01, 1.99244021e-03, 8.84455105e-03, 1.15400845e-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: -0.0005541675042435579
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.50425868e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.50425868e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08114187, -0.06133587,  0.06197644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23849467e-05,-1.01038553e-04,-4.73510126e-05,-1.61254320e-05,
  1.57985713e-05,-1.43414506e-05,-1.36259500e-05,-2.90869443e-05,
  1.77830353e-05, 1.70590506e-05, 5.13437335e-05, 1.22153829e-07,
  7.96110736e-04,-2.05963140e-05, 1.34919156e-06,-1.16709142e-05,
 -2.01986987e-04, 9.25403896e-05,-9.80983476e+00,-1.18172588e-02,
 -2.39819165e-02, 6.56259953e-05]


--- Step 121 ---
qpos:
[-1.22682516e-02, 1.23604463e-02, 9.18862434e-03, 1.34404708e-02,
 -1.74896334e-02,-8.49469548e-03,-1.60258487e-02, 1.49604888e-02,
 -1.11862952e-02,-6.23256736e-03,-1.32301957e-02, 1.37966267e-02,
  6.45511753e-01, 2.14583136e-02, 1.97171364e-02,-2.18667102e-03,
  9.49357745e-02,-7.00851150e-02, 1.04471144e-01, 9.99998849e-01,
  9.95037424e-04,-6.75450374e-04, 9.25301633e-04]

qacc:
[-5.76771879e+00,-3.50089330e+00, 1.36546272e+01,-2.54154240e+01,
  6.88452003e+00,-2.36384192e+00, 1.15251695e+01,-2.36973228e+01,
  3.34527842e+00,-3.11908290e+00, 1.00612002e+01,-9.51150988e+00,
  1.44181708e+00,-1.08112691e+01,-8.40252464e-02,-1.55683684e-01,
  1.75468632e+00,-1.15617721e+00,-3.05630650e-02, 2.63622099e+01,
  4.23413400e+01,-2.52100328e+00]

qfrc_actuator:
[-8.51864644e-04, 6.54813143e-04, 7.62673811e-04, 1.28672787e-03,
 -2.16913584e-03,-1.37108463e-03,-1.72209884e-03, 1.40054202e-03,
 -1.52332764e-03,-9.59393489e-04,-1.38777511e-03, 1.31620578e-03,
  2.10000000e-01, 1.94094598e-03, 8.82819966e-03, 1.10251970e-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: -0.0005560275156670721
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.49588148e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.49588148e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08114253, -0.06133587,  0.06197637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.43425284e-05,-1.12153256e-04,-9.88958364e-06,-4.03189421e-05,
  4.06974844e-05, 3.26514512e-05, 3.18198451e-05,-3.08941600e-05,
  1.94774597e-05,-3.94083260e-06, 6.00074340e-05, 7.90974541e-06,
  7.93433829e-04,-4.45174311e-05,-1.02289602e-05,-4.07563948e-06,
 -8.80701266e-05, 3.15050782e-05,-9.80993177e+00,-1.18205264e-02,
 -2.39883178e-02, 6.40897191e-05]


--- Step 122 ---
qpos:
[-1.22949329e-02, 1.23839449e-02, 9.20736647e-03, 1.34659917e-02,
 -1.75204731e-02,-8.50940613e-03,-1.60553632e-02, 1.49889334e-02,
 -1.12064846e-02,-6.24310733e-03,-1.32545896e-02, 1.38237015e-02,
  6.50448905e-01, 2.15002891e-02, 1.98671827e-02,-2.19044830e-03,
  9.49353731e-02,-7.00880970e-02, 1.04474467e-01, 9.99998850e-01,
  1.02271632e-03,-6.74239411e-04, 8.93698955e-04]

qacc:
[ -4.84480972, -2.13982222, 10.33176303,-25.8466227 ,  6.40741769,
  -2.85674627, 12.41803446,-19.76105589,  6.47445297, -0.70841071,
   1.70646456,  1.16851714,  1.4041904 , -6.23564801, -0.57286893,
   1.20625402,  1.72882153, -1.13883484, -0.17570891, 25.96631576,
  41.60618816, -2.55228345]

qfrc_actuator:
[-8.78428295e-04, 6.17966647e-04, 7.47346102e-04, 1.23833550e-03,
 -2.13334720e-03,-1.30347748e-03,-1.65239268e-03, 1.38959794e-03,
 -1.48642117e-03,-9.52190707e-04,-1.36631658e-03, 1.32635078e-03,
  2.10000000e-01, 1.91137049e-03, 8.80233289e-03, 1.08720118e-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: -0.0005547132729758417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08114233, -0.06133539,  0.06197642])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.87440135e-05,-1.02299489e-04,-4.07521461e-05,-5.42520980e-05,
  3.78170357e-05, 9.22758298e-05, 7.96696743e-05,-8.97606338e-06,
  3.80733322e-05, 1.85511657e-05, 2.85846363e-05, 1.22541042e-05,
  7.90531947e-04,-2.31002846e-05,-2.36174558e-05,-1.38493206e-06,
 -2.19057749e-05, 1.93807185e-06,-9.80998620e+00,-1.18221764e-02,
 -2.39909900e-02, 6.38999439e-05]


--- Step 123 ---
qpos:
[-1.23217481e-02, 1.24071723e-02, 9.22529934e-03, 1.34910659e-02,
 -1.75506279e-02,-8.52309888e-03,-1.60845793e-02, 1.50163171e-02,
 -1.12260627e-02,-6.25345201e-03,-1.32788550e-02, 1.38503422e-02,
  6.55390082e-01, 2.15416450e-02, 2.00169651e-02,-2.19388871e-03,
  9.49418013e-02,-7.00955771e-02, 1.04476587e-01, 9.99998851e-01,
  1.10160579e-03,-5.90969848e-04, 8.57066864e-04]

qacc:
[ -1.1853057 ,  0.98620816, -2.14574072, -4.09801863,  5.94755091,
  -1.68360336, 12.4149558 ,-31.98220311,  5.34173639, -1.00540122,
   5.77452696,-13.61889681,  1.40681778, -7.12560014, -1.43576453,
   4.39629401,  1.70740523, -1.12454279, -0.30108632, 25.64022982,
  41.00379746, -2.57392827]

qfrc_actuator:
[-8.83359345e-04, 6.22376671e-04, 7.13052690e-04, 1.21741318e-03,
 -2.09997855e-03,-1.23957138e-03,-1.63488177e-03, 1.33633452e-03,
 -1.45664526e-03,-9.43673863e-04,-1.36168622e-03, 1.30373244e-03,
  2.10000000e-01, 1.87715834e-03, 8.79208134e-03, 1.27056689e-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: -0.0005508645410254379
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08114143, -0.06133452,  0.06197659])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.91521559e-06,-6.24854415e-05,-6.19606037e-05,-2.76982006e-05,
  3.53030069e-05, 1.32711827e-04, 4.64343907e-05,-4.66595312e-05,
  3.14771991e-05, 2.61174529e-05, 1.26721878e-05,-2.05507751e-05,
  7.87671923e-04,-2.72058707e-05,-1.31910241e-05, 1.70662703e-05,
 -7.10340261e-07, 2.28630538e-06,-9.81000053e+00,-1.18222414e-02,
 -2.39899936e-02, 6.50078995e-05]


--- Step 124 ---
qpos:
[-1.23480913e-02, 1.24299876e-02, 9.24270041e-03, 1.35156941e-02,
 -1.75801325e-02,-8.53604358e-03,-1.61132856e-02, 1.50432163e-02,
 -1.12451196e-02,-6.26362412e-03,-1.33028814e-02, 1.38765008e-02,
  6.60335265e-01, 2.15826782e-02, 2.01667423e-02,-2.19711496e-03,
  9.49549894e-02,-7.01075092e-02, 1.04477069e-01, 9.99998819e-01,
  1.23118255e-03,-4.26613868e-04, 8.15377852e-04]

qacc:
[ 4.09296191e+00, 1.52187805e-02, 1.02471869e+00,-7.57589154e+00,
  5.65821607e+00,-1.44400796e+00, 8.61038679e+00,-1.83420728e+01,
  4.55827450e+00,-1.44084727e+00, 7.48834990e+00,-1.63237338e+01,
  1.37510471e+00,-3.86994986e+00,-6.78097510e-01, 2.30576667e+00,
  1.68999226e+00,-1.11297441e+00,-4.09113555e-01, 2.53768890e+01,
  4.05186457e+01,-2.58808359e+00]

qfrc_actuator:
[-8.57758865e-04, 5.98141726e-04, 6.85789058e-04, 1.19509816e-03,
 -2.06830634e-03,-1.21411400e-03,-1.61286781e-03, 1.31181213e-03,
 -1.43131529e-03,-9.34543061e-04,-1.34927901e-03, 1.27976565e-03,
  2.10000000e-01, 1.85821306e-03, 8.79652987e-03, 1.39232681e-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: -0.0005450271340371668
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54625631e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.54625631e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08114   , -0.06133335,  0.06197683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.42780178e-05,-7.20984117e-05,-4.84003988e-05,-2.76027021e-05,
  3.35132212e-05, 1.08369373e-04, 5.38837037e-05,-1.80706557e-05,
  2.68395728e-05, 2.62447787e-05, 1.89095455e-05,-2.27651330e-05,
  7.84824853e-04,-1.19911338e-05, 7.86649469e-06, 1.31615234e-05,
 -2.23172660e-05, 3.13318436e-05,-9.80997663e+00,-1.18207455e-02,
 -2.39853764e-02, 6.73755674e-05]


--- Step 125 ---
qpos:
[-1.23739443e-02, 1.24522915e-02, 9.25942086e-03, 1.35395426e-02,
 -1.76093574e-02,-8.54878172e-03,-1.61409816e-02, 1.50699944e-02,
 -1.12633678e-02,-6.27363122e-03,-1.33265835e-02, 1.39021645e-02,
  6.65284442e-01, 2.16232271e-02, 2.03165918e-02,-2.20016958e-03,
  9.49748823e-02,-7.01238565e-02, 1.04475544e-01, 9.99998693e-01,
  1.41103592e-03,-1.81935829e-04, 7.68616391e-04]

qacc:
[  4.24743378, -0.38751319,  3.6784803 ,-15.69299595,  2.45923609,
  -2.80358112, 10.89662567,-14.7533111 ,  7.07122768, -1.72093762,
   8.51884404,-17.70059967,  1.38388082, -5.64152126, -0.43580565,
   1.62236958,  1.67616928, -1.10383108, -0.5020375 , 25.16999893,
  40.13734376, -2.59635327]

qfrc_actuator:
[-8.32144512e-04, 5.56969303e-04, 6.45036895e-04, 1.15437285e-03,
 -2.05564399e-03,-1.22961578e-03,-1.57073014e-03, 1.30438235e-03,
 -1.39105468e-03,-9.25099285e-04,-1.33236749e-03, 1.25521131e-03,
  2.10000000e-01, 1.83062620e-03, 8.79913308e-03, 1.47700278e-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: -0.0005376639307352188
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58112680e-14, -2.58112680e-14,  1.00000000e+00,  6.66221556e-28,
        1.00000000e+00,  2.58112680e-14, -1.00000000e+00,  0.00000000e+00,
        2.58112680e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08113815, -0.06133195,  0.06197714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52072793e-05,-9.16145316e-05,-6.22090288e-05,-4.59565082e-05,
  1.44098799e-05, 5.65374698e-05, 7.08787422e-05,-1.20836368e-06,
  4.16294219e-05, 2.78012509e-05, 2.41255977e-05,-2.31754437e-05,
  7.82104484e-04,-2.02421554e-05, 1.41095248e-05, 1.16763567e-05,
 -8.50697122e-05, 8.81408842e-05,-9.80991583e+00,-1.18177063e-02,
 -2.39771750e-02, 7.09740603e-05]


--- Step 126 ---
qpos:
[-1.23989652e-02, 1.24740047e-02, 9.27554857e-03, 1.35627235e-02,
 -1.76385339e-02,-8.56100718e-03,-1.61679677e-02, 1.50954220e-02,
 -1.12813250e-02,-6.28335600e-03,-1.33496466e-02, 1.39266070e-02,
  6.70237606e-01, 2.16621519e-02, 2.04664056e-02,-2.20306138e-03,
  9.50013055e-02,-7.01442268e-02, 1.04471990e-01, 9.99998394e-01,
  1.63673126e-03, 1.40635015e-04, 7.17056235e-04]

qacc:
[  7.22359092, -0.51296323,  3.49099453,-13.63828252,  0.43463859,
  -4.08616627, 21.25418229,-46.13924054,  2.55765811, -3.93159071,
  19.70781537,-42.06518075,  1.47849418,-18.12850174, -0.57908435,
   1.87535951,  1.63259726, -1.00572243, -0.50720313, 22.95057311,
  38.9253353 , -2.45840321]

qfrc_actuator:
[-7.88976177e-04, 5.23651166e-04, 6.14305789e-04, 1.12086605e-03,
 -2.05427697e-03,-1.19844027e-03,-1.53497526e-03, 1.23602810e-03,
 -1.37783678e-03,-8.97776546e-04,-1.29518169e-03, 1.19500496e-03,
  2.10000000e-01, 1.74488724e-03, 8.78997073e-03, 1.53899709e-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: -0.0005291429977290736
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.63810650e-07,  1.61088749e-06,  1.00000000e+00,  9.08235522e-13,
        1.00000000e+00, -1.61088749e-06, -1.00000000e+00,  0.00000000e+00,
       -5.63810650e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08145626, -0.0620131 ,  0.0619775 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.28107223e-05,-9.83326910e-05,-5.85623744e-05,-4.04108509e-05,
  2.52688195e-06, 7.84465749e-05, 5.64643422e-05,-6.34374861e-05,
  1.50016081e-05, 4.75855699e-05, 4.53392515e-05,-5.85906705e-05,
  7.79286435e-04,-7.85376653e-05, 4.68056125e-06, 1.00435658e-05,
 -1.87733327e-04, 1.72020500e-04,-9.80981903e+00,-1.18131361e-02,
 -2.39654150e-02, 7.57822791e-05]


--- Step 127 ---
qpos:
[-1.24232942e-02, 1.24950472e-02, 9.29147803e-03, 1.35853065e-02,
 -1.76667635e-02,-8.57265925e-03,-1.61946201e-02, 1.51198526e-02,
 -1.12989726e-02,-6.29275076e-03,-1.33721191e-02, 1.39501355e-02,
  6.75194737e-01, 2.16998120e-02, 2.06160386e-02,-2.20515655e-03,
  9.50205840e-02,-7.01636442e-02, 1.04471102e-01, 9.99997984e-01,
  1.85534548e-03, 3.75943355e-04, 6.70067607e-04]

qacc:
[  6.01736093, -1.57569794,  6.83572891,-16.35092782,  8.23389084,
  -2.24262872, 13.2789772 ,-31.46380727,  2.71667329, -3.10105336,
  15.54073461,-32.5398386 ,  1.44572119,-14.20460583, -2.71242753,
   9.03057012, -1.78619178,  0.23821855,  0.6664913 , -3.57206722,
 -43.62489638,  2.35671491]

qfrc_actuator:
[-7.53566157e-04, 4.95329342e-04, 6.07524316e-04, 1.09189020e-03,
 -2.00631003e-03,-1.17515238e-03,-1.52090655e-03, 1.18565470e-03,
 -1.36289783e-03,-8.77662381e-04,-1.26402842e-03, 1.14983683e-03,
  2.10000000e-01, 1.67884841e-03, 8.77908195e-03, 1.94183656e-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: -0.0005310556836992456
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.22649064e-14, -2.61324532e-14,  1.00000000e+00,  1.36581022e-27,
        1.00000000e+00,  2.61324532e-14, -1.00000000e+00,  0.00000000e+00,
        5.22649064e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10365443, -0.07023935,  0.06197742])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.55858574e-05,-9.61289152e-05,-3.53712495e-05,-3.59366320e-05,
  4.87720703e-05, 7.71605617e-05, 3.53744841e-05,-4.62273039e-05,
  1.59532400e-05, 5.42835117e-05, 4.47778581e-05,-4.26593117e-05,
  7.76051557e-04,-6.01263167e-05,-1.12118926e-06, 4.29269344e-05,
 -3.24877700e-04, 2.75530217e-04,-9.80969254e+00,-1.18070956e-02,
 -2.39503719e-02, 8.14788396e-05]


--- Step 128 ---
qpos:
[-1.24466842e-02, 1.25154844e-02, 9.30715357e-03, 1.36077082e-02,
 -1.76941853e-02,-8.58361006e-03,-1.62212475e-02, 1.51434956e-02,
 -1.13159481e-02,-6.30175940e-03,-1.33943652e-02, 1.39733036e-02,
  6.80155814e-01, 2.17374935e-02, 2.07654665e-02,-2.20671836e-03,
  9.50328362e-02,-7.01821625e-02, 1.04472168e-01, 9.99997530e-01,
  2.06658062e-03, 5.26077800e-04, 6.27002203e-04]

qacc:
[  8.16201282, -0.47978635,  1.28794357, -3.54530583,  7.01260144,
  -0.77787188,  7.42001397,-21.58096138,  5.87210027, -0.87577375,
   5.36467265,-12.22588719,  1.32803031, -0.11470918, -1.93857904,
   6.29073481, -1.75656071,  0.22477534,  0.48857738, -3.71876826,
 -42.58074291,  2.03924962]

qfrc_actuator:
[-0.00070525, 0.00047032, 0.0005972 , 0.00108358,-0.00196681,-0.00113911,
 -0.00151976, 0.00114626,-0.00132931,-0.00086203,-0.00125445, 0.00113163,
  0.21      , 0.00167818, 0.00876185, 0.00021871, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005361192195318804
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17712751e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.17712751e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10365249, -0.07024087,  0.06197721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.83107468e-05,-8.66300529e-05,-3.54538488e-05,-1.42857233e-05,
  4.16156550e-05, 8.55587580e-05, 2.01742231e-05,-3.57058906e-05,
  3.46157178e-05, 5.40976148e-05, 2.50598449e-05,-1.51254401e-05,
  7.72956461e-04, 5.70467506e-06,-6.05654295e-06, 2.83576700e-05,
 -1.81736806e-04, 2.07874006e-04,-9.80980133e+00,-1.17952039e-02,
 -2.39418398e-02, 8.45076934e-05]


--- Step 129 ---
qpos:
[-1.24689875e-02, 1.25356210e-02, 9.32217144e-03, 1.36298257e-02,
 -1.77212520e-02,-8.59368520e-03,-1.62477962e-02, 1.51668025e-02,
 -1.13327234e-02,-6.31022170e-03,-1.34161469e-02, 1.39963819e-02,
  6.85120820e-01, 2.17756304e-02, 2.09147298e-02,-2.20828243e-03,
  9.50381633e-02,-7.01998270e-02, 1.04474568e-01, 9.99997075e-01,
  2.27023232e-03, 5.92772482e-04, 5.87364212e-04]

qacc:
[  9.4270887 ,  0.83760811, -2.39446779, -1.21790642,  3.07492459,
   0.23942273,  2.23447793, -8.81129994,  1.75393185, -0.76389108,
   4.14523983, -6.83966336,  1.28312055,  4.64694718, -0.2507243 ,
   0.48075586, -1.73127587,  0.21343507,  0.3335992 , -3.81877071,
 -41.71385987,  1.79792547]

qfrc_actuator:
[-0.00064972, 0.00046526, 0.00056714, 0.00106975,-0.00195037,-0.00107802,
 -0.00150843, 0.00113139,-0.00132052,-0.00081378,-0.00122219, 0.0011294 ,
  0.21      , 0.0016982 , 0.00874614, 0.00021598, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005377203955112542
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.58085576e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.58085576e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10365159, -0.07024215,  0.06197714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.59237310e-05,-6.04952016e-05,-5.25069217e-05,-1.89919202e-05,
  1.83188995e-05, 1.12582302e-04, 3.05675222e-05,-1.11416686e-05,
  1.03320902e-05, 8.37071149e-05, 4.62217787e-05, 7.03837532e-07,
  7.70172150e-04, 2.79378234e-05,-8.28705035e-06,-3.15452871e-07,
 -7.92571715e-05, 1.46256892e-04,-9.80987734e+00,-1.17841535e-02,
 -2.39365824e-02, 8.93473098e-05]


--- Step 130 ---
qpos:
[-1.24901254e-02, 1.25555528e-02, 9.33638099e-03, 1.36512592e-02,
 -1.77475534e-02,-8.60349428e-03,-1.62738424e-02, 1.51911813e-02,
 -1.13495974e-02,-6.31827687e-03,-1.34373372e-02, 1.40196084e-02,
  6.90089750e-01, 2.18127323e-02, 2.10638108e-02,-2.20952184e-03,
  9.50386010e-02,-7.02064068e-02, 1.04475423e-01, 9.99996924e-01,
  2.34457403e-03, 5.96794785e-04, 5.47205459e-04]

qacc:
[ 10.10426049,  0.56017334,  0.46379587,-10.82339239,  6.66692507,
   1.14067298, -8.10534283, 25.68196027, -0.85045519, -0.80790293,
   3.03821057, -1.7199986 ,  1.41204837,-11.68470481, -1.28168848,
   4.02637472, -1.2223777 ,  2.77117628, -0.38643584,-64.67340181,
 -31.29880295, -0.22765509]

qfrc_actuator:
[-0.00059037, 0.00045435, 0.00052574, 0.00103502,-0.00191215,-0.00109112,
 -0.00149106, 0.00118435,-0.00132641,-0.00079952,-0.0011944 , 0.00113664,
  0.21      , 0.00164142, 0.00873667, 0.00023273, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005416751292887101
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.12402621e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.12402621e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10119811, -0.08861507,  0.06197698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.99802295e-05,-5.54919293e-05,-6.07253254e-05,-3.94511702e-05,
  3.94178925e-05, 5.66828821e-05, 4.43184823e-05, 5.86920236e-05,
 -5.05680390e-06, 7.12992196e-05, 5.10202554e-05, 1.24787519e-05,
  7.67376677e-04,-4.83072132e-05,-6.32569473e-06, 1.72573198e-05,
 -1.46110429e-05, 9.01660854e-05,-9.80992280e+00,-1.17738409e-02,
 -2.39345579e-02, 9.59448226e-05]


--- Step 131 ---
qpos:
[-1.25100608e-02, 1.25752019e-02, 9.34997921e-03, 1.36721072e-02,
 -1.77731797e-02,-8.61347063e-03,-1.62986996e-02, 1.52167053e-02,
 -1.13660560e-02,-6.32619211e-03,-1.34581258e-02, 1.40424446e-02,
  6.95062589e-01, 2.18482377e-02, 2.12129040e-02,-2.21089675e-03,
  9.50342176e-02,-7.02021032e-02, 1.04474075e-01, 9.99997100e-01,
  2.29188524e-03, 5.39677468e-04, 5.05784090e-04]

qacc:
[ 10.43391576,  0.10920433,  1.50541169,-10.41538886,  5.91015166,
  -1.19699606, -0.90886344, 18.97718557,  3.63902074, -1.74795936,
   8.13694603,-15.62542814,  1.45506972,-17.82648666,  0.39607856,
  -1.43309217, -1.20523454,  2.72088029, -0.55068813,-63.53178767,
 -30.53653799, -0.59762728]

qfrc_actuator:
[-0.00052926, 0.00043995, 0.00049569, 0.00100601,-0.00187915,-0.00111297,
 -0.00143502, 0.00124124,-0.00130538,-0.0008235 ,-0.00118736, 0.00111385,
  0.21      , 0.00155763, 0.00873629, 0.00022532, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005436429839090068
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.10547849e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.10547849e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10119636, -0.08861501,  0.0619769 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.18898363e-05,-5.87955655e-05,-5.00644542e-05,-3.41930135e-05,
  3.47543043e-05, 2.24874537e-05, 7.55481098e-05, 6.20529465e-05,
  2.13932019e-05, 2.76224636e-05, 2.87091528e-05,-1.76854047e-05,
  7.64089150e-04,-7.70252873e-05, 5.56593562e-06,-5.67070205e-06,
  1.73980451e-06, 9.64035151e-06,-9.80999579e+00,-1.17694578e-02,
 -2.39377776e-02, 9.82764781e-05]


--- Step 132 ---
qpos:
[-1.25294711e-02, 1.25945057e-02, 9.36309255e-03, 1.36927909e-02,
 -1.77985444e-02,-8.62319947e-03,-1.63224052e-02, 1.52409361e-02,
 -1.13821253e-02,-6.33376106e-03,-1.34787048e-02, 1.40644730e-02,
  7.00039314e-01, 2.18835709e-02, 2.13620667e-02,-2.21365783e-03,
  9.50250713e-02,-7.01870843e-02, 1.04469952e-01, 9.99997569e-01,
  2.11406231e-03, 4.22673099e-04, 4.62533291e-04]

qacc:
[  4.55339344,  0.55190651, -1.95166016,  0.1544236 ,  2.30591923,
  -5.55649281, 25.74125461,-50.1428443 ,  3.40015923, -1.7976036 ,
  10.47289089,-25.03154017,  1.31736322, -2.20535945,  4.28609973,
 -14.89392797, -1.19074434,  2.67879653, -0.69387481,-62.58187969,
 -29.91396986, -0.87992601]

qfrc_actuator:
[-5.03091566e-04, 4.23619931e-04, 4.72598007e-04, 9.98377953e-04,
 -1.86725737e-03,-1.08648012e-03,-1.37441335e-03, 1.17571807e-03,
 -1.28643236e-03,-7.99292878e-04,-1.17506245e-03, 1.07352684e-03,
  2.10000000e-01, 1.54736905e-03, 8.72536232e-03, 1.50496521e-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: -0.0005423126813395851
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11800232e-14, -1.27950058e-14,  1.00000000e+00, -6.54848694e-28,
        1.00000000e+00,  1.27950058e-14, -1.00000000e+00,  0.00000000e+00,
       -5.11800232e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10119554, -0.08861624,  0.06197695])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.70160722e-05,-6.01911327e-05,-4.23231827e-05,-1.25011097e-05,
  1.34904311e-05, 5.82693300e-05, 7.70054134e-05,-6.06839711e-05,
  2.00513500e-05, 4.54673743e-05, 2.11464132e-05,-3.84558523e-05,
  7.60687372e-04,-4.11609029e-06,-2.85289803e-06,-7.30189607e-05,
 -2.02201351e-05, 7.89315293e-06,-9.80998519e+00,-1.17702371e-02,
 -2.39432958e-02, 9.73609595e-05]


--- Step 133 ---
qpos:
[-1.25487787e-02, 1.26132947e-02, 9.37589431e-03, 1.37132330e-02,
 -1.78235576e-02,-8.63265590e-03,-1.63454550e-02, 1.52642259e-02,
 -1.13981783e-02,-6.34078171e-03,-1.34988386e-02, 1.40861499e-02,
  7.05019914e-01, 2.19182238e-02, 2.15107331e-02,-2.21686940e-03,
  9.50109447e-02,-7.01622988e-02, 1.04463351e-01, 9.99998223e-01,
  1.82235216e-03, 2.44086751e-04, 4.16853443e-04]

qacc:
[  0.89062509, -0.30901292,  1.13200967, -4.43493987,  3.07077726,
  -3.41469606, 16.66177385,-34.1883843 ,  0.14699802, -1.24368935,
   6.96990194,-14.16959357,  1.36546821, -7.79297748,  0.60668006,
  -3.24717627, -1.24508191,  2.44165943, -0.61926393,-56.9573951 ,
 -30.76718442, -1.17353873]

qfrc_actuator:
[-4.97694087e-04, 3.88555868e-04, 4.53785407e-04, 9.85621304e-04,
 -1.85013377e-03,-1.08459735e-03,-1.34701008e-03, 1.12748641e-03,
 -1.28662039e-03,-7.46445767e-04,-1.14182399e-03, 1.05875728e-03,
  2.10000000e-01, 1.50943013e-03, 8.68680510e-03, 1.25291361e-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: -0.0005383176081233211
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.34684075e-07, -1.24195446e-06,  1.00000000e+00, -5.39857826e-13,
        1.00000000e+00,  1.24195446e-06, -1.00000000e+00,  0.00000000e+00,
       -4.34684075e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10145186, -0.08670117,  0.06197712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.25852006e-06,-7.72112892e-05,-3.66286444e-05,-1.69912684e-05,
  1.81093469e-05, 4.86985409e-05, 4.71218129e-05,-4.41947800e-05,
  8.68459799e-07, 8.16220545e-05, 4.41156734e-05,-1.28016637e-05,
  7.57625476e-04,-3.00943839e-05,-4.18205773e-05,-2.82291978e-05,
 -7.87058946e-05, 8.05758872e-05,-9.80989485e+00,-1.17760304e-02,
 -2.39512313e-02, 9.31818820e-05]


--- Step 134 ---
qpos:
[-1.25678888e-02, 1.26316718e-02, 9.38864997e-03, 1.37326417e-02,
 -1.78481600e-02,-8.64168895e-03,-1.63683585e-02, 1.52874645e-02,
 -1.14144446e-02,-6.34758364e-03,-1.35179879e-02, 1.41071408e-02,
  7.10004376e-01, 2.19515250e-02, 2.16587493e-02,-2.21934376e-03,
  9.49896959e-02,-7.01366678e-02, 1.04458534e-01, 9.99998772e-01,
  1.52211250e-03,-1.63897660e-05, 3.73411262e-04]

qacc:
[ 1.72126263e+00,-2.54745839e+00, 1.26499887e+01,-3.01516609e+01,
  3.56905599e+00, 3.87276862e-02, 8.77843333e-01,-2.29573990e+00,
 -1.83632179e+00,-3.87030852e+00, 1.71229305e+01,-3.07402205e+01,
  1.42654090e+00,-1.51685896e+01,-3.22804110e+00, 9.82502637e+00,
 -1.78053656e+00, 2.11363887e-01, 4.45772168e-01,-4.28199548e+00,
 -4.09411836e+01, 1.19242845e+00]

qfrc_actuator:
[-4.86794131e-04, 3.78063353e-04, 4.55316731e-04, 9.34430241e-04,
 -1.83006519e-03,-1.06209592e-03,-1.33949430e-03, 1.12530139e-03,
 -1.29807443e-03,-7.47763480e-04,-1.09634197e-03, 1.02368306e-03,
  2.10000000e-01, 1.43770852e-03, 8.65834559e-03, 1.64981094e-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: -0.000541559825915805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10365267, -0.07024656,  0.06197698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01517987e-05,-6.11869653e-05,-1.92557340e-05,-5.60449259e-05,
  2.11688521e-05, 5.84880605e-05, 2.21425626e-05, 7.27554032e-07,
 -1.09602166e-05, 5.35093873e-05, 6.75439784e-05,-3.02622733e-05,
  7.54234387e-04,-6.44364819e-05,-4.24338538e-05, 3.46609097e-05,
 -1.72903213e-04, 2.15123038e-04,-9.80973875e+00,-1.17862496e-02,
 -2.39615519e-02, 8.61850586e-05]


--- Step 135 ---
qpos:
[-1.25863920e-02, 1.26497850e-02, 9.40152711e-03, 1.37512557e-02,
 -1.78723199e-02,-8.65007352e-03,-1.63913290e-02, 1.53094469e-02,
 -1.14303683e-02,-6.35432743e-03,-1.35362927e-02, 1.41272342e-02,
  7.14992677e-01, 2.19837756e-02, 2.18065509e-02,-2.22138426e-03,
  9.49672935e-02,-7.01106817e-02, 1.04457241e-01, 9.99999163e-01,
  1.21715961e-03,-2.88218839e-04, 3.30144650e-04]

qacc:
[  5.28042348, -2.33596586, 11.16011192,-24.89588189,  3.83345749,
  -1.54923902, 12.05967559,-34.16102748,  3.01716471, -4.13651945,
  18.64003511,-35.55539199,  1.38956319,-11.86141828, -1.66067118,
   5.28243311, -0.28839991,  0.0887854 ,  0.88107539, -2.35861119,
  -5.67525897,  0.09649239]

qfrc_actuator:
[-4.54976031e-04, 3.82416765e-04, 4.68913556e-04, 8.96572092e-04,
 -1.80842956e-03,-1.02748325e-03,-1.34366375e-03, 1.06146773e-03,
 -1.28055974e-03,-7.63717195e-04,-1.06198363e-03, 9.76901222e-04,
  2.10000000e-01, 1.38216611e-03, 8.65727956e-03, 1.89342345e-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: -0.000541943887434056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00572273e-06, -2.56074257e-14,  1.00000000e+00, -2.57539701e-20,
        1.00000000e+00,  2.56074257e-14, -1.00000000e+00,  0.00000000e+00,
       -1.00572273e-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([ 0.09417797, -0.06950231,  0.06197696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.12350291e-05,-3.54719629e-05,-3.09483752e-06,-4.21851666e-05,
  2.28094366e-05, 7.28251630e-05, 1.09519424e-05,-6.04927378e-05,
  1.76420568e-05, 2.72458534e-05, 5.28969530e-05,-4.27028284e-05,
  7.50729883e-04,-4.90122394e-05,-8.02124756e-06, 2.28268711e-05,
 -2.91282582e-04, 2.78355045e-04,-9.80965996e+00,-1.17967578e-02,
 -2.39717499e-02, 8.03044119e-05]


--- Step 136 ---
qpos:
[-1.26047314e-02, 1.26676020e-02, 9.41470343e-03, 1.37702992e-02,
 -1.78956770e-02,-8.65825398e-03,-1.64134803e-02, 1.53308354e-02,
 -1.14452605e-02,-6.36098405e-03,-1.35543007e-02, 1.41469919e-02,
  7.19984800e-01, 2.20148304e-02, 2.19544521e-02,-2.22381395e-03,
  9.49522531e-02,-7.00896348e-02, 1.04458003e-01, 9.99999382e-01,
  9.66799435e-04,-4.68582377e-04, 2.84218891e-04]

qacc:
[  1.43662103, -0.34604653, -1.15188799,  8.32928561,  7.00063598,
  -3.25463381, 14.48063601,-26.19403922,  9.0184767 , -1.42279058,
   6.62789635,-12.94630043,  1.39385312,-13.437082  ,  1.29823923,
  -4.39509587,  1.84047855, -1.23479693,  0.51392751, 27.31115734,
  45.72207638, -1.39307515]

qfrc_actuator:
[-4.46600706e-04, 3.77941955e-04, 4.89600528e-04, 9.20146314e-04,
 -1.76829711e-03,-1.02150354e-03,-1.30143182e-03, 1.03288101e-03,
 -1.22838171e-03,-7.70626797e-04,-1.05230615e-03, 9.59085796e-04,
  2.10000000e-01, 1.31881809e-03, 8.66198225e-03, 1.69009712e-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: -0.0005538622752323946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.50563875e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.50563875e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08115113, -0.06132554,  0.06197645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.41661775e-06,-2.60033397e-05, 1.17690328e-05, 2.11756924e-05,
  4.13414714e-05, 4.72591067e-05, 5.68124567e-05,-2.62112075e-05,
  5.31059778e-05, 1.80415133e-05, 2.05505520e-05,-1.56127722e-05,
  7.47496983e-04,-5.64358540e-05, 1.03323726e-05,-1.85433958e-05,
 -3.12144423e-04, 2.92536710e-04,-9.80964236e+00,-1.18087355e-02,
 -2.39826911e-02, 7.25479738e-05]


--- Step 137 ---
qpos:
[-1.26231892e-02, 1.26852783e-02, 9.42770554e-03, 1.37898356e-02,
 -1.79183612e-02,-8.66647336e-03,-1.64345546e-02, 1.53520744e-02,
 -1.14594032e-02,-6.36759149e-03,-1.35720207e-02, 1.41663888e-02,
  7.24980726e-01, 2.20452996e-02, 2.21024186e-02,-2.22678509e-03,
  9.49444242e-02,-7.00734012e-02, 1.04459945e-01, 9.99999519e-01,
  7.69947280e-04,-5.60080547e-04, 2.35145632e-04]

qacc:
[ -1.0305305 ,  1.31852687, -7.04918388, 15.96073622,  5.88514072,
  -3.37933155, 12.58704732,-16.84815791,  6.55380206, -1.49524523,
   6.92691392,-13.64364205,  1.33136254, -6.7520747 ,  1.7149464 ,
  -5.91628201,  1.802893  , -1.20332044,  0.29488465, 26.76592592,
  44.42351304, -1.62923121]

qfrc_actuator:
[-4.52090583e-04, 3.68307888e-04, 4.78810049e-04, 9.44168448e-04,
 -1.73535643e-03,-1.03251863e-03,-1.24997106e-03, 1.02528249e-03,
 -1.19173699e-03,-7.72162209e-04,-1.03947446e-03, 9.40694979e-04,
  2.10000000e-01, 1.28685754e-03, 8.65947405e-03, 1.40262896e-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: -0.0005625680022198695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.46686405e-14, -1.23343203e-14,  1.00000000e+00,  3.04270912e-28,
        1.00000000e+00,  1.23343203e-14, -1.00000000e+00,  0.00000000e+00,
        2.46686405e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08115433, -0.06132589,  0.06197609])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.09889196e-06,-2.00964348e-05,-1.37302483e-05, 2.37774603e-05,
  3.46547077e-05, 2.68868503e-05, 6.75859171e-05,-4.06696225e-06,
  3.85787485e-05, 1.27225982e-05, 1.87427253e-05,-1.71784571e-05,
  7.44224627e-04,-2.51855003e-05, 5.72604708e-06,-2.71861888e-05,
 -1.62665973e-04, 1.71454370e-04,-9.80978829e+00,-1.18203213e-02,
 -2.39890629e-02, 6.14695085e-05]


--- Step 138 ---
qpos:
[-1.26415856e-02, 1.27026702e-02, 9.44061886e-03, 1.38088313e-02,
 -1.79408088e-02,-8.67466985e-03,-1.64548076e-02, 1.53730679e-02,
 -1.14733333e-02,-6.37405431e-03,-1.35891941e-02, 1.41850392e-02,
  7.29980438e-01, 2.20752162e-02, 2.22501493e-02,-2.22903794e-03,
  9.49436782e-02,-7.00618733e-02, 1.04462302e-01, 9.99999628e-01,
  6.25659157e-04,-5.64882359e-04, 1.82562828e-04]

qacc:
[  0.53421322, -1.24275466,  6.16708578,-15.17395978,  2.08122878,
  -2.77299075, 10.96111434,-16.53173012,  1.87112515, -2.8763162 ,
  13.67889137,-27.57269793,  1.32906473, -6.41824935, -2.54962789,
   8.35416964,  1.77072555, -1.17643834,  0.10355459, 26.2912253 ,
  43.34061915, -1.8028637 ]

qfrc_actuator:
[-4.47930414e-04, 3.37788771e-04, 4.67239450e-04, 9.14966071e-04,
 -1.72467483e-03,-1.03581657e-03,-1.21131108e-03, 1.01231751e-03,
 -1.18229535e-03,-7.52717362e-04,-1.00710765e-03, 9.04365530e-04,
  2.10000000e-01, 1.25584483e-03, 8.64731302e-03, 1.77786023e-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: -0.0005666578458764504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.22452975e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.22452975e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08115612, -0.06132567,  0.06197592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.14243585e-06,-4.28354347e-05,-1.63391036e-05,-3.00247037e-05,
  1.21840094e-05, 2.63592956e-05, 5.26629443e-05,-9.50385107e-06,
  1.09538248e-05, 3.02554063e-05, 3.68938721e-05,-3.54391075e-05,
  7.41072834e-04,-2.34886524e-05,-6.86627140e-06, 3.80415720e-05,
 -6.78041782e-05, 8.44811734e-05,-9.80988603e+00,-1.18300149e-02,
 -2.39917470e-02, 5.17875349e-05]


--- Step 139 ---
qpos:
[-1.26594606e-02, 1.27195905e-02, 9.45345246e-03, 1.38266639e-02,
 -1.79629439e-02,-8.68286392e-03,-1.64741048e-02, 1.53937372e-02,
 -1.14870341e-02,-6.38007924e-03,-1.36062632e-02, 1.42031023e-02,
  7.34983922e-01, 2.21042492e-02, 2.23976552e-02,-2.23047432e-03,
  9.49498535e-02,-7.00561750e-02, 1.04464016e-01, 9.99999725e-01,
  5.47306155e-04,-4.84522168e-04, 1.25568579e-04]

qacc:
[  4.53449054, -2.80510829, 13.99247657,-33.63181082,  2.74573745,
  -3.34001768, 13.27477079,-20.40934394,  1.99894142, -0.92608839,
   6.61538802,-17.26442741,  1.35593898,-10.04188539, -2.83433482,
   9.36802196,  1.73032094, -1.45738422, -0.16037555, 32.97407969,
  42.57358393, -2.25098522]

qfrc_actuator:
[-0.00042036, 0.00029494, 0.00045519, 0.00085467,-0.00170943,-0.00103453,
 -0.00116275, 0.00099629,-0.00117119,-0.0007208 ,-0.0009989 , 0.00087556,
  0.21      , 0.00120785, 0.00863471, 0.00021852, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005667423589079057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.94413955e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.94413955e-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([ 0.0811035 , -0.05922569,  0.06197591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68257115e-05,-7.07269949e-05,-2.37046384e-05,-6.32353087e-05,
  1.60930345e-05, 2.73164832e-05, 6.04228367e-05,-1.32124605e-05,
  1.18271690e-05, 5.54813728e-05, 1.79595427e-05,-2.68949353e-05,
  7.37872564e-04,-4.03956957e-05,-4.88895879e-06, 4.34889635e-05,
 -2.31059153e-05, 2.96174055e-05,-9.80993941e+00,-1.18379185e-02,
 -2.39907809e-02, 4.34382603e-05]


--- Step 140 ---
qpos:
[-1.26775719e-02, 1.27363762e-02, 9.46562829e-03, 1.38436334e-02,
 -1.79843699e-02,-8.69089294e-03,-1.64929733e-02, 1.54140702e-02,
 -1.15001430e-02,-6.38532783e-03,-1.36235849e-02, 1.42210062e-02,
  7.39991157e-01, 2.21332441e-02, 2.25450693e-02,-2.23206229e-03,
  9.49628591e-02,-7.00562112e-02, 1.04464502e-01, 9.99999804e-01,
  5.33941631e-04,-3.20566114e-04, 6.39250514e-05]

qacc:
[ -2.07110702, -0.11292519,  3.79631073,-17.59393801,  6.17458897,
  -1.68343024,  7.71821725,-14.32260182,  5.14820406,  1.39406749,
  -2.8276439 , -0.07480644,  1.26551294, -0.7705827 ,  0.30558772,
  -1.3150745 ,  1.70758674, -1.43364884, -0.30735925, 32.49835716,
  41.7925637 , -2.36325754]

qfrc_actuator:
[-4.32485725e-04, 2.98248542e-04, 4.25114141e-04, 8.12050062e-04,
 -1.67386187e-03,-1.03048265e-03,-1.14422699e-03, 9.78597738e-04,
 -1.14142487e-03,-6.63996223e-04,-1.00496099e-03, 8.69149393e-04,
  2.10000000e-01, 1.20347456e-03, 8.62185144e-03, 2.07544116e-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: -0.0005644955357644194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.35261847e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.35261847e-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([ 0.08110353, -0.05922463,  0.06197601])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21765086e-05,-4.31211660e-05,-4.95468216e-05,-4.76492610e-05,
  3.65158285e-05, 3.20474114e-05, 3.14141325e-05,-1.46373910e-05,
  3.04971203e-05, 9.09188192e-05, 6.85917284e-06,-3.89956425e-06,
  7.34520681e-04, 2.87102262e-06,-3.75656705e-06,-7.69582031e-06,
 -2.52104658e-05, 5.23079832e-06,-9.80995797e+00,-1.18435824e-02,
 -2.39857412e-02, 3.71424212e-05]


--- Step 141 ---
qpos:
[-1.26960478e-02, 1.27527536e-02, 9.47768542e-03, 1.38603039e-02,
 -1.80051937e-02,-8.69876100e-03,-1.65114527e-02, 1.54340375e-02,
 -1.15124413e-02,-6.38996100e-03,-1.36405502e-02, 1.42386724e-02,
  7.45002123e-01, 2.21627222e-02, 2.26922752e-02,-2.23438951e-03,
  9.49826207e-02,-7.00619032e-02, 1.04463249e-01, 9.99999826e-01,
  5.84779775e-04,-7.42780856e-05,-2.53079645e-06]

qacc:
[ -3.1637771 , -0.81759703,  3.4046384 , -8.09939822,  5.24433121,
  -1.63732153,  7.67367502,-14.72587491,  7.08059112, -0.68576472,
   4.60537363, -9.71741396,  1.2085736 ,  4.94575773,  1.92008343,
  -7.20302551,  1.68898124, -1.41394239, -0.434452  , 32.10320324,
  41.16263398, -2.43842904]

qfrc_actuator:
[-4.50127580e-04, 2.75848303e-04, 4.20348567e-04, 7.97963534e-04,
 -1.64437679e-03,-1.02494137e-03,-1.12582060e-03, 9.60051904e-04,
 -1.10092718e-03,-6.28280640e-04,-9.83765484e-04, 8.58239594e-04,
  2.10000000e-01, 1.22477978e-03, 8.59818228e-03, 1.66177837e-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: -0.0005597138447608081
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.91777347e-14,  1.99311860e-06,  1.00000000e+00, -1.97672988e-19,
        1.00000000e+00, -1.99311860e-06, -1.00000000e+00,  0.00000000e+00,
        9.91777347e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08110277, -0.05922313,  0.06197621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.87905527e-05,-5.80704746e-05,-2.11792597e-05,-1.85262953e-05,
  3.10139697e-05, 3.01148281e-05, 2.86389027e-05,-1.63238893e-05,
  4.17552297e-05, 8.83232847e-05, 4.08570455e-05,-6.82339721e-06,
  7.31345730e-04, 2.95708544e-05,-2.01212748e-05,-4.08755455e-05,
 -7.40212799e-05, 1.99501503e-05,-9.80993080e+00,-1.18471008e-02,
 -2.39769820e-02, 3.29540067e-05]


--- Step 142 ---
qpos:
[-1.27139170e-02, 1.27684274e-02, 9.48973968e-03, 1.38767068e-02,
 -1.80254929e-02,-8.70660296e-03,-1.65289216e-02, 1.54532568e-02,
 -1.15241514e-02,-6.39451870e-03,-1.36568790e-02, 1.42561212e-02,
  7.50016810e-01, 2.21922930e-02, 2.28388922e-02,-2.23646784e-03,
  9.49986733e-02,-7.00773799e-02, 1.04460462e-01, 9.99999704e-01,
  7.55683296e-04, 1.28094651e-04,-6.18161212e-05]

qacc:
[  5.28029428, -1.48341825,  5.05203045, -9.14192704,  4.59135942,
  -4.33671779, 18.65696006,-33.22281429,  5.15559454, -2.13666348,
   8.66395704,-13.48165715,  1.24668046,  0.64864802, -1.64299044,
   4.43609308, -0.92723521, -2.44616532, -0.38379685, 60.03304326,
 -21.95539928,  3.59364201]

qfrc_actuator:
[-4.17598302e-04, 2.20597020e-04, 4.12737588e-04, 7.83022749e-04,
 -1.61871757e-03,-1.01856595e-03,-1.07211323e-03, 9.23404294e-04,
 -1.07219563e-03,-6.58625173e-04,-9.64475873e-04, 8.44769886e-04,
  2.10000000e-01, 1.22548175e-03, 8.56271524e-03, 1.78237772e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 12.2283151 ,  11.61793078,   3.81515067,  11.61793078,
        23.04736383, -32.94626348,   3.81515067, -32.94626348,
       112.55656984,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005618372298592314
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.70510899e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.70510899e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0988293 , -0.05153361,  0.06197612])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.11994753e-05,-9.21640306e-05,-2.26071042e-05,-1.84718988e-05,
  2.70198039e-05, 2.91989553e-05, 6.31336266e-05,-3.46384588e-05,
  3.02832630e-05, 2.76813075e-05, 4.24908112e-05,-8.37739602e-06,
  7.28138027e-04, 9.60727819e-06,-4.24985803e-05, 8.74465175e-06,
 -1.67239927e-04, 7.22373574e-05,-9.80985988e+00,-1.18485201e-02,
 -2.39645287e-02, 3.08208044e-05]


--- Step 143 ---
qpos:
[-1.27309278e-02, 1.27837221e-02, 9.50150070e-03, 1.38927827e-02,
 -1.80456626e-02,-8.71409138e-03,-1.65460015e-02, 1.54718889e-02,
 -1.15357643e-02,-6.39908336e-03,-1.36727068e-02, 1.42726038e-02,
  7.55035207e-01, 2.22206694e-02, 2.29849323e-02,-2.23837204e-03,
  9.50110908e-02,-7.01025289e-02, 1.04455558e-01, 9.99999407e-01,
  1.04421892e-03, 2.87124790e-04,-1.14560482e-04]

qacc:
[  7.45274807, -0.36977399,  1.94728407, -6.83387962,  1.13071406,
  -1.83001609,  9.67906398,-20.72058244,  0.86467144, -3.39948674,
  16.18519228,-33.70255615,  1.36760558,-13.44211231, -1.41111271,
   3.62945612, -0.90878369, -2.41806533, -0.52902929, 58.81702294,
 -21.66517333,  3.2943864 ]

qfrc_actuator:
[-3.73544384e-04, 2.17104068e-04, 4.03351027e-04, 7.67657655e-04,
 -1.61326982e-03,-9.93866951e-04,-1.05126020e-03, 8.94176795e-04,
 -1.06837817e-03,-6.75054094e-04,-9.46752580e-04, 7.94333711e-04,
  2.10000000e-01, 1.16076108e-03, 8.53086282e-03, 1.86155738e-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: -0.0005598024558099851
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23952545e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.23952545e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09883062, -0.05153427,  0.06197621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.41772889e-05,-5.97706105e-05,-3.16092168e-05,-2.04092062e-05,
  6.68137910e-06, 5.33301426e-05, 3.36995545e-05,-2.64213681e-05,
  5.00994507e-06, 7.93056751e-06, 2.85387795e-05,-4.79171336e-05,
  7.24675149e-04,-5.62442364e-05,-4.22656357e-05, 4.80867656e-06,
 -1.29759646e-04, 1.48307511e-04,-9.80986744e+00,-1.18395073e-02,
 -2.39520657e-02, 3.61532934e-05]


--- Step 144 ---
qpos:
[-1.27466029e-02, 1.27988611e-02, 9.51291707e-03, 1.39088697e-02,
 -1.80656013e-02,-8.72139587e-03,-1.65626392e-02, 1.54903902e-02,
 -1.15472349e-02,-6.40338207e-03,-1.36883032e-02, 1.42883382e-02,
  7.60057287e-01, 2.22488141e-02, 2.31305080e-02,-2.23984741e-03,
  9.50199357e-02,-7.01372565e-02, 1.04448032e-01, 9.99998857e-01,
  1.44842637e-03, 4.03303886e-04,-1.61234546e-04]

qacc:
[ 11.59133584,  0.75820357, -3.08822239,  3.98966307,  2.01796509,
  -1.26555682,  5.41107524, -8.51086946,  1.24507007, -1.83803029,
  10.21886087,-23.73072368,  1.26589504, -2.90581321, -2.00723687,
   5.97223021, -0.89314651, -2.39468806, -0.65548266, 57.83759689,
 -21.41567739,  3.07411064]

qfrc_actuator:
[-3.05317555e-04, 2.26870543e-04, 3.93190615e-04, 7.69957157e-04,
 -1.60201094e-03,-9.94016942e-04,-1.03214978e-03, 8.87292372e-04,
 -1.06150090e-03,-6.47576152e-04,-9.30087989e-04, 7.58058719e-04,
  2.10000000e-01, 1.14680003e-03, 8.51185087e-03, 2.09316342e-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: -0.000555118994922936
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0988321, -0.0515336,  0.0619764])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.87534181e-05,-3.03671662e-05,-2.68787351e-05,-1.70829069e-06,
  1.19007411e-05, 3.62358325e-05, 3.35991800e-05,-3.90229837e-06,
  7.33820872e-06, 3.62038738e-05, 2.03131367e-05,-3.58536987e-05,
  7.20775403e-04,-6.96999216e-06,-2.98435422e-05, 1.98420549e-05,
 -9.29163092e-05, 2.32809864e-04,-9.80980595e+00,-1.18261308e-02,
 -2.39421843e-02, 4.71843625e-05]


--- Step 145 ---
qpos:
[-1.27616969e-02, 1.28139520e-02, 9.52375724e-03, 1.39252069e-02,
 -1.80848968e-02,-8.72882200e-03,-1.65785302e-02, 1.55097204e-02,
 -1.15595623e-02,-6.40772470e-03,-1.37034800e-02, 1.43038879e-02,
  7.65083032e-01, 2.22766413e-02, 2.32757652e-02,-2.24071804e-03,
  9.50215721e-02,-7.01710565e-02, 1.04443656e-01, 9.99998186e-01,
  1.84400568e-03, 4.31400380e-04,-2.04808826e-04]

qacc:
[  5.02858823,  2.05291168, -8.48527744, 13.79124217,  5.61746586,
  -0.55176177, -1.78448468, 15.04643489, -7.46955159, -1.59592927,
   6.41135147,-10.27348465,  1.26823681, -3.84867445, -2.32565024,
   7.39730486, -1.80213235,  0.23194003,  0.7872742 , -4.3075014 ,
 -44.03967784,  1.61193122]

qfrc_actuator:
[-0.00027667, 0.00022677, 0.00036498, 0.00078265,-0.00156967,-0.00100905,
 -0.00099654, 0.0009291 ,-0.00110613,-0.00066503,-0.00091399, 0.0007482 ,
  0.21      , 0.0011273 , 0.00850055, 0.0002413 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005595949751833265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.95994011e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.95994011e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10364365, -0.07026277,  0.06197621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.99050955e-05,-2.20553409e-05,-3.76405215e-05, 1.04665893e-05,
  3.31184058e-05, 1.27332292e-05, 4.73304722e-05, 4.44888719e-05,
 -4.41020740e-05, 5.89042949e-06, 2.49891324e-05,-8.27455751e-06,
  7.17328638e-04,-1.13565091e-05,-1.53795232e-05, 3.09522665e-05,
 -5.63688959e-05, 3.25035363e-04,-9.80967905e+00,-1.18084087e-02,
 -2.39347299e-02, 6.38577200e-05]


--- Step 146 ---
qpos:
[-1.27770333e-02, 1.28289446e-02, 9.53418384e-03, 1.39415651e-02,
 -1.81036463e-02,-8.73632600e-03,-1.65943950e-02, 1.55297920e-02,
 -1.15726673e-02,-6.41266776e-03,-1.37177603e-02, 1.43188929e-02,
  7.70112434e-01, 2.23027002e-02, 2.34208459e-02,-2.24153182e-03,
  9.50161241e-02,-7.02039827e-02, 1.04441613e-01, 9.99997411e-01,
  2.23105977e-03, 3.73569437e-04,-2.45544480e-04]

qacc:
[ -2.11486714,  1.07343216, -4.09684624,  5.18427161,  4.74849556,
   1.3404479 , -8.07637204, 20.94433746, -6.75340687, -4.40645342,
  16.88364485,-27.32912272,  1.40649394,-19.71964789, -0.46825515,
   1.18140651, -1.77108559,  0.21843878,  0.58331877, -4.25432327,
 -42.96187579,  1.49668621]

qfrc_actuator:
[-0.00028929, 0.0002207 , 0.00034407, 0.00078358,-0.00154293,-0.00103278,
 -0.00100477, 0.0009637 ,-0.00114521,-0.000727  ,-0.00088076, 0.00071843,
  0.21      , 0.00103366, 0.00848856, 0.00024272, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005645623412127501
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.91629951e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.91629951e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10364172, -0.07026359,  0.061976  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24795685e-05,-2.51104196e-05,-2.95405021e-05,-1.07377273e-06,
  2.81059390e-05,-4.21215323e-06, 1.99327825e-06, 3.76975757e-05,
 -4.00454355e-05,-5.34114806e-05, 3.74019554e-05,-2.87898366e-05,
  7.13885399e-04,-8.55848454e-05,-8.93481460e-06, 2.69924985e-06,
  1.52874336e-05, 2.20124170e-04,-9.80972005e+00,-1.17901338e-02,
 -2.39346235e-02, 7.90108357e-05]


--- Step 147 ---
qpos:
[-1.27924152e-02, 1.28436925e-02, 9.54404561e-03, 1.39581829e-02,
 -1.81226108e-02,-8.74383232e-03,-1.66099213e-02, 1.55494016e-02,
 -1.15854432e-02,-6.41825538e-03,-1.37317096e-02, 1.43334710e-02,
  7.75145466e-01, 2.23282007e-02, 2.35655504e-02,-2.24227044e-03,
  9.50105129e-02,-7.02249297e-02, 1.04440771e-01, 9.99996847e-01,
  2.47588439e-03, 3.10298193e-04,-2.82613842e-04]

qacc:
[-4.09128783e-01, 1.79137510e+00,-7.95120919e+00, 1.35272139e+01,
 -1.85913422e+00,-1.89587451e+00, 8.71336581e+00,-1.72580977e+01,
  2.89477238e+00,-2.66142182e+00, 1.00465370e+01,-1.74804459e+01,
  1.27948241e+00,-6.47744277e+00,-8.07526272e-01, 1.96014547e+00,
 -4.08229797e-02, 2.99479468e+00, 3.00380194e-01,-7.11148048e+01,
 -2.73355389e+00, 1.81267036e+00]

qfrc_actuator:
[-2.90585535e-04, 1.93367340e-04, 3.09842013e-04, 7.95331919e-04,
 -1.55521649e-03,-1.02621182e-03,-9.85629004e-04, 9.40489002e-04,
 -1.12745143e-03,-7.79601302e-04,-8.73398878e-04, 6.94884697e-04,
  2.10000000e-01, 1.00361010e-03, 8.46017865e-03, 2.43864612e-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: -0.0005706611113739219
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08292078e-06,  1.37743147e-14,  1.00000000e+00,  1.49164917e-20,
        1.00000000e+00, -1.37743147e-14, -1.00000000e+00,  3.00926554e-36,
       -1.08292078e-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([ 0.09296888, -0.08870051,  0.06197574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.36243542e-06,-4.69100187e-05,-4.28781241e-05, 9.67825654e-06,
 -1.10699058e-05, 6.92693476e-06, 2.00425358e-05,-2.25520388e-05,
  1.69105835e-05,-7.54849667e-05, 1.09890318e-07,-2.50639021e-05,
  7.09916805e-04,-2.36580797e-05,-2.60524181e-05, 1.55205028e-06,
  4.69950856e-05, 1.22507208e-04,-9.80972925e+00,-1.17725488e-02,
 -2.39378387e-02, 9.60054891e-05]


--- Step 148 ---
qpos:
[-1.28077066e-02, 1.28578769e-02, 9.55384999e-03, 1.39748195e-02,
 -1.81415669e-02,-8.75133556e-03,-1.66248048e-02, 1.55682139e-02,
 -1.15972111e-02,-6.42422924e-03,-1.37458693e-02, 1.43483497e-02,
  7.80182108e-01, 2.23532128e-02, 2.37098941e-02,-2.24265210e-03,
  9.50097289e-02,-7.02343045e-02, 1.04439267e-01, 9.99996567e-01,
  2.58380515e-03, 3.03699304e-04,-3.11969730e-04]

qacc:
[ 7.93736253e-01,-5.47490541e-01, 7.89855404e-01, 4.32132846e-02,
  9.23307732e-02,-3.43271561e+00, 1.56128168e+01,-3.04439314e+01,
  8.80384205e+00, 6.79449291e-01,-4.46263635e+00, 1.03195281e+01,
  1.26730660e+00,-5.71643224e+00,-1.63859182e+00, 4.90094720e+00,
  1.20681305e+00, 2.89304454e+00,-1.65453764e-01,-6.84612710e+01,
  2.83262475e+01, 3.76536768e+00]

qfrc_actuator:
[-2.85182474e-04, 1.53463153e-04, 3.03454169e-04, 7.95581684e-04,
 -1.55487539e-03,-1.01926937e-03,-9.50382647e-04, 9.01240786e-04,
 -1.07637543e-03,-7.90785044e-04,-8.81354472e-04, 7.10690386e-04,
  2.10000000e-01, 9.75717219e-04, 8.44328444e-03, 2.62554318e-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: -0.0005822686100773536
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.19169981e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.19169981e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08460949, -0.08877659,  0.06197526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.63435367e-06,-7.39632449e-05,-2.08160044e-05,-3.01334490e-06,
  4.36809092e-07, 1.46745795e-05, 3.85884952e-05,-3.86538075e-05,
  5.18680725e-05,-5.39488338e-05,-2.42356127e-05, 1.21157808e-05,
  7.06330318e-04,-2.00666319e-05,-2.17441555e-05, 1.70213527e-05,
  2.40549744e-05, 3.10110527e-05,-9.80989472e+00,-1.17628039e-02,
 -2.39450032e-02, 1.09895764e-04]


--- Step 149 ---
qpos:
[-1.28221381e-02, 1.28716171e-02, 9.56377300e-03, 1.39909574e-02,
 -1.81600189e-02,-8.75880725e-03,-1.66393884e-02, 1.55857397e-02,
 -1.16079238e-02,-6.43019165e-03,-1.37602500e-02, 1.43635968e-02,
  7.85222342e-01, 2.23774197e-02, 2.38542672e-02,-2.24286696e-03,
  9.50136513e-02,-7.02323699e-02, 1.04436222e-01, 9.99996609e-01,
  2.55827751e-03, 3.52724458e-04,-3.34452087e-04]

qacc:
[  7.47773655, -1.96043525,  8.21784054,-16.68269142,  4.38987252,
  -3.45220259, 17.78778463,-40.54220977,  9.2089988 ,  1.37293778,
  -6.45978405, 13.21333958,  1.29080377, -9.17644932, -0.48729832,
   1.70641357,  1.17661143,  2.82734879, -0.38538186,-66.73410991,
  27.79994088,  3.34467883]

qfrc_actuator:
[-2.40373120e-04, 1.41937608e-04, 3.13486771e-04, 7.71313075e-04,
 -1.52934066e-03,-1.02985709e-03,-9.41419767e-04, 8.35140073e-04,
 -1.02387485e-03,-7.59368739e-04,-8.80337660e-04, 7.31794540e-04,
  2.10000000e-01, 9.31517044e-04, 8.45459998e-03, 2.73706624e-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: -0.0005879660480410942
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.36030428e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.36030428e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08460914, -0.08877379,  0.06197502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.42533140e-05,-5.67022474e-05,-7.70767692e-06,-2.81752591e-05,
  2.59581518e-05, 4.62135543e-06, 1.56321416e-05,-6.48463982e-05,
  5.43160370e-05,-2.76419491e-06,-1.25396938e-05, 1.82146078e-05,
  7.02768638e-04,-3.62702118e-05, 9.96529762e-06, 1.08533466e-05,
  5.10740866e-06, 1.28943807e-05,-9.80998413e+00,-1.17597198e-02,
 -2.39491829e-02, 1.16536452e-04]


--- Step 150 ---
qpos:
[-1.28359332e-02, 1.28851754e-02, 9.57362850e-03, 1.40066584e-02,
 -1.81780136e-02,-8.76601002e-03,-1.66540806e-02, 1.56013001e-02,
 -1.16179168e-02,-6.43592109e-03,-1.37743700e-02, 1.43785699e-02,
  7.90266143e-01, 2.24016742e-02, 2.39987646e-02,-2.24295461e-03,
  9.50221791e-02,-7.02193487e-02, 1.04430869e-01, 9.99996949e-01,
  2.40218872e-03, 4.56479860e-04,-3.50738851e-04]

qacc:
[  5.52539151, -0.96256484,  4.90937798,-12.2102446 ,  3.96542978,
  -3.39363486, 20.90259225,-54.93224445,  6.28906426, -0.99675926,
   5.1362996 ,-10.44299387,  1.19590494,  0.15653845, -0.21833202,
   0.98427648,  1.15134294,  2.77166478, -0.57691097,-65.29097748,
  27.35107141,  3.00480176]

qfrc_actuator:
[-2.08230893e-04, 1.47545343e-04, 3.15465954e-04, 7.50595867e-04,
 -1.50694152e-03,-1.01548735e-03,-9.48141215e-04, 7.35983287e-04,
 -9.88722573e-04,-7.20388226e-04,-8.56090015e-04, 7.20384605e-04,
  2.10000000e-01, 9.31302483e-04, 8.46151607e-03, 2.80383878e-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: -0.0005890208536286079
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08460825, -0.0887731 ,  0.06197497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.27492251e-05,-2.83056765e-05,-1.14637406e-05,-2.39240198e-05,
  2.35533840e-05, 1.80835374e-05,-5.86989345e-06,-9.96396157e-05,
  3.70562613e-05, 3.60625256e-05, 2.29031760e-05,-1.15851827e-05,
  6.99193619e-04, 7.36712287e-06, 1.77141761e-05, 9.70945787e-06,
 -6.76004128e-06, 5.62301004e-07,-9.80999105e+00,-1.17614304e-02,
 -2.39496246e-02, 1.14100318e-04]


--- Step 151 ---
qpos:
[-1.28499377e-02, 1.28984571e-02, 9.58347050e-03, 1.40219979e-02,
 -1.81955918e-02,-8.77312057e-03,-1.66684796e-02, 1.56162374e-02,
 -1.16270587e-02,-6.44153669e-03,-1.37877670e-02, 1.43929273e-02,
  7.95313497e-01, 2.24258074e-02, 2.41433098e-02,-2.24326134e-03,
  9.50258319e-02,-7.01953613e-02, 1.04423666e-01, 9.99997565e-01,
  2.11742021e-03, 4.99080341e-04,-3.69437159e-04]

qacc:
[ -1.81347096, -1.06920655,  4.81433714,-10.85361379,  3.62749312,
  -1.98648316,  9.87919649,-21.18826159,  7.45340042, -3.15221675,
  14.03297379,-25.90405   ,  1.20744962, -1.68519673,  0.71679492,
  -2.45336481, -1.21875274,  2.74153232, -0.46268923,-64.32872246,
 -30.60289375, -1.1616368 ]

qfrc_actuator:
[-2.19314530e-04, 1.27843168e-04, 3.12751772e-04, 7.32147305e-04,
 -1.48657854e-03,-1.00414574e-03,-9.28479370e-04, 7.06949574e-04,
 -9.46313171e-04,-7.12600564e-04,-8.18297204e-04, 6.89961116e-04,
  2.10000000e-01, 9.21443482e-04, 8.45513132e-03, 2.66596322e-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: -0.000588601113876222
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.35775765e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.35775765e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10115032, -0.08861518,  0.06197499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07896267e-05,-3.83574247e-05,-1.06141123e-05,-2.04867916e-05,
  2.14509675e-05, 1.66336797e-05, 1.94360842e-05,-3.03618000e-05,
  4.38217778e-05, 3.25926135e-05, 4.77947844e-05,-2.82893655e-05,
  6.95884832e-04,-1.25181733e-06, 7.38403020e-06,-9.92947535e-06,
 -1.25537389e-05,-6.60101700e-06,-9.80992023e+00,-1.17679038e-02,
 -2.39466206e-02, 1.02827943e-04]


--- Step 152 ---
qpos:
[-1.28632888e-02, 1.29115308e-02, 9.59291528e-03, 1.40370157e-02,
 -1.82131261e-02,-8.78018166e-03,-1.66822518e-02, 1.56306927e-02,
 -1.16363041e-02,-6.44715257e-03,-1.38005266e-02, 1.44068294e-02,
  8.00364397e-01, 2.24486650e-02, 2.42877620e-02,-2.24500305e-03,
  9.50222388e-02,-7.01703218e-02, 1.04419638e-01, 9.99998163e-01,
  1.82108481e-03, 4.55726997e-04,-3.86163212e-04]

qacc:
[  5.66449707,  0.16207166,  0.36244355, -5.12099985,  0.3993957 ,
  -2.67866205, 11.6803445 ,-21.06062803, -0.88383752, -2.71646372,
  11.61072801,-20.51233863,  1.32058901,-14.30132346,  4.18307189,
 -14.89965819, -1.81146804,  0.26305026,  0.79389227, -5.76802528,
 -42.97685208,  1.07423596]

qfrc_actuator:
[-1.84732046e-04, 1.10875204e-04, 2.89441930e-04, 7.15159313e-04,
 -1.48533206e-03,-9.94551882e-04,-8.93345898e-04, 6.83928293e-04,
 -9.53226720e-04,-7.23502652e-04,-7.90696618e-04, 6.66333523e-04,
  2.10000000e-01, 8.52689607e-04, 8.43011689e-03, 1.87567411e-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: -0.000585793378078009
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81114996e-07,  5.17471482e-07,  1.00000000e+00, -9.37218453e-14,
        1.00000000e+00, -5.17471482e-07, -1.00000000e+00, -1.26217745e-29,
        1.81114996e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10359166, -0.07058799,  0.0619751 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.36301689e-05,-4.09299840e-05,-3.30587123e-05,-1.93585230e-05,
  2.26418248e-06, 2.22550411e-05, 4.01180532e-05,-2.21883567e-05,
 -5.32023351e-06, 1.63588038e-05, 3.93629736e-05,-2.11081351e-05,
  6.92324681e-04,-6.03173927e-05,-1.77894449e-05,-7.75027247e-05,
 -1.38015429e-06, 6.98290146e-05,-9.80981707e+00,-1.17788250e-02,
 -2.39463673e-02, 8.84989571e-05]


--- Step 153 ---
qpos:
[-1.28757889e-02, 1.29244211e-02, 9.60171358e-03, 1.40517284e-02,
 -1.82305014e-02,-8.78719123e-03,-1.66952031e-02, 1.56447462e-02,
 -1.16462435e-02,-6.45267951e-03,-1.38125805e-02, 1.44203245e-02,
  8.05418815e-01, 2.24712882e-02, 2.44319648e-02,-2.24766340e-03,
  9.50115045e-02,-7.01444397e-02, 1.04417970e-01, 9.99998718e-01,
  1.51544669e-03, 3.27797670e-04,-4.01056814e-04]

qacc:
[  7.36962745,  0.92182503, -2.37501509, -1.71134964,  1.4061644 ,
  -3.05442442, 12.68239383,-20.98346472, -6.04131452, -2.68061333,
  11.46813289,-19.73042527,  1.2065679 , -2.91501021,  2.39662291,
  -8.96833376, -1.78532014,  0.21062767,  0.58989603, -4.63540184,
 -42.28803274,  0.99110497]

qfrc_actuator:
[-1.41281600e-04, 9.55896643e-05, 2.54163812e-04, 6.99152382e-04,
 -1.47759676e-03,-9.86000820e-04,-8.49380504e-04, 6.64622576e-04,
 -9.89119901e-04,-7.10044762e-04,-7.51662173e-04, 6.46869231e-04,
  2.10000000e-01, 8.38564949e-04, 8.41523876e-03, 1.41707735e-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: -0.0005890069858391772
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10363444, -0.07026724,  0.06197496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.37900059e-05,-4.52834722e-05,-4.82939381e-05,-1.92458632e-05,
  8.19380063e-06, 2.89695967e-05, 5.29418761e-05,-1.73564470e-05,
 -3.57186975e-05, 3.01929073e-05, 4.66561082e-05,-1.77902581e-05,
  6.88114864e-04,-7.02252673e-06,-2.58436347e-05,-5.11275527e-05,
 -3.07211448e-05, 1.35835333e-04,-9.80980592e+00,-1.17900093e-02,
 -2.39478580e-02, 7.75341713e-05]


--- Step 154 ---
qpos:
[-1.28883725e-02, 1.29372108e-02, 9.60995452e-03, 1.40661186e-02,
 -1.82476416e-02,-8.79397872e-03,-1.67076666e-02, 1.56601871e-02,
 -1.16565302e-02,-6.45763439e-03,-1.38245309e-02, 1.44331156e-02,
  8.10476727e-01, 2.24939844e-02, 2.45758156e-02,-2.24986457e-03,
  9.49937457e-02,-7.01177175e-02, 1.04417919e-01, 9.99999187e-01,
  1.20038762e-03, 1.16767292e-04,-4.14398799e-04]

qacc:
[ -0.73930327,  0.76259025, -1.54770246, -3.0712207 ,  2.05522994,
   1.78165233,-11.79263372, 34.87169002, -3.03902317, -0.97645291,
   7.56186579,-20.34564952,  1.17227884,  0.4218727 , -1.92935272,
   5.94779547, -1.75610952,  0.21003449,  0.40451076, -4.69399368,
 -41.55117319,  0.83721441]

qfrc_actuator:
[-1.46227027e-04, 9.91249732e-05, 2.29865506e-04, 6.83846255e-04,
 -1.46610084e-03,-9.60344626e-04,-8.18313170e-04, 7.36422009e-04,
 -1.00626356e-03,-6.64307347e-04,-7.41596024e-04, 6.12284237e-04,
  2.10000000e-01, 8.38934087e-04, 8.40645984e-03, 1.69065144e-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: -0.0005883596604932331
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.71745048e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.71745048e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10363469, -0.07026759,  0.06197499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.29934096e-06,-3.20679880e-05,-4.00972785e-05,-1.92591383e-05,
  1.21159996e-05, 5.26816634e-05, 4.31755332e-05, 7.45736354e-05,
 -1.78455641e-05, 7.18707021e-05, 2.15671381e-05,-3.19984597e-05,
  6.84336752e-04, 8.70494865e-06,-2.00256839e-05, 2.26332492e-05,
 -9.68072922e-05, 2.04313413e-04,-9.80976744e+00,-1.18017638e-02,
 -2.39527049e-02, 6.82505607e-05]


--- Step 155 ---
qpos:
[-1.29012737e-02, 1.29499616e-02, 9.61804847e-03, 1.40801770e-02,
 -1.82641590e-02,-8.80032988e-03,-1.67203124e-02, 1.56770782e-02,
 -1.16672820e-02,-6.46182684e-03,-1.38366849e-02, 1.44457349e-02,
  8.15538122e-01, 2.25155388e-02, 2.47193542e-02,-2.25106168e-03,
  9.49702419e-02,-7.00952743e-02, 1.04419765e-01, 9.99999459e-01,
  9.35956470e-04,-1.62405654e-04,-4.23074540e-04]

qacc:
[ -2.76232178, -0.31854881,  2.47126877, -7.96023963,  5.40118403,
   4.05961869,-19.78094084, 44.8729353 , -4.08145018,  1.23078004,
  -2.1875811 , -1.03513849,  1.29793099,-12.87930892, -3.53478622,
  11.62659179, -1.4362541 , -1.06975998,  0.47401914, 25.32790339,
 -34.0579549 ,  2.37693384]

qfrc_actuator:
[-1.61863506e-04, 1.13943203e-04, 2.30077195e-04, 6.69099974e-04,
 -1.43473561e-03,-9.42369165e-04,-8.30485392e-04, 8.07998113e-04,
 -1.02997941e-03,-6.17473551e-04,-7.48590845e-04, 6.04591890e-04,
  2.10000000e-01, 7.76775456e-04, 8.39603287e-03, 2.21589819e-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: -0.0005850345384861232
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.99429936e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.99429936e-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([ 0.1015139 , -0.06199262,  0.06197513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63600087e-05,-1.17169172e-05,-1.18460847e-05,-1.78476044e-05,
  3.20860702e-05, 6.01756142e-05, 6.80902374e-06, 7.68169114e-05,
 -2.39102826e-05, 9.04992127e-05, 9.53572002e-06,-4.46449198e-06,
  6.80741604e-04,-5.34446107e-05,-1.07646265e-05, 5.26626997e-05,
 -1.97895548e-04, 2.76468691e-04,-9.80970028e+00,-1.18140483e-02,
 -2.39608949e-02, 6.05945288e-05]


--- Step 156 ---
qpos:
[-1.29139287e-02, 1.29623798e-02, 9.62618123e-03, 1.40943199e-02,
 -1.82798200e-02,-8.80653894e-03,-1.67331076e-02, 1.56943875e-02,
 -1.16782290e-02,-6.46571941e-03,-1.38486904e-02, 1.44588900e-02,
  8.20602975e-01, 2.25366018e-02, 2.48628022e-02,-2.25196269e-03,
  9.49541265e-02,-7.00777035e-02, 1.04423527e-01, 9.99999578e-01,
  7.27144064e-04,-3.52014930e-04,-4.36717726e-04]

qacc:
[ 2.14420935,-0.37843625, 0.34764041, 1.30466879, 7.43455725, 1.45138608,
 -6.69383546,14.09406708,-1.70538616, 1.0875058 ,-5.55969007,14.3709638 ,
  1.217808  ,-5.74934118,-1.05358795, 3.43577563, 1.84709371,-1.21808129,
  0.47909538,27.79008127,44.79124143,-2.53018401]

qfrc_actuator:
[-1.48141635e-04, 8.22519261e-05, 2.27054827e-04, 6.72580536e-04,
 -1.39193066e-03,-9.64810480e-04,-8.50373650e-04, 8.25564598e-04,
 -1.03962911e-03,-6.23659023e-04,-7.47803984e-04, 6.30537065e-04,
  2.10000000e-01, 7.49296137e-04, 8.38995194e-03, 2.35228391e-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: -0.0005927921898961977
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.34108817e-14, -2.34108817e-14,  1.00000000e+00,  5.48069380e-28,
        1.00000000e+00,  2.34108817e-14, -1.00000000e+00,  0.00000000e+00,
        2.34108817e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08116607, -0.06131954,  0.0619748 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26608125e-05,-4.09426531e-05,-7.34382308e-06, 2.25747546e-06,
  4.40872977e-05, 1.65182701e-05,-3.76936424e-06, 2.19114144e-05,
 -1.00367584e-05, 4.66042820e-05, 2.06411675e-05, 3.00920468e-05,
  6.76719540e-04,-2.01694793e-05, 7.99419509e-07, 1.65531913e-05,
 -2.84364857e-04, 2.59817455e-04,-9.80969650e+00,-1.18248759e-02,
 -2.39710481e-02, 5.52291093e-05]


--- Step 157 ---
qpos:
[-1.29263323e-02, 1.29742119e-02, 9.63465003e-03, 1.41084075e-02,
 -1.82951840e-02,-8.81267638e-03,-1.67462625e-02, 1.57117983e-02,
 -1.16888568e-02,-6.46961001e-03,-1.38604415e-02, 1.44726313e-02,
  8.25671259e-01, 2.25582850e-02, 2.50059793e-02,-2.25231560e-03,
  9.49452335e-02,-7.00648875e-02, 1.04428307e-01, 9.99999629e-01,
  5.72590333e-04,-4.54358309e-04,-4.55309190e-04]

qacc:
[ 2.20318677,-1.83232789, 5.63531122,-6.69007418, 2.56891198, 1.30316517,
 -4.9469189 , 7.23620041, 2.79662056, 0.49304746,-4.23821693,13.9839281 ,
  1.09277841, 6.40873165,-2.0730254 , 6.63508505, 1.8056249 ,-1.18872783,
  0.25447124,27.10942523,43.64296792,-2.51542998]

qfrc_actuator:
[-1.34994221e-04, 4.07168362e-05, 2.39717649e-04, 6.68961051e-04,
 -1.37824967e-03,-9.75876914e-04,-8.74851454e-04, 8.28929864e-04,
 -1.02317030e-03,-6.43745832e-04,-7.42618865e-04, 6.58273190e-04,
  2.10000000e-01, 7.77936135e-04, 8.37049257e-03, 2.61346919e-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: -0.0005980168694066854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.32063484e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.32063484e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08116753, -0.06132016,  0.06197458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29222649e-05,-6.53379898e-05, 3.55012543e-06,-5.54972497e-06,
  1.52917250e-05,-1.08468505e-06,-2.05900998e-05, 4.40234345e-06,
  1.64379362e-05, 1.19422978e-05, 1.85375048e-05, 3.10585050e-05,
  6.72955131e-04, 3.67275315e-05,-1.21402394e-05, 2.83118669e-05,
 -1.41931249e-04, 1.44342697e-04,-9.80983442e+00,-1.18328811e-02,
 -2.39791547e-02, 4.67030895e-05]


--- Step 158 ---
qpos:
[-1.29381480e-02, 1.29854454e-02, 9.64354620e-03, 1.41223382e-02,
 -1.83102576e-02,-8.81864755e-03,-1.67596319e-02, 1.57284021e-02,
 -1.16988551e-02,-6.47345405e-03,-1.38717195e-02, 1.44862325e-02,
  8.30742961e-01, 2.25798667e-02, 2.51489186e-02,-2.25201147e-03,
  9.49433757e-02,-7.00579605e-02, 1.04432944e-01, 9.99999656e-01,
  4.85489051e-04,-4.71259045e-04,-4.79686860e-04]

qacc:
[ 5.12651227e+00,-2.31923814e+00, 7.76584389e+00,-1.07038282e+01,
  2.51349302e+00,-8.46797602e-01, 6.73755142e+00,-2.04762879e+01,
  5.51094884e+00,-1.55952622e+00, 6.22243167e+00,-9.41574447e+00,
  1.16560848e+00,-1.49170559e+00,-2.36173113e+00, 7.70268524e+00,
  1.75876719e+00,-1.47221506e+00,-3.57197600e-02, 3.37054537e+01,
  4.27350000e+01,-2.93289273e+00]

qfrc_actuator:
[-1.04542584e-04, 1.14145229e-05, 2.61478828e-04, 6.61187491e-04,
 -1.36407369e-03,-9.62352137e-04,-8.84060408e-04, 7.88418521e-04,
 -9.91482867e-04,-6.36490225e-04,-7.17207259e-04, 6.51314126e-04,
  2.10000000e-01, 7.68322065e-04, 8.35900300e-03, 2.94582967e-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: -0.0005987922025387921
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.74045679e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.74045679e-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([ 0.08111733, -0.05922256,  0.06197455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.02427996e-05,-6.48420737e-05, 8.67760612e-06,-1.05248396e-05,
  1.49549896e-05, 9.41743580e-06,-1.16374829e-05,-4.11508905e-05,
  3.24081043e-05, 1.95058866e-05, 3.13734321e-05,-5.17798464e-06,
  6.69477982e-04,-2.04309544e-07,-8.12859616e-06, 3.45795677e-05,
 -5.14048376e-05, 6.40617225e-05,-9.80992545e+00,-1.18392484e-02,
 -2.39833966e-02, 3.96257664e-05]


--- Step 159 ---
qpos:
[-1.29495175e-02, 1.29962083e-02, 9.65262556e-03, 1.41360685e-02,
 -1.83250374e-02,-8.82446732e-03,-1.67730309e-02, 1.57440355e-02,
 -1.17087360e-02,-6.47709950e-03,-1.38823595e-02, 1.44992684e-02,
  8.35818063e-01, 2.26012381e-02, 2.52917130e-02,-2.25163438e-03,
  9.49484336e-02,-7.00568160e-02, 1.04436754e-01, 9.99999680e-01,
  4.64583977e-04,-4.04377335e-04,-5.09817826e-04]

qacc:
[  3.88663137, -1.55481553,  5.47451792, -8.8768493 ,  2.54936839,
  -1.71905344, 10.50913332,-27.3604195 ,  1.04124907, -2.68587371,
  12.3418533 ,-23.29128067,  1.1686973 , -2.66890152, -0.45426307,
   1.22892147,  1.72895676, -1.44564947, -0.20691751, 33.07664311,
  41.90568745, -2.91258332]

qfrc_actuator:
[-8.18980570e-05,-1.03010530e-05, 2.70720645e-04, 6.51045125e-04,
 -1.34971288e-03,-9.51948559e-04,-8.84109338e-04, 7.40201766e-04,
 -9.86601420e-04,-6.12874554e-04,-6.79980408e-04, 6.24029515e-04,
  2.10000000e-01, 7.53981921e-04, 8.34697628e-03, 2.96256091e-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: -0.0005965356894525782
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.60043032e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.60043032e-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([ 0.08111687, -0.05922189,  0.06197465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29517094e-05,-5.61487793e-05,-3.28770416e-06,-1.27938963e-05,
  1.51336059e-05, 1.20554797e-05,-7.85127626e-07,-4.89836589e-05,
  6.05603366e-06, 4.11762553e-05, 4.50696934e-05,-2.54426198e-05,
  6.65638530e-04,-5.75786183e-06,-6.34498581e-06, 3.83160163e-06,
 -8.24811996e-06, 1.26478075e-05,-9.80997931e+00,-1.18434231e-02,
 -2.39837210e-02, 3.45834765e-05]


--- Step 160 ---
qpos:
[-1.29612269e-02, 1.30065250e-02, 9.66150843e-03, 1.41492493e-02,
 -1.83398683e-02,-8.83026748e-03,-1.67860657e-02, 1.57596500e-02,
 -1.17184767e-02,-6.48060303e-03,-1.38923908e-02, 1.45111947e-02,
  8.40896539e-01, 2.26233854e-02, 2.54342673e-02,-2.25120990e-03,
  9.49603090e-02,-7.00613657e-02, 1.04439146e-01, 9.99999689e-01,
  5.08834824e-04,-2.55074081e-04,-5.45658303e-04]

qacc:
[ -2.94953137, -1.1668377 ,  5.63521608,-14.51618789, -0.43270477,
  -1.02971369,  3.7906638 , -4.71640343,  1.23982477, -3.80013551,
  18.50318949,-38.78196748,  1.05327228,  8.11774189, -0.50743485,
   1.2290229 ,  1.70434703, -1.42354409, -0.35431479, 32.55578909,
  41.22603924, -2.88707857]

qfrc_actuator:
[-9.95365196e-05,-4.51058149e-05, 2.54771447e-04, 6.21835239e-04,
 -1.35311341e-03,-9.43469343e-04,-8.61008658e-04, 7.41105838e-04,
 -9.79790622e-04,-6.15118751e-04,-6.53770986e-04, 5.67278400e-04,
  2.10000000e-01, 7.90213262e-04, 8.32930168e-03, 2.97065348e-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: -0.0005913133563387585
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.38777226e-14,  6.93699743e-06,  1.00000000e+00, -6.51229520e-19,
        1.00000000e+00, -6.93699743e-06, -1.00000000e+00,  0.00000000e+00,
        9.38777226e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08111562, -0.05922061,  0.06197487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75223111e-05,-6.69655145e-05,-2.82404704e-05,-3.19478483e-05,
 -2.62477396e-06, 1.35016377e-05, 2.39717138e-05, 4.72647324e-07,
  7.22540582e-06, 2.93805459e-05, 3.95132569e-05,-5.39001666e-05,
  6.61685950e-04, 4.47007781e-05,-1.49033880e-05, 1.41387456e-06,
 -1.27390038e-05, 2.30594211e-06,-9.80998605e+00,-1.18455383e-02,
 -2.39801778e-02, 3.17309883e-05]


--- Step 161 ---
qpos:
[-1.29737563e-02, 1.30164599e-02, 9.66983511e-03, 1.41619953e-02,
 -1.83542733e-02,-8.83594058e-03,-1.67987104e-02, 1.57741023e-02,
 -1.17266761e-02,-6.48406229e-03,-1.39022148e-02, 1.45220444e-02,
  8.45978382e-01, 2.26448249e-02, 2.55764784e-02,-2.25107515e-03,
  9.49685175e-02,-7.00756455e-02, 1.04439621e-01, 9.99999598e-01,
  6.70706173e-04,-1.50159651e-04,-5.76366601e-04]

qacc:
[ -7.12770225,  0.16880705,  0.52522897, -6.90412425,  3.70988435,
  -3.32066354, 16.9799082 ,-37.80181002, 13.46493172, -2.76301382,
  14.43755667,-33.38787755,  1.21203144, -8.10766366,  0.34639809,
  -2.00650566, -0.91671918, -2.43251758, -0.47934325, 58.82302404,
 -22.16102209,  2.56235402]

qfrc_actuator:
[-1.40737126e-04,-6.98476423e-05, 2.24014042e-04, 5.99366784e-04,
 -1.33143812e-03,-9.36073519e-04,-8.42152909e-04, 6.82155913e-04,
 -9.00881411e-04,-6.32901646e-04,-6.52150787e-04, 5.11370304e-04,
  2.10000000e-01, 7.49369819e-04, 8.30292635e-03, 2.79600053e-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: -0.0005873618959804927
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.72546411e-14, -7.08819617e-14,  1.00000000e+00,  3.34950166e-27,
        1.00000000e+00,  7.08819617e-14, -1.00000000e+00,  0.00000000e+00,
        4.72546411e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09883898, -0.05155322,  0.06197504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.22324377e-05,-6.89301692e-05,-4.90143619e-05,-2.69039164e-05,
  2.19326500e-05, 2.04555101e-05, 2.47878709e-05,-5.74993092e-05,
  7.93448090e-05, 4.87296241e-06, 1.08161220e-05,-5.43090242e-05,
  6.58015701e-04,-3.12043440e-05,-2.74271837e-05,-1.80073466e-05,
 -6.23521270e-05, 3.09434984e-05,-9.80994812e+00,-1.18456156e-02,
 -2.39728371e-02, 3.09974073e-05]


--- Step 162 ---
qpos:
[-1.29870368e-02, 1.30260070e-02, 9.67772582e-03, 1.41740208e-02,
 -1.83679553e-02,-8.84145120e-03,-1.68110122e-02, 1.57870445e-02,
 -1.17335167e-02,-6.48744159e-03,-1.39119908e-02, 1.45328376e-02,
  8.51063574e-01, 2.26649893e-02, 2.57183539e-02,-2.25147487e-03,
  9.49731195e-02,-7.00995394e-02, 1.04437628e-01, 9.99999365e-01,
  9.48120919e-04,-8.89806919e-05,-6.02237391e-04]

qacc:
[ -6.52701385, -0.76523172,  5.04921665,-16.5622272 ,  6.28878821,
  -3.86339969, 20.44297964,-47.22632807, 11.86506261, -0.16795427,
   0.95029054, -2.019019  ,  1.26809078,-14.31246034,  1.0939777 ,
  -4.61532259, -0.90160219, -2.40353805, -0.61692242, 57.78469038,
 -21.83281735,  2.42470397]

qfrc_actuator:
[-1.77706447e-04,-8.84375909e-05, 2.02562638e-04, 5.63295440e-04,
 -1.29517384e-03,-9.29443024e-04,-8.26015554e-04, 6.06197158e-04,
 -8.33428347e-04,-6.24461608e-04,-6.47373373e-04, 5.09636825e-04,
  2.10000000e-01, 6.81207253e-04, 8.28200010e-03, 2.51488172e-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: -0.0005816489503754005
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09884019, -0.05155188,  0.06197528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.86916034e-05,-6.79328018e-05,-4.24887969e-05,-4.12090572e-05,
  3.72263678e-05, 2.12562464e-05, 2.15942928e-05,-7.53121333e-05,
  6.99443972e-05, 1.14153287e-05, 5.34108485e-06,-2.19187686e-06,
  6.53625635e-04,-6.02514619e-05,-2.93944418e-05,-3.12304047e-05,
 -3.95827529e-05, 8.08326423e-05,-9.80993255e+00,-1.18380908e-02,
 -2.39663753e-02, 3.71699244e-05]


--- Step 163 ---
qpos:
[-1.30003219e-02, 1.30350361e-02, 9.68534679e-03, 1.41851811e-02,
 -1.83810899e-02,-8.84685461e-03,-1.68230523e-02, 1.57996798e-02,
 -1.17398357e-02,-6.49050373e-03,-1.39220347e-02, 1.45435174e-02,
  8.56152081e-01, 2.26852963e-02, 2.58597970e-02,-2.25153897e-03,
  9.49802289e-02,-7.01302896e-02, 1.04434987e-01, 9.99998947e-01,
  1.30634612e-03, 3.15906839e-06,-6.31376354e-04]

qacc:
[ -0.0405249 , -1.71284148,  8.76710387,-22.93066747,  4.76383377,
  -1.22989001,  5.87108535,-11.66340335,  4.54059602,  0.92546121,
  -2.22791551,  0.47556018,  1.10405845,  1.18448853, -1.67236658,
   4.87966828,  0.6268142 , -1.7140631 , -0.16215039, 40.39582372,
  15.50316752, -1.65241398]

qfrc_actuator:
[-1.76372536e-04,-1.20930383e-04, 1.86797091e-04, 5.19522124e-04,
 -1.26837619e-03,-9.23357962e-04,-8.11618262e-04, 5.91856329e-04,
 -8.08788161e-04,-6.00341213e-04,-6.58378022e-04, 5.04313276e-04,
  2.10000000e-01, 6.86267033e-04, 8.26435494e-03, 2.70606884e-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: -0.000573091512614118
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21078288e-14,  7.06575533e-06,  1.00000000e+00,  8.55509557e-20,
        1.00000000e+00, -7.06575533e-06, -1.00000000e+00,  0.00000000e+00,
       -1.21078288e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08838113, -0.05732683,  0.06197564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.64957470e-07,-8.05163351e-05,-3.62805016e-05,-4.89196665e-05,
  2.81943392e-05, 1.97146968e-05, 1.90007272e-05,-1.41193357e-05,
  2.68593594e-05, 3.18038275e-05,-7.97618813e-06,-4.67940279e-06,
  6.49073529e-04, 1.23087701e-05,-2.85294889e-05, 1.50005101e-05,
 -1.66282456e-05, 1.38375675e-04,-9.80985139e+00,-1.18261448e-02,
 -2.39622075e-02, 4.89873186e-05]


--- Step 164 ---
qpos:
[-1.30128074e-02, 1.30437768e-02, 9.69230016e-03, 1.41960741e-02,
 -1.83937947e-02,-8.85214631e-03,-1.68348293e-02, 1.58120444e-02,
 -1.17468402e-02,-6.49327821e-03,-1.39321388e-02, 1.45536944e-02,
  8.61243883e-01, 2.27055788e-02, 2.60008691e-02,-2.25104672e-03,
  9.49931145e-02,-7.01651672e-02, 1.04431796e-01, 9.99998301e-01,
  1.71146097e-03, 1.64072901e-04,-6.64708243e-04]

qacc:
[  6.92429183,  0.9210423 , -2.73148488, -0.59099576,  3.7403983 ,
  -1.15196936,  5.45215613,-10.62639246, -5.99306166, -0.47496392,
   4.38835949,-13.22791966,  1.11659116, -0.64976858, -2.25223472,
   7.03680543,  1.44407799, -1.03186396, -0.13739848, 23.42324663,
  34.39906561, -2.14138051]

qfrc_actuator:
[-1.34750082e-04,-1.25974271e-04, 1.56698587e-04, 5.07065797e-04,
 -1.24737229e-03,-9.17609893e-04,-7.98320748e-04, 5.78381868e-04,
 -8.45047283e-04,-5.84834413e-04,-6.60802430e-04, 4.79162692e-04,
  2.10000000e-01, 6.81094419e-04, 8.24869925e-03, 2.99655011e-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: -0.0005662933048759979
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.72157204e-06,  4.91877716e-06,  1.00000000e+00,  8.46802923e-12,
        1.00000000e+00, -4.91877716e-06, -1.00000000e+00,  0.00000000e+00,
       -1.72157204e-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([ 0.08311957, -0.06209475,  0.06197592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.11499118e-05,-5.91407837e-05,-5.27174335e-05,-1.80790789e-05,
  2.21314612e-05, 2.05791464e-05, 1.93745377e-05,-1.22186911e-05,
 -3.52738393e-05, 3.16994810e-05, 3.08456438e-06,-2.41413489e-05,
  6.45194979e-04, 3.74399518e-06,-2.08756686e-05, 2.76445902e-05,
 -4.12979635e-05, 2.41819475e-04,-9.80974365e+00,-1.18125392e-02,
 -2.39561215e-02, 6.53424654e-05]


--- Step 165 ---
qpos:
[-1.30243607e-02, 1.30525468e-02, 9.69862020e-03, 1.42070349e-02,
 -1.84057981e-02,-8.85705159e-03,-1.68461643e-02, 1.58234130e-02,
 -1.17545655e-02,-6.49599992e-03,-1.39421301e-02, 1.45638548e-02,
  8.66338952e-01, 2.27267559e-02, 2.61416635e-02,-2.25021042e-03,
  9.49988494e-02,-7.01991450e-02, 1.04431242e-01, 9.99997508e-01,
  2.10796432e-03, 2.38228591e-04,-6.95066961e-04]

qacc:
[  8.07011668,  1.93326151, -7.15083332,  9.34631635,  6.10051315,
  -2.78580247, 14.86005172,-33.06980962, -6.29102601, -0.26763265,
   1.14689142, -1.67669595,  1.00317701,  9.41078499, -1.46086686,
   4.48672519, -1.78769069,  0.22497042,  0.65923507, -4.27702772,
 -43.37930509,  1.56006975]

qfrc_actuator:
[-8.75095735e-05,-9.68186151e-05, 1.36258706e-04, 5.13147861e-04,
 -1.21219326e-03,-8.76606132e-04,-7.68036753e-04, 5.30008463e-04,
 -8.81342265e-04,-5.92345764e-04,-6.58179310e-04, 4.78055823e-04,
  2.10000000e-01, 7.23150527e-04, 8.23424726e-03, 3.16553176e-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: -0.0005717198631305098
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.85475097e-14,  2.42737549e-14,  1.00000000e+00,  1.17843035e-27,
        1.00000000e+00, -2.42737549e-14, -1.00000000e+00,  0.00000000e+00,
       -4.85475097e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10363407, -0.07027672,  0.06197569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.79865498e-05,-1.50777278e-05,-3.96127217e-05, 1.40303376e-06,
  3.61258263e-05, 5.64591600e-05, 3.66465939e-05,-4.70313767e-05,
 -3.70968519e-05, 1.00760514e-05, 8.80992218e-06,-9.39584345e-08,
  6.41229905e-04, 5.07852455e-05,-1.51344662e-05, 1.70941667e-05,
 -1.16862783e-04, 3.69044131e-04,-9.80963919e+00,-1.17980064e-02,
 -2.39474785e-02, 8.37364156e-05]


--- Step 166 ---
qpos:
[-1.30356107e-02, 1.30613339e-02, 9.70488508e-03, 1.42175988e-02,
 -1.84172807e-02,-8.86167768e-03,-1.68570179e-02, 1.58341246e-02,
 -1.17626623e-02,-6.49873177e-03,-1.39519948e-02, 1.45742759e-02,
  8.71437272e-01, 2.27486910e-02, 2.62824468e-02,-2.25052262e-03,
  9.50094695e-02,-7.02213941e-02, 1.04430420e-01, 9.99996874e-01,
  2.36639506e-03, 3.69613374e-04,-7.17631045e-04]

qacc:
[ 2.63036227e+00,-6.45706972e-01, 4.00212502e+00,-1.07866403e+01,
  4.53609494e+00,-2.33655425e+00, 1.16261873e+01,-2.39572695e+01,
 -3.23937056e+00, 1.75965553e-01,-1.73649849e+00, 6.04129694e+00,
  1.00555899e+00, 7.94520785e+00, 3.45795255e+00,-1.21470935e+01,
  1.22132681e+00, 2.93216006e+00,-6.67379806e-02,-6.90571218e+01,
  2.85746871e+01, 3.82059750e+00]

qfrc_actuator:
[-7.28558674e-05,-8.28507130e-05, 1.39599379e-04, 4.94619402e-04,
 -1.18670525e-03,-8.68026239e-04,-7.45597560e-04, 4.97034609e-04,
 -8.99596683e-04,-5.95795555e-04,-6.52676687e-04, 4.91090132e-04,
  2.10000000e-01, 7.57129190e-04, 8.22584827e-03, 2.55140600e-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: -0.0005794413062314777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.39502908e-14,  1.55676890e-13,  1.00000000e+00, -3.72850680e-27,
        1.00000000e+00, -1.55676890e-13, -1.00000000e+00,  0.00000000e+00,
        2.39502908e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08458808, -0.08877461,  0.06197537])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56169016e-05,-2.11501467e-06,-4.45372081e-06,-2.04891124e-05,
  2.68337052e-05, 4.61545391e-05, 3.71271267e-05,-3.01762782e-05,
 -1.91204366e-05, 4.28404356e-06, 8.76865512e-06, 1.37883947e-05,
  6.37560743e-04, 4.37944634e-05,-8.02334126e-06,-6.11589293e-05,
 -2.63954759e-05, 2.66566978e-04,-9.80969489e+00,-1.17802585e-02,
 -2.39454220e-02, 9.78300700e-05]


--- Step 167 ---
qpos:
[-1.30469502e-02, 1.30701052e-02, 9.71143951e-03, 1.42274935e-02,
 -1.84287074e-02,-8.86634754e-03,-1.68673102e-02, 1.58437039e-02,
 -1.17709115e-02,-6.50154432e-03,-1.39613978e-02, 1.45847581e-02,
  8.76538834e-01, 2.27698945e-02, 2.64233047e-02,-2.25192663e-03,
  9.50199102e-02,-7.02319417e-02, 1.04429835e-01, 9.99996513e-01,
  2.48660999e-03, 4.96478097e-04,-7.37816559e-04]

qacc:
[-7.67967916e-01,-2.20756228e+00, 1.06690324e+01,-2.27072416e+01,
  5.03243995e-01,-3.95713217e+00, 1.88058856e+01,-3.92682486e+01,
 -1.31525747e+00,-1.26829318e+00, 4.11373657e+00,-3.73859299e+00,
  1.17063098e+00,-8.34876421e+00, 3.39692929e+00,-1.17788789e+01,
 -4.48759621e-02, 2.92537307e+00, 5.89442412e-02,-6.91068253e+01,
 -2.30685410e+00, 1.16918463e+00]

qfrc_actuator:
[-7.74982817e-05,-7.79951524e-05, 1.56883569e-04, 4.61762262e-04,
 -1.18488461e-03,-8.96700654e-04,-7.28081366e-04, 4.37854606e-04,
 -9.07087747e-04,-5.96766605e-04,-6.27752504e-04, 4.94585908e-04,
  2.10000000e-01, 7.15029642e-04, 8.23171864e-03, 2.01354398e-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: -0.0005869286993196528
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41986098e-06,  2.58614555e-15,  1.00000000e+00,  3.67196716e-21,
        1.00000000e+00, -2.58614555e-15, -1.00000000e+00,  0.00000000e+00,
       -1.41986098e-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([ 0.09294588, -0.08869763,  0.06197505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.60670795e-06, 2.32376744e-06, 1.57380865e-05,-3.34711984e-05,
  2.88034917e-06, 3.93726908e-06, 3.07123914e-05,-5.64801189e-05,
 -7.84668196e-06, 4.12983052e-06, 2.74725829e-05, 4.27041874e-06,
  6.33647928e-04,-3.24369860e-05,-1.45475521e-08,-5.71674977e-05,
 -7.22831750e-05, 1.69768810e-04,-9.80983909e+00,-1.17703432e-02,
 -2.39445266e-02, 1.07538271e-04]


--- Step 168 ---
qpos:
[-1.30579204e-02, 1.30788550e-02, 9.71813075e-03, 1.42376197e-02,
 -1.84400180e-02,-8.87071548e-03,-1.68776737e-02, 1.58518095e-02,
 -1.17784931e-02,-6.50428254e-03,-1.39707345e-02, 1.45948632e-02,
  8.81643614e-01, 2.27901575e-02, 2.65640353e-02,-2.25263626e-03,
  9.50253569e-02,-7.02312084e-02, 1.04428445e-01, 9.99996492e-01,
  2.47476067e-03, 5.60423962e-04,-7.60058893e-04]

qacc:
[ 3.20921410e+00, 5.99088322e-02,-1.24373184e+00, 5.06174908e+00,
  9.99604745e-01,-2.43681062e+00, 1.54881474e+01,-4.11028139e+01,
  5.82961495e+00,-8.74750819e-01, 4.83450518e+00,-1.15022771e+01,
  1.19468682e+00,-1.06669123e+01,-2.31981995e+00, 7.77853106e+00,
 -1.24848583e+00, 2.82023387e+00,-2.01236230e-01,-6.60086043e+01,
 -3.15106802e+01,-9.82837326e-01]

qfrc_actuator:
[-5.79415924e-05,-7.85808584e-05, 1.64458580e-04, 4.73996953e-04,
 -1.17925510e-03,-8.76505826e-04,-7.31544225e-04, 3.63688954e-04,
 -8.72685973e-04,-5.96175804e-04,-6.27066485e-04, 4.74701132e-04,
  2.10000000e-01, 6.63974856e-04, 8.23549173e-03, 2.41309896e-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: -0.0005932863532023547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.33913821e-14, -3.50870732e-14,  1.00000000e+00, -8.20735138e-28,
        1.00000000e+00,  3.50870732e-14, -1.00000000e+00,  0.00000000e+00,
       -2.33913821e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10112948, -0.0886234 ,  0.06197479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.90097977e-05, 2.97568419e-06, 8.98561562e-06, 1.22578367e-05,
  5.98418980e-06, 2.67361445e-05,-6.86913569e-07,-7.40078986e-05,
  3.43659132e-05, 9.07024980e-06, 5.17807912e-06,-1.86549662e-05,
  6.29132599e-04,-4.31329250e-05, 1.56678349e-06, 3.77201664e-05,
 -5.36567389e-05, 6.02538374e-05,-9.80994045e+00,-1.17652022e-02,
 -2.39418910e-02, 1.08663229e-04]


--- Step 169 ---
qpos:
[-1.30682345e-02, 1.30877216e-02, 9.72425325e-03, 1.42481910e-02,
 -1.84511679e-02,-8.87495094e-03,-1.68882837e-02, 1.58596885e-02,
 -1.17859447e-02,-6.50711171e-03,-1.39798975e-02, 1.46043207e-02,
  8.86751586e-01, 2.28100741e-02, 2.67047431e-02,-2.25351946e-03,
  9.50259083e-02,-7.02194326e-02, 1.04425440e-01, 9.99996811e-01,
  2.33364583e-03, 5.63072764e-04,-7.84813985e-04]

qacc:
[  5.67532798,  2.6500202 ,-11.1225851 , 19.66884405,  1.38664894,
   0.39469752, -0.20179932, -3.41635571,  1.1426221 , -1.94092156,
   9.47713796,-20.89389446,  1.11465276, -4.15190045,  0.47307922,
  -1.75345597, -1.22383645,  2.7606199 , -0.40379162,-64.60894892,
 -30.70075348, -1.21661934]

qfrc_actuator:
[-2.42883879e-05,-8.24192850e-05, 1.30739737e-04, 4.94900907e-04,
 -1.17142273e-03,-8.80575546e-04,-7.47186400e-04, 3.52336877e-04,
 -8.67165423e-04,-6.12523259e-04,-6.22959959e-04, 4.41201903e-04,
  2.10000000e-01, 6.43553720e-04, 8.22737038e-03, 2.29645153e-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: -0.0005950318313504843
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.66455308e-14, -1.16613827e-14,  1.00000000e+00,  5.43951386e-28,
        1.00000000e+00,  1.16613827e-14, -1.00000000e+00,  0.00000000e+00,
        4.66455308e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10112836, -0.08862321,  0.06197471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.37838730e-05, 6.47286406e-07,-3.14280632e-05, 2.16096107e-05,
  8.27947416e-06, 7.98079832e-06,-1.26329709e-05,-1.16454180e-05,
  6.69423483e-06,-1.07024782e-05, 6.06995439e-06,-3.32785608e-05,
  6.24707717e-04,-1.27367328e-05, 1.30228762e-06,-8.33271396e-06,
 -1.08031794e-05, 1.79460778e-06,-9.80998902e+00,-1.17649546e-02,
 -2.39411220e-02, 1.05173033e-04]


--- Step 170 ---
qpos:
[-1.30780731e-02, 1.30967783e-02, 9.72992428e-03, 1.42582232e-02,
 -1.84624769e-02,-8.87914805e-03,-1.68989812e-02, 1.58673719e-02,
 -1.17932681e-02,-6.50997912e-03,-1.39886842e-02, 1.46132826e-02,
  8.91862724e-01, 2.28303597e-02, 2.68452508e-02,-2.25482272e-03,
  9.50216478e-02,-7.01968139e-02, 1.04420116e-01, 9.99997409e-01,
  2.06559129e-03, 5.05764394e-04,-8.12434341e-04]

qacc:
[  4.10836051,  0.39502951,  1.21835776, -9.95214715, -1.38532712,
  -0.10480854,  1.27862554, -4.5604471 ,  1.13023221, -2.12390568,
   9.58828735,-18.73409854,  1.02380965,  3.67660237,  0.96569221,
  -3.84245711, -1.20299168,  2.71073065, -0.57961341,-63.44564652,
 -30.03172506, -1.39829649]

qfrc_actuator:
[-3.64562601e-07,-7.05864197e-05, 1.08400678e-04, 4.67442500e-04,
 -1.18011242e-03,-8.81402674e-04,-7.52179858e-04, 3.42509876e-04,
 -8.60950540e-04,-6.03392857e-04,-5.99182428e-04, 4.17707976e-04,
  2.10000000e-01, 6.59047537e-04, 8.20678174e-03, 2.05351105e-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: -0.0005928084181775345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.17051204e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.17051204e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10112816, -0.08862462,  0.06197481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.44819343e-05, 7.05035139e-06,-2.51919820e-05,-2.80710020e-05,
 -8.18662023e-06, 9.35261048e-07,-5.17376139e-06,-1.01241934e-05,
  6.59266283e-06, 3.26188230e-06, 2.12602129e-05,-2.43733328e-05,
  6.20483618e-04, 2.38794094e-05,-1.67080461e-05,-2.36288009e-05,
 -8.12984463e-06, 2.38767361e-05,-9.80995076e+00,-1.17698681e-02,
 -2.39429420e-02, 9.83790171e-05]


--- Step 171 ---
qpos:
[-1.30872116e-02, 1.31060215e-02, 9.73552897e-03, 1.42678224e-02,
 -1.84737971e-02,-8.88305232e-03,-1.69098343e-02, 1.58755404e-02,
 -1.18004565e-02,-6.51280837e-03,-1.39971568e-02, 1.46218876e-02,
  8.96977013e-01, 2.28504001e-02, 2.69853459e-02,-2.25538581e-03,
  9.50101788e-02,-7.01733421e-02, 1.04417376e-01, 9.99997983e-01,
  1.78860323e-03, 3.64334389e-04,-8.37872685e-04]

qacc:
[  6.06992815, -0.47183057,  3.84768724,-11.35161983, -0.10741602,
   1.82003495, -7.97682009, 16.40830709,  1.18860265, -1.56479132,
   7.15617062,-13.86174249,  1.09468031, -3.06549815, -2.87300184,
   9.11580046, -1.80210349,  0.21324837,  0.64611164, -4.43309893,
 -42.06207825,  1.17561438]

qfrc_actuator:
[ 3.53925475e-05,-4.94708244e-05, 1.10752339e-04, 4.47278025e-04,
 -1.18070723e-03,-8.44737854e-04,-7.50844355e-04, 3.69163076e-04,
 -8.54369047e-04,-5.96744716e-04,-5.81626934e-04, 4.00324128e-04,
  2.10000000e-01, 6.42255465e-04, 8.18938108e-03, 2.44805904e-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: -0.0005894688424814831
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.41714765e-14, -2.35428691e-14,  1.00000000e+00,  2.21706675e-27,
        1.00000000e+00,  2.35428691e-14, -1.00000000e+00,  0.00000000e+00,
        9.41714765e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10362936, -0.07028032,  0.06197494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.60508955e-05, 1.90525207e-05,-1.35104594e-07,-2.12545942e-05,
 -5.68273730e-07, 3.60933013e-05, 6.73943254e-07, 2.63428605e-05,
  6.95833948e-06, 1.21029406e-05, 2.01001693e-05,-1.69661463e-05,
  6.16400907e-04,-7.56264137e-06,-2.27028622e-05, 3.71368441e-05,
 -4.33112555e-05, 1.21609792e-04,-9.80983058e+00,-1.17797997e-02,
 -2.39473952e-02, 8.82707377e-05]


--- Step 172 ---
qpos:
[-1.30958584e-02, 1.31152626e-02, 9.74117109e-03, 1.42774678e-02,
 -1.84846866e-02,-8.88691809e-03,-1.69203065e-02, 1.58853412e-02,
 -1.18071614e-02,-6.51580453e-03,-1.40055300e-02, 1.46302591e-02,
  9.02094430e-01, 2.28698121e-02, 2.71252632e-02,-2.25549867e-03,
  9.49916298e-02,-7.01490247e-02, 1.04416448e-01, 9.99998490e-01,
  1.50251807e-03, 1.40129335e-04,-8.61445803e-04]

qacc:
[ 4.26810436e+00,-2.05768978e-02,-1.40124272e-01, 8.96989757e-01,
  3.75408665e+00, 2.33873823e+00,-1.51711827e+01, 4.28021188e+01,
  4.22763894e+00,-9.86841789e-01, 4.16997521e+00,-8.23064159e+00,
  1.13053347e+00,-7.24815680e+00,-1.65072798e+00, 5.33677657e+00,
 -1.76999211e+00, 2.11443560e-01, 4.52621321e-01,-4.51414940e+00,
 -4.13895733e+01, 1.00495208e+00]

qfrc_actuator:
[ 6.00821654e-05,-5.83632696e-05, 1.09961266e-04, 4.49352116e-04,
 -1.15877664e-03,-8.39105593e-04,-7.27855882e-04, 4.52606995e-04,
 -8.29873225e-04,-6.27152287e-04,-5.85645792e-04, 3.86666035e-04,
  2.10000000e-01, 6.06558574e-04, 8.18457112e-03, 2.68259918e-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: -0.0005896748788688441
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10362981, -0.07028081,  0.06197493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53145603e-05, 1.20339011e-06, 2.51487897e-06, 2.49587331e-06,
  2.21769409e-05, 2.74946674e-05, 3.15710330e-05, 8.55519613e-05,
  2.48816996e-05,-1.99361813e-05, 4.63545090e-07,-1.27578332e-05,
  6.12049105e-04,-2.71836559e-05,-5.53068001e-06, 2.38829416e-05,
 -1.11830061e-04, 1.81459855e-04,-9.80978990e+00,-1.17899540e-02,
 -2.39528192e-02, 8.04768377e-05]


--- Step 173 ---
qpos:
[-1.31048394e-02, 1.31240476e-02, 9.74725611e-03, 1.42874394e-02,
 -1.84959135e-02,-8.89080541e-03,-1.69303091e-02, 1.58953769e-02,
 -1.18131719e-02,-6.51888364e-03,-1.40139254e-02, 1.46387457e-02,
  9.07214952e-01, 2.28890684e-02, 2.72652368e-02,-2.25634146e-03,
  9.49661057e-02,-7.01238648e-02, 1.04416660e-01, 9.99998867e-01,
  1.20718507e-03,-1.65749086e-04,-8.83422175e-04]

qacc:
[ -2.87794532, -1.16349074,  1.90575394,  3.35889639, -2.91595498,
  -0.85149378,  2.0133295 ,  1.30503382,  6.06329896,  0.17717962,
  -1.29685904,  3.40576887,  1.0611762 , -2.05150997,  2.27941147,
  -7.8967673 , -1.74378408,  0.21059692,  0.28536535, -4.58874798,
 -40.83939844,  0.85902538]

qfrc_actuator:
[ 4.25543809e-05,-1.02899182e-04, 1.24959954e-04, 4.64463336e-04,
 -1.17702614e-03,-8.51955656e-04,-7.10102435e-04, 4.62268332e-04,
 -7.95031260e-04,-6.26345587e-04,-5.84767427e-04, 3.93015234e-04,
  2.10000000e-01, 5.95505400e-04, 8.18198351e-03, 2.28849436e-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: -0.0005865980904365756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.73161711e-14,  2.36580856e-14,  1.00000000e+00, -1.11941002e-27,
        1.00000000e+00, -2.36580856e-14, -1.00000000e+00,  0.00000000e+00,
        4.73161711e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10363098, -0.07028129,  0.06197506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72199395e-05,-4.28777972e-05, 1.57605147e-05, 1.53213948e-05,
 -1.73649168e-05, 1.31154501e-05, 3.04089122e-05, 1.36205085e-05,
  3.57358612e-05,-1.05247543e-05,-3.53662953e-06, 5.27714623e-06,
  6.07605163e-04,-2.98936151e-06, 2.08131310e-06,-3.77487492e-05,
 -2.15058260e-04, 2.45179354e-04,-9.80972073e+00,-1.18006570e-02,
 -2.39615741e-02, 7.43213208e-05]


--- Step 174 ---
qpos:
[-1.31143135e-02, 1.31325479e-02, 9.75347092e-03, 1.42975152e-02,
 -1.85069221e-02,-8.89485110e-03,-1.69398876e-02, 1.59051271e-02,
 -1.18190592e-02,-6.52201308e-03,-1.40217384e-02, 1.46475410e-02,
  9.12338556e-01, 2.29081178e-02, 2.74050336e-02,-2.25728559e-03,
  9.49480324e-02,-7.01036781e-02, 1.04419288e-01, 9.99999046e-01,
  9.67797640e-04,-3.80309995e-04,-9.09504373e-04]

qacc:
[-4.27021818e+00,-5.16517132e-01, 8.70674451e-01, 9.16992284e-01,
  1.91248687e+00,-1.98490484e+00, 7.97300049e+00,-1.34685948e+01,
  1.09606314e+00,-1.06011132e+00, 2.37579497e+00, 2.07950988e+00,
  1.06386950e+00,-2.62695619e+00, 2.79693296e-02,-5.23307969e-01,
  1.86268884e+00,-1.24329912e+00, 6.03848272e-01, 2.79322018e+01,
  4.56809239e+01,-2.11275342e+00]

qfrc_actuator:
[ 1.80779588e-05,-1.15108412e-04, 1.31259407e-04, 4.69345627e-04,
 -1.16553003e-03,-8.75850469e-04,-6.95731122e-04, 4.46157350e-04,
 -7.89891092e-04,-6.06827522e-04,-5.45363699e-04, 4.11113777e-04,
  2.10000000e-01, 5.81264288e-04, 8.17006307e-03, 2.23730855e-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: -0.000591157631270732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.69512261e-14,  5.86890326e-15,  1.00000000e+00,  2.75552204e-28,
        1.00000000e+00, -5.86890326e-15, -1.00000000e+00,  0.00000000e+00,
       -4.69512261e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0811699 , -0.06131214,  0.06197487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.53998084e-05,-3.19196428e-05, 3.64188793e-08, 3.91395570e-06,
  1.12356682e-05,-9.29413375e-06, 2.14299376e-05,-1.42057323e-05,
  6.35052874e-06, 1.33749728e-05, 3.70556060e-05, 1.76403626e-05,
  6.03318551e-04,-5.62311783e-06,-1.13972190e-05,-6.09268617e-06,
 -3.51859717e-04, 3.12827186e-04,-9.80962434e+00,-1.18118678e-02,
 -2.39736056e-02, 6.97775538e-05]


--- Step 175 ---
qpos:
[-1.31233261e-02, 1.31411439e-02, 9.75902924e-03, 1.43072320e-02,
 -1.85170131e-02,-8.89916125e-03,-1.69488938e-02, 1.59153034e-02,
 -1.18244901e-02,-6.52517759e-03,-1.40289886e-02, 1.46561384e-02,
  9.17465227e-01, 2.29262304e-02, 2.75445811e-02,-2.25794023e-03,
  9.49372347e-02,-7.00883330e-02, 1.04423365e-01, 9.99999124e-01,
  7.82994395e-04,-5.06164929e-04,-9.39880072e-04]

qacc:
[  3.98245888,  1.21489162, -2.64578538, -2.57341337,  7.99484649,
  -1.08706969,  1.54291483,  5.14066108,  4.0016178 , -2.03404401,
   8.00804712,-12.2945456 ,  1.14702187,-10.61610032, -1.27249599,
   3.85455662,  1.81892261, -1.2103998 ,  0.36223407, 27.25095923,
  44.37567214, -2.20009847]

qfrc_actuator:
[ 4.29828928e-05,-1.07910582e-04, 9.69700232e-05, 4.50429638e-04,
 -1.11885466e-03,-8.88474060e-04,-6.65778713e-04, 4.68267199e-04,
 -7.66773467e-04,-6.11587339e-04,-5.18945678e-04, 4.00516819e-04,
  2.10000000e-01, 5.29718757e-04, 8.15788766e-03, 2.38850798e-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: -0.0005987648063358122
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.31773606e-14, -1.15886803e-14,  1.00000000e+00,  2.68595021e-28,
        1.00000000e+00,  1.15886803e-14, -1.00000000e+00,  0.00000000e+00,
        2.31773606e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08117231, -0.06131279,  0.06197455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.37593844e-05,-1.01073655e-05,-4.06142792e-05,-2.01793933e-05,
  4.72330353e-05,-1.35992909e-05, 3.03095616e-05, 2.22008560e-05,
  2.34871115e-05, 1.13610485e-05, 3.44336706e-05,-8.38493953e-06,
  5.98941549e-04,-4.29854511e-05,-1.35188802e-05, 1.43617502e-05,
 -1.88835650e-04, 1.84174131e-04,-9.80978135e+00,-1.18217417e-02,
 -2.39822525e-02, 5.99596544e-05]


--- Step 176 ---
qpos:
[-1.31316333e-02, 1.31496013e-02, 9.76420216e-03, 1.43166587e-02,
 -1.85268065e-02,-8.90315049e-03,-1.69582362e-02, 1.59253081e-02,
 -1.18299431e-02,-6.52826050e-03,-1.40361586e-02, 1.46645610e-02,
  9.22594944e-01, 2.29429680e-02, 2.76840526e-02,-2.25908589e-03,
  9.49335639e-02,-7.00777174e-02, 1.04428051e-01, 9.99999164e-01,
  6.51610613e-04,-5.45501665e-04,-9.74677426e-04]

qacc:
[  6.11146362,  0.28473039, -0.07705501, -4.20281775,  2.56919571,
   1.00489717, -2.25149001, -0.40959352, -0.1909852 , -0.4761347 ,
   2.59301052, -5.80793505,  1.18952628,-15.38836617,  1.34582728,
  -4.93999981,  1.78170291, -1.18236993,  0.15242298, 26.66794582,
  43.28242485, -2.258234  ]

qfrc_actuator:
[ 7.90066106e-05,-1.24840432e-04, 7.45669659e-05, 4.35408696e-04,
 -1.10511626e-03,-8.58660215e-04,-6.80053489e-04, 4.59454293e-04,
 -7.68756870e-04,-6.13156383e-04,-5.18285027e-04, 3.90838476e-04,
  2.10000000e-01, 4.56603302e-04, 8.15089796e-03, 2.12505663e-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: -0.0006014695755069202
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08117336, -0.06131273,  0.06197444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.63097262e-05,-3.14670502e-05,-3.00708068e-05,-1.72283680e-05,
  1.53304613e-05, 2.98041610e-05,-1.24654130e-05,-7.89411558e-06,
 -1.12763770e-06, 1.17578532e-05, 7.03024057e-06,-8.15165181e-06,
  5.94264255e-04,-6.54130733e-05,-6.88166672e-06,-2.62019729e-05,
 -8.04640820e-05, 9.14730473e-05,-9.80988929e+00,-1.18298628e-02,
 -2.39870617e-02, 5.16072621e-05]


--- Step 177 ---
qpos:
[-1.31394512e-02, 1.31575867e-02, 9.76944597e-03, 1.43265346e-02,
 -1.85363542e-02,-8.90659231e-03,-1.69680860e-02, 1.59347669e-02,
 -1.18360635e-02,-6.53130545e-03,-1.40432580e-02, 1.46731543e-02,
  9.27727683e-01, 2.29584305e-02, 2.78233944e-02,-2.26118604e-03,
  9.49368395e-02,-7.00729545e-02, 1.04432220e-01, 9.99999188e-01,
  5.86847630e-04,-5.00002668e-04,-1.01474672e-03]

qacc:
[  4.25493588,  0.09483522, -3.15424791, 11.17873687,  2.1087799 ,
   1.0134302 , -0.2665918 , -8.76322595, -5.82570446,  0.2160132 ,
  -1.39844727,  4.1908377 ,  1.16895766,-14.28664768,  2.67239462,
  -9.6932271 ,  1.73662755, -1.46317939, -0.12949829, 33.26759521,
  42.4485759 , -2.68178597]

qfrc_actuator:
[ 1.03520425e-04,-1.56050739e-04, 7.70398254e-05, 4.58304732e-04,
 -1.09313439e-03,-8.21616126e-04,-7.02432278e-04, 4.32515103e-04,
 -8.03257791e-04,-6.12913613e-04,-5.15068878e-04, 3.99519949e-04,
  2.10000000e-01, 3.89111320e-04, 8.13636148e-03, 1.61946191e-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: -0.0005998471410838229
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.82460617e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.82460617e-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([ 0.08112491, -0.05921482,  0.06197451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51635740e-05,-5.54096947e-05,-8.21573763e-06, 2.01932796e-05,
  1.26666894e-05, 5.11585940e-05,-1.79171378e-05,-2.62257271e-05,
 -3.43522200e-05, 8.13306465e-06, 6.30133728e-06, 9.28251766e-06,
  5.89443011e-04,-6.03101163e-05,-1.65293481e-05,-5.19698553e-05,
 -2.22767772e-05, 3.21917765e-05,-9.80995226e+00,-1.18362910e-02,
 -2.39881139e-02, 4.46403436e-05]


--- Step 178 ---
qpos:
[-1.31458873e-02, 1.31652310e-02, 9.77492642e-03, 1.43365798e-02,
 -1.85460244e-02,-8.90984399e-03,-1.69772378e-02, 1.59444822e-02,
 -1.18418565e-02,-6.53448678e-03,-1.40501974e-02, 1.46821467e-02,
  9.32863414e-01, 2.29733889e-02, 2.79621755e-02,-2.26282543e-03,
  9.49469571e-02,-7.00739451e-02, 1.04435236e-01, 9.99999196e-01,
  5.87609146e-04,-3.71237443e-04,-1.06016023e-03]

qacc:
[12.00386062,-0.78730047, 1.39787128, 1.44792232,-1.04486342,-1.16884614,
  3.45348494,-0.27569949, 2.8658831 , 0.18830428,-2.62790738, 9.39086262,
  1.07398931,-5.88812828,-2.24749298, 6.60627281, 1.71047384,-1.43835524,
 -0.28815367,32.71864506,41.66475412,-2.71293009]

qfrc_actuator:
[ 1.74320297e-04,-1.59935231e-04, 9.41361159e-05, 4.67822458e-04,
 -1.10002619e-03,-7.98341398e-04,-6.58357314e-04, 4.48400750e-04,
 -7.85604475e-04,-6.29325375e-04,-5.10341672e-04, 4.18941751e-04,
  2.10000000e-01, 3.60948743e-04, 8.10665292e-03, 1.86281153e-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: -0.0005958275007843765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.40601936e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.40601936e-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([ 0.0811242 , -0.05921362,  0.06197468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.11329486e-05,-3.53775611e-05, 5.44302559e-06, 7.27284868e-06,
 -6.28792140e-06, 4.74091039e-05, 5.16387467e-05, 1.69683291e-05,
  1.68461653e-05,-9.93958368e-06, 7.58616833e-06, 2.01844152e-05,
  5.84658775e-04,-2.08716800e-05,-3.87222727e-05, 2.03129515e-05,
 -1.06909078e-05, 3.52635822e-06,-9.80997873e+00,-1.18405303e-02,
 -2.39851696e-02, 3.97275063e-05]


--- Step 179 ---
qpos:
[-1.31514318e-02, 1.31729233e-02, 9.78017104e-03, 1.43459528e-02,
 -1.85560429e-02,-8.91281544e-03,-1.69852515e-02, 1.59542691e-02,
 -1.18470452e-02,-6.53736500e-03,-1.40574256e-02, 1.46902407e-02,
  9.38002113e-01, 2.29879701e-02, 2.81005927e-02,-2.26451374e-03,
  9.49638310e-02,-7.00806069e-02, 1.04436554e-01, 9.99999157e-01,
  6.52990884e-04,-1.60478713e-04,-1.11095446e-03]

qacc:
[  7.72684811, -0.67687365,  5.31713867,-16.58070521, -2.99523167,
  -2.65569645,  9.71460739,-10.51113912,  5.26194449, -0.65156184,
   6.67993998,-21.97081257,  1.04788466, -4.48812231, -0.40950781,
   0.60286978,  1.68907874, -1.41782205, -0.42457898, 32.26563685,
  41.02938371, -2.72646217]

qfrc_actuator:
[ 2.18545484e-04,-1.47366349e-04, 8.43070993e-05, 4.33908216e-04,
 -1.11797238e-03,-7.65437341e-04,-5.93165113e-04, 4.53892205e-04,
 -7.55139065e-04,-6.02312805e-04,-5.22578333e-04, 3.73500517e-04,
  2.10000000e-01, 3.38370338e-04, 8.08918773e-03, 1.83508807e-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: -0.000589194683390205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.71076478e-14, -1.67437346e-06,  1.00000000e+00,  7.88757951e-20,
        1.00000000e+00,  1.67437346e-06, -1.00000000e+00,  0.00000000e+00,
        4.71076478e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08112275, -0.05921191,  0.06197496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.58989091e-05,-5.48905660e-06,-1.61271211e-05,-3.50844979e-05,
 -1.79093492e-05, 7.11575373e-05, 8.20466402e-05, 9.66211880e-06,
  3.11196026e-05, 2.41172811e-05,-1.25812172e-05,-4.51993844e-05,
  5.80214382e-04,-1.43893689e-05,-2.71853651e-05,-5.28633767e-06,
 -4.55786348e-05, 1.46452105e-05,-9.80995932e+00,-1.18426818e-02,
 -2.39784338e-02, 3.69538154e-05]


--- Step 180 ---
qpos:
[-1.31574439e-02, 1.31806339e-02, 9.78467241e-03, 1.43552316e-02,
 -1.85658503e-02,-8.91538775e-03,-1.69929685e-02, 1.59640891e-02,
 -1.18521696e-02,-6.54011673e-03,-1.40646973e-02, 1.46973880e-02,
  9.43143754e-01, 2.30025907e-02, 2.82387905e-02,-2.26657489e-03,
  9.49770135e-02,-7.00969966e-02, 1.04436042e-01, 9.99998982e-01,
  8.36959253e-04, 6.08277185e-06,-1.15565091e-03]

qacc:
[ -4.08036869,  1.91596475, -6.38424258,  5.9123281 ,  1.83633876,
  -0.23706745,  1.46510581, -1.65478647,  0.55684636, -1.66183888,
  10.16416551,-26.57403803,  0.9864009 ,  0.07690687,  0.79134353,
  -3.27807277, -0.92283875, -2.43196447, -0.4573091 , 59.31835078,
 -22.03075123,  3.05372224]

qfrc_actuator:
[ 1.93505595e-04,-1.60683351e-04, 4.09480683e-05, 4.27966362e-04,
 -1.10677110e-03,-7.62427098e-04,-5.87032460e-04, 4.53229280e-04,
 -7.52899596e-04,-6.02888475e-04,-5.26855643e-04, 3.25784523e-04,
  2.10000000e-01, 3.36969838e-04, 8.07907104e-03, 1.64797434e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 12.61950289,  11.97201359,   3.99033129,  11.97201359,
        25.16307327, -37.63391659,   3.99033129, -37.63391659,
       125.53086979,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005852984380115278
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.37106182e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.37106182e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09885565, -0.05156384,  0.06197512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.40776656e-05,-2.09731463e-05,-4.76152464e-05,-7.40310925e-06,
  1.08873673e-05, 6.05201692e-05, 3.13899321e-05, 5.43673071e-06,
  3.31217413e-06, 8.58872359e-06,-2.34139756e-06,-4.79868722e-05,
  5.75812917e-04, 6.92754633e-06,-1.81901293e-05,-2.13540435e-05,
 -1.24638693e-04, 6.37784030e-05,-9.80989614e+00,-1.18427761e-02,
 -2.39679552e-02, 3.62591986e-05]


--- Step 181 ---
qpos:
[-1.31644055e-02, 1.31881626e-02, 9.78897760e-03, 1.43640101e-02,
 -1.85750992e-02,-8.91752557e-03,-1.70010796e-02, 1.59738697e-02,
 -1.18572235e-02,-6.54307508e-03,-1.40715953e-02, 1.47046127e-02,
  9.48288314e-01, 2.30171566e-02, 2.83766759e-02,-2.26817782e-03,
  9.49865719e-02,-7.01230021e-02, 1.04433140e-01, 9.99998631e-01,
  1.13727790e-03, 1.29073028e-04,-1.19468534e-03]

qacc:
[ -8.24171448, -0.70648021,  4.31027499,-12.5521163 ,  4.83171708,
   1.58460494, -4.6673655 ,  4.31458126,  0.63095015, -1.15840038,
   3.40487   , -2.506274  ,  0.99420036, -0.96856399, -1.86695   ,
   5.81833388, -0.906023  , -2.40395894, -0.59771825, 58.20031444,
 -21.71599217,  2.84949229]

qfrc_actuator:
[ 1.45661783e-04,-1.71768794e-04, 3.13306914e-05, 4.02993674e-04,
 -1.07850140e-03,-7.59831513e-04,-6.15949351e-04, 4.48883710e-04,
 -7.49544692e-04,-6.19961715e-04,-5.08734755e-04, 3.30369367e-04,
  2.10000000e-01, 3.30257585e-04, 8.06803776e-03, 1.90124046e-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: -0.0005802262989976006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.39178883e-14, -1.19589441e-14,  1.00000000e+00,  2.86032690e-28,
        1.00000000e+00,  1.19589441e-14, -1.00000000e+00,  0.00000000e+00,
        2.39178883e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09885704, -0.05156307,  0.06197534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.88948949e-05,-3.27268279e-05,-1.99850737e-05,-2.76445122e-05,
  2.87649176e-05, 4.35151222e-05,-1.22467704e-05,-5.38602911e-07,
  3.62369800e-06,-1.46089745e-05, 1.80146097e-05, 3.94980429e-06,
  5.71553821e-04, 2.09666090e-06,-1.73809453e-05, 2.28018055e-05,
 -9.28214706e-05, 1.33342057e-04,-9.80988572e+00,-1.18338111e-02,
 -2.39580435e-02, 4.25937498e-05]


--- Step 182 ---
qpos:
[-1.31715488e-02, 1.31954331e-02, 9.79345061e-03, 1.43720604e-02,
 -1.85839343e-02,-8.91923221e-03,-1.70094468e-02, 1.59828235e-02,
 -1.18621948e-02,-6.54590326e-03,-1.40783738e-02, 1.47121555e-02,
  9.53435771e-01, 2.30316051e-02, 2.85143868e-02,-2.26948149e-03,
  9.49925629e-02,-7.01585315e-02, 1.04427360e-01, 9.99998019e-01,
  1.55215528e-03, 2.09017739e-04,-1.22837951e-03]

qacc:
[ -1.56646618, -2.3073199 , 10.8112814 ,-23.49857533,  3.57925101,
  -0.42364513,  5.817091  ,-20.02448883,  0.72343651,  0.49116853,
  -2.84714916,  8.06792596,  0.99319471, -1.64921076, -1.18133509,
   3.71536086, -0.89187308, -2.38097764, -0.7192551 , 57.30480684,
 -21.45125813,  2.70184404]

qfrc_actuator:
[ 1.38062497e-04,-1.81322387e-04, 4.17085239e-05, 3.67046212e-04,
 -1.05817505e-03,-7.39927091e-04,-6.29818556e-04, 4.06882467e-04,
 -7.45552499e-04,-5.93393081e-04,-4.95327111e-04, 3.47936489e-04,
  2.10000000e-01, 3.20436680e-04, 8.06179657e-03, 2.05686247e-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: -0.0005728238947118325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.81702281e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.81702281e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09885862, -0.05156114,  0.06197565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.35980983e-06,-3.29027872e-05, 2.96587108e-07,-3.85578600e-05,
  2.13210251e-05, 4.20313577e-05,-6.30095028e-06,-4.05512912e-05,
  4.26176942e-06, 2.24888233e-05, 1.28133508e-05, 1.76529808e-05,
  5.67215187e-04,-1.12721834e-06,-7.17637090e-06, 1.56301743e-05,
 -6.12112090e-05, 2.10749658e-04,-9.80980833e+00,-1.18204558e-02,
 -2.39505545e-02, 5.45914153e-05]


--- Step 183 ---
qpos:
[-1.31783898e-02, 1.32024775e-02, 9.79798195e-03, 1.43799663e-02,
 -1.85927988e-02,-8.92077162e-03,-1.70178150e-02, 1.59908759e-02,
 -1.18670762e-02,-6.54867600e-03,-1.40849139e-02, 1.47198513e-02,
  9.58586096e-01, 2.30465938e-02, 2.86517995e-02,-2.26990206e-03,
  9.49913552e-02,-7.01931487e-02, 1.04424518e-01, 9.99997270e-01,
  1.95798566e-03, 2.01627157e-04,-1.25945191e-03]

qacc:
[  2.62707796, -0.76463549,  2.89395029, -5.31191153, -0.25786495,
  -1.63042256,  9.94150387,-25.66563034,  0.79081449, -0.27952092,
   0.45444434,  1.77408428,  0.90492826,  5.52849526, -3.12711184,
  10.26963804, -1.79965608,  0.22807212,  0.73431039, -4.47001422,
 -43.67106905,  1.37762888]

qfrc_actuator:
[ 1.54221814e-04,-1.89807841e-04, 4.60453359e-05, 3.60447137e-04,
 -1.06044611e-03,-7.45313126e-04,-6.34639580e-04, 3.60843725e-04,
 -7.41218284e-04,-5.94151361e-04,-4.84642874e-04, 3.55268805e-04,
  2.10000000e-01, 3.44340486e-04, 8.04777790e-03, 2.50870742e-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: -0.0005769183963122843
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.81100547e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.81100547e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10362823, -0.0702932 ,  0.06197547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55465640e-05,-2.81916040e-05,-3.66006140e-06,-8.72902171e-06,
 -1.50050788e-06, 1.54070496e-05, 1.78400990e-06,-4.52259651e-05,
  4.62782144e-06, 1.54165174e-05, 1.75849565e-05, 9.09427909e-06,
  5.62811263e-04, 3.25174285e-05,-1.16935955e-05, 4.60195795e-05,
 -2.95970880e-05, 2.95449546e-04,-9.80966716e+00,-1.18027397e-02,
 -2.39453735e-02, 7.21995678e-05]


--- Step 184 ---
qpos:
[-1.31853355e-02, 1.32095098e-02, 9.80245841e-03, 1.43873665e-02,
 -1.86016185e-02,-8.92225384e-03,-1.70261394e-02, 1.59983256e-02,
 -1.18718643e-02,-6.55170583e-03,-1.40911085e-02, 1.47276086e-02,
  9.63739279e-01, 2.30611337e-02, 2.87889600e-02,-2.27009260e-03,
  9.49951368e-02,-7.02158189e-02, 1.04422156e-01, 9.99996675e-01,
  2.22277733e-03, 2.52681019e-04,-1.28241803e-03]

qacc:
[ -0.90969772, -0.90249176,  5.3321124 ,-13.98987628,  0.38784457,
  -1.28789322,  7.24545156,-17.78737545,  0.83014884, -1.18018703,
   3.45284672, -2.74927908,  1.02138921, -5.26845272, -1.09030546,
   3.22325317,  1.2473159 ,  2.98672878,  0.12007593,-70.55694294,
  29.14124675,  3.9817938 ]

qfrc_actuator:
[ 1.48719907e-04,-1.79828648e-04, 4.67998840e-05, 3.35659408e-04,
 -1.05824541e-03,-7.48029322e-04,-6.34184260e-04, 3.30540338e-04,
 -7.36719078e-04,-6.29035759e-04,-4.75759331e-04, 3.56498100e-04,
  2.10000000e-01, 3.16857919e-04, 8.02911015e-03, 2.59867180e-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: -0.000581255710749129
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.38755294e-14,  9.55021176e-14,  1.00000000e+00, -2.28016362e-27,
        1.00000000e+00, -9.55021176e-14, -1.00000000e+00,  0.00000000e+00,
        2.38755294e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08456294, -0.0887688 ,  0.06197529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.38860243e-06,-6.63441785e-06,-5.72908217e-06,-2.62739484e-05,
  2.30104808e-06, 4.65138961e-06, 2.39644789e-06,-3.04417046e-05,
  4.79585230e-06,-2.20491606e-05, 1.46136319e-05, 2.68644001e-06,
  5.58621055e-04,-1.81008557e-05,-1.47034499e-05, 1.10218099e-05,
  2.71029551e-05, 1.91765710e-04,-9.80969537e+00,-1.17847309e-02,
 -2.39465035e-02, 8.86446828e-05]


--- Step 185 ---
qpos:
[-1.31922994e-02, 1.32164694e-02, 9.80664669e-03, 1.43944365e-02,
 -1.86099959e-02,-8.92375544e-03,-1.70344099e-02, 1.60060545e-02,
 -1.18769028e-02,-6.55502096e-03,-1.40971077e-02, 1.47356805e-02,
  9.68895297e-01, 2.30746151e-02, 2.89261016e-02,-2.27020954e-03,
  9.50037688e-02,-7.02268656e-02, 1.04419235e-01, 9.99996329e-01,
  2.35062809e-03, 3.60913850e-04,-1.29823181e-03]

qacc:
[-1.65297442e-01, 2.97734407e-02, 1.14983922e+00,-6.35294282e+00,
  3.84597972e+00, 3.90922307e-01,-2.62270951e+00, 7.39620699e+00,
 -2.17498695e+00,-2.70952962e-01,-9.02295350e-01, 6.23838484e+00,
  1.08953574e+00,-1.19270947e+01,-2.77521509e-01, 8.68148543e-01,
  1.21260648e+00, 2.90588653e+00,-1.39823192e-01,-6.85080737e+01,
  2.85094998e+01, 3.49546757e+00]

qfrc_actuator:
[ 1.48259840e-04,-1.94399291e-04, 2.77423261e-05, 3.18130039e-04,
 -1.03567122e-03,-7.49100457e-04,-6.30607653e-04, 3.45245243e-04,
 -7.49912956e-04,-6.48600209e-04,-4.68158669e-04, 3.71848525e-04,
  2.10000000e-01, 2.59316385e-04, 8.03428850e-03, 2.65203236e-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: -0.0005925129418026809
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.68438302e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.68438302e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08456348, -0.08876376,  0.06197482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.39467288e-07,-2.03122194e-05,-2.19481826e-05,-1.85038449e-05,
  2.27782918e-05, 1.04165480e-06, 3.88248575e-06, 1.44143501e-05,
 -1.28999744e-05,-2.85712652e-05, 5.00298968e-06, 1.49743123e-05,
  5.53835476e-04,-4.93285949e-05, 3.78177241e-06, 5.00697648e-06,
 -1.14096291e-05, 1.20425580e-04,-9.80986512e+00,-1.17749938e-02,
 -2.39490269e-02, 1.01604389e-04]


--- Step 186 ---
qpos:
[-1.31992209e-02, 1.32233385e-02, 9.81027961e-03, 1.44016084e-02,
 -1.86180347e-02,-8.92542643e-03,-1.70425030e-02, 1.60139105e-02,
 -1.18820570e-02,-6.55828841e-03,-1.41033201e-02, 1.47428234e-02,
  9.74054115e-01, 2.30884214e-02, 2.90630553e-02,-2.26989887e-03,
  9.50122256e-02,-7.02263192e-02, 1.04416211e-01, 9.99996290e-01,
  2.34128924e-03, 4.64967457e-04,-1.31211954e-03]

qacc:
[ 3.51690572e-01, 1.64221468e+00,-6.46056714e+00, 9.18101484e+00,
  2.94896434e+00,-4.63648031e-01, 7.81775556e-01, 1.26981815e+00,
 -1.01875185e+00,-1.25193600e+00, 8.48177904e+00,-2.42605315e+01,
  9.05550775e-01, 3.18835849e+00,-1.58494441e+00, 5.10882534e+00,
 -4.38049823e-02, 2.89827318e+00,-2.56952306e-02,-6.85925453e+01,
 -2.17644783e+00, 9.43370914e-01]

qfrc_actuator:
[ 1.50780227e-04,-2.05882034e-04,-2.94724863e-06, 3.22735232e-04,
 -1.01904126e-03,-7.66883511e-04,-6.25185768e-04, 3.50809168e-04,
 -7.55663654e-04,-6.41089017e-04,-4.79068458e-04, 3.24383311e-04,
  2.10000000e-01, 2.73291960e-04, 8.02180786e-03, 2.86160120e-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: -0.0005975459254366252
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99730177e-06,  1.79174453e-15,  1.00000000e+00,  3.57865454e-21,
        1.00000000e+00, -1.79174453e-15, -1.00000000e+00,  0.00000000e+00,
       -1.99730177e-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([ 0.09292035, -0.08869754,  0.0619746 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.17148318e-06,-2.78888333e-05,-3.81348131e-05, 2.63430643e-06,
  1.74196169e-05,-1.54686215e-05, 6.71142608e-06, 6.04125335e-06,
 -5.95856006e-06,-6.59785082e-06,-1.56096108e-05,-4.82129811e-05,
  5.48890623e-04, 2.14600006e-05,-7.11896793e-06, 2.24223069e-05,
 -4.16995947e-05, 5.72245142e-05,-9.80994558e+00,-1.17701803e-02,
 -2.39475274e-02, 1.05206693e-04]


--- Step 187 ---
qpos:
[-1.32064094e-02, 1.32301283e-02, 9.81376454e-03, 1.44087502e-02,
 -1.86251189e-02,-8.92755966e-03,-1.70502927e-02, 1.60214566e-02,
 -1.18872369e-02,-6.56134623e-03,-1.41097132e-02, 1.47489737e-02,
  9.79215717e-01, 2.31020166e-02, 2.91996658e-02,-2.26962339e-03,
  9.50157415e-02,-7.02145990e-02, 1.04412012e-01, 9.99996567e-01,
  2.20079119e-03, 5.06891527e-04,-1.32852168e-03]

qacc:
[ -2.31943355,  0.25142289, -0.91361431,  0.67912724,  8.31041496,
  -2.11227782,  7.92603664,-13.40489131, -0.23408856, -1.26053318,
   9.08867307,-26.13526324,  0.96727612, -2.6637991 , -0.41781113,
   0.68188852, -1.23520029,  2.79343198, -0.29371955,-65.53838341,
 -31.15371877, -1.21474519]

qfrc_actuator:
[ 1.37283028e-04,-1.97712335e-04,-4.72831642e-06, 3.22568409e-04,
 -9.70545573e-04,-8.12288573e-04,-6.18801852e-04, 3.33176240e-04,
 -7.56982915e-04,-6.17551300e-04,-4.83001533e-04, 2.75851821e-04,
  2.10000000e-01, 2.58207147e-04, 7.99342191e-03, 2.80600787e-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: -0.0006011061480597074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.30870835e-14, -3.46306252e-14,  1.00000000e+00, -7.99520134e-28,
        1.00000000e+00,  3.46306252e-14, -1.00000000e+00,  0.00000000e+00,
       -2.30870835e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10110176, -0.08863381,  0.06197445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37497841e-05,-1.49123930e-05,-1.20549086e-05,-2.61142842e-06,
  4.91293861e-05,-5.21117851e-05, 4.31818255e-06,-1.79286961e-05,
 -1.31438680e-06, 1.47576912e-05,-8.81828897e-06,-5.02804921e-05,
  5.44540675e-04,-5.98492808e-06,-2.55138703e-05,-4.38972596e-06,
 -2.59696624e-05, 8.86892189e-07,-9.80997570e+00,-1.17703203e-02,
 -2.39448323e-02, 1.00987520e-04]


--- Step 188 ---
qpos:
[-1.32143996e-02, 1.32369593e-02, 9.81740343e-03, 1.44157975e-02,
 -1.86319083e-02,-8.93014648e-03,-1.70579150e-02, 1.60287420e-02,
 -1.18923890e-02,-6.56432474e-03,-1.41158809e-02, 1.47555187e-02,
  9.84380081e-01, 2.31150558e-02, 2.93359305e-02,-2.26875747e-03,
  9.50144101e-02,-7.01919232e-02, 1.04405867e-01, 9.99997107e-01,
  1.93175106e-03, 4.88181587e-04,-1.34781633e-03]

qacc:
[ -6.95090349, -0.55690315,  2.48705078, -4.42393599,  2.57306558,
  -1.60806041,  5.95620198,-10.3926118 ,  0.24887202,  0.28689483,
  -2.53837838,  8.95236957,  1.00616109, -6.44374369, -2.32247217,
   7.33058137, -1.21186745,  2.73892589, -0.48660166,-64.23010009,
 -30.40553611, -1.41193732]

qfrc_actuator:
[ 9.67150308e-05,-1.77726194e-04, 1.06505026e-05, 3.19629649e-04,
 -9.56939920e-04,-8.38400977e-04,-6.12037710e-04, 3.19763976e-04,
 -7.55687087e-04,-6.02331325e-04,-4.64943008e-04, 2.98126253e-04,
  2.10000000e-01, 2.26092220e-04, 7.98214248e-03, 3.12681375e-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: -0.0006005837463416708
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10110118, -0.08863441,  0.06197447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.12710125e-05, 9.32678881e-06, 1.08197259e-05,-4.02574844e-06,
  1.51541398e-05,-5.48550113e-05,-4.00712012e-06,-1.58310478e-05,
  1.43769025e-06, 1.96984545e-05, 1.83497465e-05, 2.16353806e-05,
  5.39735471e-04,-2.36556006e-05,-1.90882755e-05, 2.95675890e-05,
 -2.48190962e-06, 1.10914488e-05,-9.80994974e+00,-1.17754923e-02,
 -2.39444361e-02, 9.28189544e-05]


--- Step 189 ---
qpos:
[-1.32224754e-02, 1.32438968e-02, 9.82116675e-03, 1.44227483e-02,
 -1.86391680e-02,-8.93295122e-03,-1.70655028e-02, 1.60357891e-02,
 -1.18974825e-02,-6.56704069e-03,-1.41219071e-02, 1.47629519e-02,
  9.89547169e-01, 2.31287274e-02, 2.94720328e-02,-2.26721024e-03,
  9.50058156e-02,-7.01683786e-02, 1.04402763e-01, 9.99997628e-01,
  1.65335368e-03, 3.83792770e-04,-1.36511123e-03]

qacc:
[ -0.74082316, -0.40470114,  2.05752582, -4.00977524, -4.08030764,
  -0.86708792,  3.69432376, -7.73033195,  0.51281778,  1.77900997,
  -9.59189101, 24.54753448,  0.84112931,  6.54729191, -2.31231435,
   7.71564315, -1.81574455,  0.21720064,  0.76049664, -4.62134391,
 -42.84368525,  1.08032968]

qfrc_actuator:
[ 9.38039552e-05,-1.68491679e-04, 1.83298613e-05, 3.15104130e-04,
 -9.81742849e-04,-8.35008907e-04,-6.05030670e-04, 3.08958839e-04,
 -7.52865443e-04,-5.74302886e-04,-4.51776080e-04, 3.44141349e-04,
  2.10000000e-01, 2.55199124e-04, 7.98113955e-03, 3.48981728e-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: -0.0006034019925900067
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.59984819e-14, -2.29992409e-14,  1.00000000e+00,  1.05793017e-27,
        1.00000000e+00,  2.29992409e-14, -1.00000000e+00,  0.00000000e+00,
        4.59984819e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1036201 , -0.07029564,  0.06197435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.40264771e-06, 1.68142131e-05, 1.09064644e-05,-3.80684252e-06,
 -2.42178136e-05,-2.85368551e-05,-5.28590077e-06,-1.35879885e-05,
  3.03355661e-06, 4.39627060e-05, 2.03130089e-05, 4.79271986e-05,
  5.34852676e-04, 3.71452462e-05,-2.30835054e-06, 3.64521864e-05,
 -1.82028595e-05, 9.91977567e-05,-9.80983949e+00,-1.17857480e-02,
 -2.39467151e-02, 8.13227398e-05]


--- Step 190 ---
qpos:
[-1.32291504e-02, 1.32506936e-02, 9.82484570e-03, 1.44296378e-02,
 -1.86463203e-02,-8.93588736e-03,-1.70730321e-02, 1.60429841e-02,
 -1.19024996e-02,-6.56927582e-03,-1.41278024e-02, 1.47705055e-02,
  9.94716964e-01, 2.31427169e-02, 2.96082058e-02,-2.26657748e-03,
  9.49900971e-02,-7.01439723e-02, 1.04401851e-01, 9.99998095e-01,
  1.36549435e-03, 1.95383745e-04,-1.38070383e-03]

qacc:
[ 1.21521557e+01,-1.00027595e-01, 3.04078569e-01,-1.08063365e+00,
  9.37514181e-01,-3.42041824e-02,-7.58089922e-01, 3.32630226e+00,
  6.61592108e-01, 5.15976603e-01,-1.42872081e+00, 2.95321194e+00,
  8.68090224e-01, 3.14335744e+00, 2.86734172e+00,-9.90729688e+00,
 -1.78100527e+00, 2.15410780e-01, 5.47797130e-01,-4.67389220e+00,
 -4.20150462e+01, 9.18752314e-01]

qfrc_actuator:
[ 1.66349540e-04,-2.01295112e-04, 3.60486098e-06, 3.09666496e-04,
 -9.75685962e-04,-8.31721008e-04,-5.97812084e-04, 3.17552591e-04,
 -7.49170298e-04,-5.38804349e-04,-4.41550280e-04, 3.50491618e-04,
  2.10000000e-01, 2.66815154e-04, 7.97564687e-03, 2.98723727e-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: -0.0006046108515094031
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10362003, -0.070296  ,  0.0619743 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.21139860e-05,-2.09930051e-05,-9.93324906e-06,-4.39215637e-06,
  5.52611488e-06,-1.40886573e-05, 2.88944123e-07, 6.94078151e-06,
  3.94690507e-06, 6.65308677e-05, 2.35341429e-05, 9.88132300e-06,
  5.30580300e-04, 2.10365282e-05, 7.73244882e-07,-4.77739240e-05,
 -7.19720955e-05, 1.61115879e-04,-9.80981021e+00,-1.17962545e-02,
 -2.39506524e-02, 7.25998281e-05]


--- Step 191 ---
qpos:
[-1.32349098e-02, 1.32572596e-02, 9.82841226e-03, 1.44360780e-02,
 -1.86533412e-02,-8.93867810e-03,-1.70804990e-02, 1.60491539e-02,
 -1.19074308e-02,-6.57111865e-03,-1.41337468e-02, 1.47777555e-02,
  9.99889449e-01, 2.31564664e-02, 2.97441306e-02,-2.26682948e-03,
  9.49673690e-02,-7.01187078e-02, 1.04402395e-01, 9.99998454e-01,
  1.06807048e-03,-7.56824995e-05,-1.39484767e-03]

qacc:
[ 7.94236566e+00,-9.31762934e-01, 4.75017264e+00,-1.21488065e+01,
  1.13894971e+00,-2.09416208e+00, 1.20715849e+01,-3.00200950e+01,
  7.42821945e-01, 2.91069523e-02, 1.92835069e+00,-7.39231010e+00,
  9.36489020e-01,-2.95771605e+00, 2.29844035e+00,-8.61440930e+00,
 -1.75241135e+00, 2.14546327e-01, 3.63964188e-01,-4.72527126e+00,
 -4.13341360e+01, 7.79809874e-01]

qfrc_actuator:
[ 2.11706367e-04,-2.23611399e-04,-6.65109771e-06, 2.85932197e-04,
 -9.69255403e-04,-8.10742350e-04,-5.90504293e-04, 2.66484131e-04,
 -7.44992083e-04,-5.34652294e-04,-4.50887948e-04, 3.33455406e-04,
  2.10000000e-01, 2.50245571e-04, 7.95146785e-03, 2.51111881e-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: -0.0006021362642430333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.30475868e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.30475868e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10362083, -0.07029638,  0.0619744 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.71241601e-05,-3.60025168e-05,-1.58807343e-05,-2.50478379e-05,
  6.76350399e-06, 1.37191846e-05, 4.75714097e-06,-5.15113278e-05,
  4.44624665e-06, 4.68354032e-05, 7.71096439e-06,-1.31673966e-05,
  5.25945888e-04,-7.53085483e-06,-2.65228520e-05,-4.95737687e-05,
 -1.61621676e-04, 2.26828417e-04,-9.80975145e+00,-1.18073147e-02,
 -2.39579684e-02, 6.55282848e-05]


--- Step 192 ---
qpos:
[-1.32407755e-02, 1.32635616e-02, 9.83184746e-03, 1.44421900e-02,
 -1.86602273e-02,-8.94112736e-03,-1.70879295e-02, 1.60542949e-02,
 -1.19126157e-02,-6.57281147e-03,-1.41399361e-02, 1.47851361e-02,
  1.00506461e+00, 2.31692942e-02, 2.98796082e-02,-2.26697210e-03,
  9.49520992e-02,-7.00983981e-02, 1.04405312e-01, 9.99998626e-01,
  8.26865202e-04,-2.55956021e-04,-1.41369646e-03]

qacc:
[ -0.92150865, -0.65610568,  3.22168293, -8.50118929,  1.16732688,
  -1.77007328, 11.30723981,-29.42135214, -2.22615031,  1.15601235,
  -4.37883973,  6.91493333,  1.02341631,-10.42567163, -1.01795566,
   2.54302573,  1.86460157, -1.2386922 ,  0.59342718, 28.04585326,
  45.43298226, -2.4032236 ]

qfrc_actuator:
[ 2.05169648e-04,-2.39489218e-04,-1.41638693e-05, 2.69385128e-04,
 -9.62667415e-04,-7.79373467e-04,-5.83170301e-04, 2.16237623e-04,
 -7.58316959e-04,-5.49411938e-04,-4.71835941e-04, 3.38268551e-04,
  2.10000000e-01, 1.99442802e-04, 7.93208055e-03, 2.58681682e-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: -0.0006053669747443577
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.29245869e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.29245869e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08117594, -0.061307  ,  0.06197426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.48305177e-06,-4.01140176e-05,-1.76954302e-05,-1.91127568e-05,
  6.96477271e-06, 3.80732748e-05, 9.05326102e-06,-5.04810696e-05,
 -1.30607724e-05, 1.26498261e-05,-1.07155984e-05, 6.84163004e-06,
  5.20873871e-04,-4.24360677e-05,-3.31280103e-05, 2.30898768e-06,
 -2.85623391e-04, 2.96387425e-04,-9.80966477e+00,-1.18188865e-02,
 -2.39686002e-02, 6.00769317e-05]


--- Step 193 ---
qpos:
[-1.32463343e-02, 1.32695907e-02, 9.83514448e-03, 1.44484034e-02,
 -1.86666324e-02,-8.94346841e-03,-1.70952262e-02, 1.60601982e-02,
 -1.19179175e-02,-6.57457883e-03,-1.41464978e-02, 1.47925560e-02,
  1.01024240e+00, 2.31811454e-02, 3.00146730e-02,-2.26670125e-03,
  9.49441101e-02,-7.00829126e-02, 1.04409627e-01, 9.99998702e-01,
  6.40431041e-04,-3.47946228e-04,-1.43727875e-03]

qacc:
[  2.66286529,  0.22917829, -1.77752813,  3.96387038,  4.17951072,
   1.32986584, -7.76791674, 20.68574185, -1.0304402 ,  1.02480753,
  -3.95912222,  5.2841408 ,  1.02298503,-11.0282952 , -1.88973019,
   5.66479447,  1.82013298, -1.20605447,  0.34938104, 27.32255552,
  44.17834284, -2.41031712]

qfrc_actuator:
[ 2.21410270e-04,-2.51378229e-04,-1.99667881e-05, 2.74961630e-04,
 -9.38288579e-04,-7.77529946e-04,-5.75819567e-04, 2.55661176e-04,
 -7.64085604e-04,-5.75433239e-04,-4.99534698e-04, 3.38125727e-04,
  2.10000000e-01, 1.46630420e-04, 7.91559512e-03, 2.80967627e-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: -0.0006117607641489761
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.13424958e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.13424958e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08117781, -0.06130768,  0.061974  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57884208e-05,-3.85604438e-05,-1.68501252e-05, 2.88962662e-06,
  2.47591564e-05, 2.30933538e-05, 1.46637000e-05, 4.04010204e-05,
 -6.02074218e-06,-2.06743227e-05,-2.61013001e-05, 1.73807747e-07,
  5.15574825e-04,-4.52699305e-05,-2.69501322e-05, 1.91892806e-05,
 -1.41925799e-04, 1.70192009e-04,-9.80980858e+00,-1.18284814e-02,
 -2.39762456e-02, 4.95341667e-05]


--- Step 194 ---
qpos:
[-1.32513158e-02, 1.32753904e-02, 9.83887679e-03, 1.44545896e-02,
 -1.86730371e-02,-8.94594695e-03,-1.71019681e-02, 1.60665305e-02,
 -1.19235899e-02,-6.57628797e-03,-1.41536694e-02, 1.47995714e-02,
  1.01542281e+00, 2.31933910e-02, 3.01494360e-02,-2.26683198e-03,
  9.49432035e-02,-7.00733854e-02, 1.04414127e-01, 9.99998726e-01,
  5.22033972e-04,-3.53606452e-04,-1.46643138e-03]

qacc:
[ 5.02405329e+00,-1.58601168e+00, 5.31306259e+00,-6.29317792e+00,
  2.42063917e-02,-8.48621194e-01, 9.51105352e-01, 5.68728079e+00,
 -3.25553219e+00, 9.54854395e-01,-1.57426538e+00,-4.50590994e+00,
  8.26893786e-01, 3.97033425e+00, 7.62188835e-01,-3.34064812e+00,
  1.77065313e+00,-1.48956910e+00, 4.62031819e-02, 3.39555096e+01,
  4.32120376e+01,-2.82468761e+00]

qfrc_actuator:
[ 2.50946621e-04,-2.43006878e-04, 1.08208205e-05, 2.75761336e-04,
 -9.39140322e-04,-7.93304976e-04,-5.50818110e-04, 2.76496547e-04,
 -7.83108595e-04,-5.72541717e-04,-5.31058425e-04, 3.17295944e-04,
  2.10000000e-01, 1.64046348e-04, 7.89553804e-03, 2.58477504e-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: -0.0006129832619793912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.52795000e-14, -5.38947395e-06,  1.00000000e+00,  2.44032686e-19,
        1.00000000e+00,  5.38947395e-06, -1.00000000e+00, -4.81482486e-35,
        4.52795000e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08113195, -0.05921113,  0.06197395])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.97080390e-05,-1.63185036e-05, 2.09219127e-05,-1.36477323e-06,
  2.42452165e-08, 2.14015873e-06, 3.30499700e-05, 2.31319917e-05,
 -1.90772464e-05,-1.38528597e-05,-3.89340358e-05,-2.26032902e-05,
  5.10394289e-04, 2.48677252e-05,-2.61242833e-05,-2.39260164e-05,
 -5.16508631e-05, 8.02625288e-05,-9.80990402e+00,-1.18363935e-02,
 -2.39800044e-02, 4.04657726e-05]


--- Step 195 ---
qpos:
[-1.32562547e-02, 1.32811833e-02, 9.84258623e-03, 1.44607400e-02,
 -1.86800888e-02,-8.94842310e-03,-1.71080722e-02, 1.60726944e-02,
 -1.19294437e-02,-6.57809620e-03,-1.41608931e-02, 1.48066096e-02,
  1.02060579e+00, 2.32065196e-02, 3.02838215e-02,-2.26689522e-03,
  9.49492513e-02,-7.00696983e-02, 1.04418067e-01, 9.99998725e-01,
  4.70320023e-04,-2.74755679e-04,-1.50115040e-03]

qacc:
[ 3.69810250e-01,-1.94841021e-02, 2.06249270e-01,-7.82607123e-01,
 -5.60003972e+00,-2.11409500e+00, 8.27305770e+00,-1.22299691e+01,
 -1.58336811e+00, 6.46278892e-02,-5.11573776e-01, 1.05736369e+00,
  7.54798057e-01, 9.30094659e+00,-7.65965116e-01, 1.85339945e+00,
  1.73860212e+00,-1.46002985e+00,-1.39891522e-01, 3.32785751e+01,
  4.23028808e+01,-2.81706022e+00]

qfrc_actuator:
[ 2.52562135e-04,-2.40166355e-04, 9.78665941e-06, 2.73783032e-04,
 -9.72595057e-04,-7.83943453e-04,-5.15700658e-04, 2.68454872e-04,
 -7.92031096e-04,-5.70158081e-04,-5.28985427e-04, 3.19987227e-04,
  2.10000000e-01, 2.04866302e-04, 7.87866861e-03, 2.63029295e-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: -0.0006112397738477597
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.83826662e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.83826662e-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([ 0.08113171, -0.05921049,  0.06197402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.19804106e-06,-1.80757090e-06,-1.80738620e-06,-1.96728958e-06,
 -3.33004232e-05, 1.86088162e-05, 4.05063250e-05,-6.34175408e-06,
 -9.34086504e-06,-1.41635476e-05,-6.29170246e-06, 3.24296294e-07,
  5.05828504e-04, 4.98572170e-05,-2.77040689e-05, 7.40615799e-07,
 -9.96439589e-06, 1.93131247e-05,-9.80996321e+00,-1.18420793e-02,
 -2.39797975e-02, 3.34706407e-05]


--- Step 196 ---
qpos:
[-1.32618305e-02, 1.32871362e-02, 9.84564855e-03, 1.44664959e-02,
 -1.86871389e-02,-8.95086098e-03,-1.71133958e-02, 1.60783542e-02,
 -1.19346664e-02,-6.58040939e-03,-1.41672962e-02, 1.48132714e-02,
  1.02579132e+00, 2.32211512e-02, 3.04179234e-02,-2.26626744e-03,
  9.49515551e-02,-7.00758772e-02, 1.04420625e-01, 9.99998655e-01,
  5.37652645e-04,-2.40900692e-04,-1.53058271e-03]

qacc:
[-5.54798419e+00, 1.21891413e+00,-2.35500404e+00,-3.57585405e+00,
  3.60357287e-02,-3.16729164e+00, 1.34961289e+01,-2.34988557e+01,
  5.54283701e+00,-3.74598741e+00, 1.39595454e+01,-2.13959562e+01,
  6.63592443e-01, 1.60641820e+01,-2.50955165e+00, 8.16850341e+00,
 -9.36016295e-01,-2.46649477e+00,-3.45596845e-01, 5.95577254e+01,
 -2.24072778e+01, 2.63752946e+00]

qfrc_actuator:
[ 2.19976110e-04,-2.40775132e-04,-2.78091592e-05, 2.52404727e-04,
 -9.71706448e-04,-7.77337514e-04,-4.74818596e-04, 2.43512704e-04,
 -7.59429008e-04,-6.03450420e-04,-4.89315652e-04, 3.01020361e-04,
  2.10000000e-01, 2.76834888e-04, 7.87438105e-03, 3.01250444e-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: -0.000609721360617578
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.55217373e-14,  2.27608687e-14,  1.00000000e+00, -1.03611428e-27,
        1.00000000e+00, -2.27608687e-14, -1.00000000e+00,  0.00000000e+00,
        4.55217373e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09886185, -0.05158056,  0.06197409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.27897485e-05,-1.87437535e-06,-3.81913455e-05,-2.15426162e-05,
  8.33139545e-08, 2.53514627e-05, 4.95801116e-05,-2.28492882e-05,
  3.24643072e-05,-4.22779165e-05, 3.60570479e-05,-1.97713734e-05,
  5.01396283e-04, 8.15602909e-05,-1.29496890e-05, 3.56160952e-05,
 -1.68364926e-05, 3.23283897e-07,-9.80997423e+00,-1.18456701e-02,
 -2.39757086e-02, 2.86881941e-05]


--- Step 197 ---
qpos:
[-1.32681036e-02, 1.32930558e-02, 9.84858634e-03, 1.44715948e-02,
 -1.86944660e-02,-8.95341604e-03,-1.71177971e-02, 1.60836814e-02,
 -1.19391100e-02,-6.58355492e-03,-1.41723928e-02, 1.48193176e-02,
  1.03097939e+00, 2.32355648e-02, 3.05518723e-02,-2.26585328e-03,
  9.49501814e-02,-7.00917762e-02, 1.04421159e-01, 9.99998499e-01,
  7.21653407e-04,-2.51335288e-04,-1.55512324e-03]

qacc:
[ -6.05166044, -1.03734259,  6.42940127,-17.59992184, -2.37455383,
  -3.4108147 , 13.34979577,-20.50286851,  6.85733049, -6.03083437,
  22.4846398 ,-34.59335425,  0.88657299, -2.71846032,  0.40550749,
  -1.78723798, -0.91935088, -2.43003831, -0.50597934, 58.36849818,
 -22.05417157,  2.44367509]

qfrc_actuator:
[ 1.85284347e-04,-2.43617518e-04,-3.34506733e-05, 2.19759414e-04,
 -9.86106723e-04,-7.90174387e-04,-4.30875612e-04, 2.26585979e-04,
 -7.20404624e-04,-6.57702836e-04,-4.27939720e-04, 2.69448738e-04,
  2.10000000e-01, 2.60003749e-04, 7.86167036e-03, 2.88012138e-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: -0.0006049103744730985
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.58837818e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.58837818e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09886303, -0.05157947,  0.06197429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.58989332e-05,-1.24893417e-05,-1.14012427e-05,-3.44497060e-05,
 -1.42515172e-05, 1.08575696e-05, 5.45789104e-05,-1.45535751e-05,
  4.00825921e-05,-7.10806790e-05, 5.64677994e-05,-3.25096956e-05,
  4.97209911e-04,-6.52813151e-06,-1.13426460e-05,-1.21497106e-05,
 -3.62820036e-06, 1.41361762e-05,-9.80999208e+00,-1.18421017e-02,
 -2.39719858e-02, 3.16746998e-05]


--- Step 198 ---
qpos:
[-1.32747492e-02, 1.32988172e-02, 9.85173144e-03, 1.44766013e-02,
 -1.87019061e-02,-8.95588881e-03,-1.71222358e-02, 1.60891514e-02,
 -1.19430477e-02,-6.58743022e-03,-1.41769621e-02, 1.48253253e-02,
  1.03616999e+00, 2.32476610e-02, 3.06855432e-02,-2.26557812e-03,
  9.49557619e-02,-7.01122733e-02, 1.04421152e-01, 9.99998270e-01,
  9.57603250e-04,-1.78293495e-04,-1.58436332e-03]

qacc:
[-3.22223881e+00,-9.72894329e-01, 3.56627611e+00,-5.39229321e+00,
 -9.84781582e-01, 5.08840734e-01,-2.25594762e+00, 4.72202139e+00,
  4.44451327e+00,-2.52533606e+00, 7.75244572e+00,-8.70785286e+00,
  1.16708278e+00,-2.56538266e+01,-3.11781336e-02,-5.76995071e-01,
  1.73853494e+00,-1.14951063e+00,-1.35297147e-01, 2.59090302e+01,
  4.17768210e+01,-2.38647463e+00]

qfrc_actuator:
[ 1.67396850e-04,-2.47670874e-04,-2.01833482e-05, 2.16279506e-04,
 -9.91649950e-04,-7.96784180e-04,-4.38807968e-04, 2.32251169e-04,
 -6.95680102e-04,-7.06249302e-04,-4.07612001e-04, 2.66209337e-04,
  2.10000000e-01, 1.37754656e-04, 7.84390426e-03, 2.80031671e-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: -0.000597647425350574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.32206937e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.32206937e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08117451, -0.06130378,  0.0619746 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.91843808e-05,-1.46316296e-05, 8.17594930e-06,-5.06186245e-06,
 -5.81845175e-06, 1.03727662e-05, 6.16483514e-07, 7.75289497e-06,
  2.60067654e-05,-7.78352615e-05, 1.15337853e-05,-4.95538267e-06,
  4.91999895e-04,-1.13987775e-04,-2.13525550e-05,-9.43281570e-06,
  9.81090870e-06, 3.64854287e-05,-9.80994227e+00,-1.18340657e-02,
 -2.39706108e-02, 4.03592474e-05]


--- Step 199 ---
qpos:
[-1.32808734e-02, 1.33045919e-02, 9.85490608e-03, 1.44822079e-02,
 -1.87090075e-02,-8.95834056e-03,-1.71272462e-02, 1.60946930e-02,
 -1.19463101e-02,-6.59136979e-03,-1.41818064e-02, 1.48315630e-02,
  1.04136309e+00, 2.32582800e-02, 3.08189767e-02,-2.26541039e-03,
  9.49681995e-02,-7.01373123e-02, 1.04420030e-01, 9.99997915e-01,
  1.24492793e-03,-2.30069260e-05,-1.61841583e-03]

qacc:
[  4.52290749,  1.16237817, -6.66752025, 17.01289622,  2.92450793,
   1.76647053, -6.57076486,  8.71929155,  5.888297  ,  1.14529747,
  -5.1981753 ,  9.68793283,  1.04201317,-16.47338908, -0.05638738,
  -0.38162271,  1.71426451, -1.13546927, -0.27858281, 25.62185403,
  41.16070054, -2.45027473]

qfrc_actuator:
[ 1.95051359e-04,-2.34559820e-04,-1.36053841e-05, 2.47749660e-04,
 -9.74179353e-04,-8.17562960e-04,-4.77274726e-04, 2.33376659e-04,
 -6.61821130e-04,-6.80131299e-04,-4.11656620e-04, 2.79638300e-04,
  2.10000000e-01, 6.09570822e-05, 7.83377326e-03, 2.75216722e-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: -0.0005914300388572338
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.17324002e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.17324002e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08117293, -0.06130243,  0.06197486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68401282e-05, 6.65718607e-06, 4.47593582e-06, 3.10458691e-05,
  1.74362972e-05,-1.42505095e-05,-3.58925141e-05, 1.75910502e-06,
  3.47567696e-05,-1.50701045e-05,-1.88203835e-05, 1.04044041e-05,
  4.85844030e-04,-7.10333737e-05,-1.75633609e-05,-7.29885771e-06,
 -2.17960501e-05, 1.14810311e-04,-9.80989011e+00,-1.18260586e-02,
 -2.39660373e-02, 5.15849996e-05]


--- Step 200 ---
qpos:
[-1.32862790e-02, 1.33102904e-02, 9.85820637e-03, 1.44878075e-02,
 -1.87161862e-02,-8.96115296e-03,-1.71322625e-02, 1.61005612e-02,
 -1.19494827e-02,-6.59500229e-03,-1.41866059e-02, 1.48378420e-02,
  1.04655865e+00, 2.32686692e-02, 3.09522008e-02,-2.26498328e-03,
  9.49874154e-02,-7.01668493e-02, 1.04417302e-01, 9.99997351e-01,
  1.58318158e-03, 2.13537717e-04,-1.65737535e-03]

qacc:
[ 6.23895532,-0.47860563, 1.56836375,-1.81031605,-0.66590328, 0.21352884,
 -2.83045615, 8.75816751, 0.78048218, 0.36391014,-0.88558082, 1.3049561 ,
  0.86168166,-2.84925551,-1.11175617, 3.39935215, 1.69459188,-1.12450503,
 -0.40171425,25.39875436,40.66710963,-2.50483566]

qfrc_actuator:
[ 2.31533612e-04,-2.46763763e-04,-1.09461740e-05, 2.46276463e-04,
 -9.78812337e-04,-8.46814766e-04,-4.80254921e-04, 2.49545026e-04,
 -6.58358604e-04,-6.27340844e-04,-3.94228064e-04, 2.85062582e-04,
  2.10000000e-01, 4.70225663e-05, 7.82822965e-03, 2.90077748e-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: -0.0005831060008711295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.51990738e-14, -5.94994211e-15,  1.00000000e+00, -5.66428979e-28,
        1.00000000e+00,  5.94994211e-15, -1.00000000e+00,  0.00000000e+00,
       -9.51990738e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08117081, -0.06130078,  0.06197521])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.69982789e-05,-5.97251917e-06, 5.74064960e-06,-4.13455666e-07,
 -3.99907077e-06,-4.42949048e-05,-1.02016499e-05, 1.43650673e-05,
  4.63839245e-06, 4.10680357e-05, 1.24019306e-05, 4.33605397e-06,
  4.80361562e-04,-7.21976990e-06,-1.12953266e-05, 1.29142781e-05,
 -9.54551881e-05, 2.20921019e-04,-9.80980026e+00,-1.18164674e-02,
 -2.39578194e-02, 6.40363746e-05]


--- Step 201 ---
qpos:
[-1.32915547e-02, 1.33157348e-02, 9.86162499e-03, 1.44933702e-02,
 -1.87230170e-02,-8.96400461e-03,-1.71374354e-02, 1.61068921e-02,
 -1.19532752e-02,-6.59829521e-03,-1.41914928e-02, 1.48441413e-02,
  1.05175663e+00, 2.32792346e-02, 3.10851701e-02,-2.26371544e-03,
  9.49994279e-02,-7.01954304e-02, 1.04417577e-01, 9.99996671e-01,
  1.91315835e-03, 3.62520659e-04,-1.69276901e-03]

qacc:
[  1.13422116, -0.74496665,  2.32106048, -2.95844277,  3.01812999,
   1.33147317, -6.78658991, 15.08373514, -5.41988208,  0.74529554,
  -2.07369037,  2.29513354,  0.79936127,  1.57431005, -2.93631136,
   9.69371197, -1.80086423,  0.23896585,  0.7508305 , -4.06616096,
 -43.78476054,  1.85125988]

qfrc_actuator:
[ 2.37401353e-04,-2.74072388e-04,-1.07461628e-05, 2.43156851e-04,
 -9.60921583e-04,-8.27519238e-04,-4.80033004e-04, 2.74455329e-04,
 -6.90571221e-04,-6.12150446e-04,-3.99630672e-04, 2.85780803e-04,
  2.10000000e-01, 5.23966337e-05, 7.82011874e-03, 3.34173164e-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: -0.0005870765528967134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.72776088e-14, -2.36388044e-14,  1.00000000e+00,  1.11758615e-27,
        1.00000000e+00,  2.36388044e-14, -1.00000000e+00,  0.00000000e+00,
        4.72776088e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10362011, -0.070306  ,  0.06197504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.67468734e-06,-2.92493297e-05,-2.68990604e-07,-3.17160222e-06,
  1.79081319e-05,-6.70627133e-06,-9.60259117e-06, 2.29549596e-05,
 -3.18924141e-05, 4.10348415e-05, 4.80229296e-06, 2.99892349e-06,
  4.75596517e-04, 1.35264783e-05,-9.04471425e-06, 4.40084964e-05,
 -2.09600104e-04, 3.54133561e-04,-9.80967373e+00,-1.18053151e-02,
 -2.39459827e-02, 7.76951949e-05]


--- Step 202 ---
qpos:
[-1.32963789e-02, 1.33210494e-02, 9.86497493e-03, 1.44991952e-02,
 -1.87292328e-02,-8.96660960e-03,-1.71426888e-02, 1.61127389e-02,
 -1.19574210e-02,-6.60124401e-03,-1.41966930e-02, 1.48504157e-02,
  1.05695702e+00, 2.32898588e-02, 3.12180632e-02,-2.26227463e-03,
  9.50043720e-02,-7.02231102e-02, 1.04420034e-01, 9.99995924e-01,
  2.23484118e-03, 4.26118442e-04,-1.72498099e-03]

qacc:
[  3.91637729,  0.55293727, -3.34102173,  8.1000548 ,  5.33536062,
  -0.45564802,  4.12379655,-12.53572234, -3.10039322,  1.28524173,
  -3.80733831,  3.61336201,  0.8042142 ,  0.3097579 , -0.64883629,
   2.07360549, -1.76709572,  0.22532325,  0.54548188, -4.07519716,
 -42.6964021 ,  1.67095244]

qfrc_actuator:
[ 2.60707012e-04,-2.74730251e-04,-1.20645962e-05, 2.56834799e-04,
 -9.29910918e-04,-7.97025078e-04,-4.77736772e-04, 2.51086364e-04,
 -7.08009894e-04,-6.01922784e-04,-4.18617672e-04, 2.83679851e-04,
  2.10000000e-01, 5.12892599e-05, 7.81580483e-03, 3.41866201e-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: -0.00058949910436909
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.35416605e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.35416605e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361895, -0.0703071 ,  0.06197494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.32387286e-05,-1.69907364e-05,-7.43175195e-06, 1.23677902e-05,
  3.16735131e-05, 2.59986692e-05, 6.01860363e-07,-2.35273394e-05,
 -1.81755727e-05, 3.44351849e-05,-9.76289290e-06,-1.07823251e-07,
  4.70974937e-04, 7.50066392e-06,-7.76519117e-07, 9.62270123e-06,
 -9.23662414e-05, 2.63588708e-04,-9.80975475e+00,-1.17898147e-02,
 -2.39409472e-02, 8.72435600e-05]


--- Step 203 ---
qpos:
[-1.33012362e-02, 1.33265271e-02, 9.86844540e-03, 1.45047422e-02,
 -1.87353703e-02,-8.96915841e-03,-1.71475269e-02, 1.61179048e-02,
 -1.19617408e-02,-6.60400434e-03,-1.42017123e-02, 1.48559115e-02,
  1.06215978e+00, 2.33008109e-02, 3.13508668e-02,-2.26139916e-03,
  9.50042856e-02,-7.02392965e-02, 1.04422292e-01, 9.99995430e-01,
  2.42226620e-03, 4.25320247e-04,-1.75823526e-03]

qacc:
[-2.85474194e-01,-6.93314536e-01, 3.95936035e+00,-9.08417614e+00,
  6.91549415e-01,-2.48813640e+00, 1.18528129e+01,-2.43412532e+01,
 -1.51711629e+00,-1.85645612e+00, 1.02736076e+01,-2.41834800e+01,
  7.55902470e-01, 3.26460262e+00, 1.57340323e+00,-5.72061909e+00,
 -1.25761039e+00, 2.87337790e+00,-4.96728911e-02,-6.70731545e+01,
 -3.23148733e+01,-4.77568299e-01]

qfrc_actuator:
[ 2.58596567e-04,-2.41667623e-04, 3.59820224e-06, 2.44801592e-04,
 -9.26939861e-04,-7.95587216e-04,-4.56456718e-04, 2.17264074e-04,
 -7.16602769e-04,-5.94813148e-04,-4.09989086e-04, 2.44419191e-04,
  2.10000000e-01, 6.40924931e-05, 7.80311067e-03, 3.10296651e-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: -0.0005928324297094986
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.51139389e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.51139389e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10108341, -0.08864816,  0.0619748 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69112393e-06, 2.27601897e-05, 1.17310835e-05,-1.27651547e-05,
  4.03608101e-06, 1.53292474e-05, 2.59817609e-05,-3.31326543e-05,
 -8.94727362e-06, 2.45017631e-05, 1.45913895e-05,-3.81145999e-05,
  4.66171717e-04, 2.12505981e-05,-9.85633721e-06,-3.06468776e-05,
 -1.56393920e-05, 1.80031195e-04,-9.80980346e+00,-1.17750434e-02,
 -2.39391996e-02, 9.86179638e-05]


--- Step 204 ---
qpos:
[-1.33060858e-02, 1.33321517e-02, 9.87232729e-03, 1.45104285e-02,
 -1.87414215e-02,-8.97164216e-03,-1.71520646e-02, 1.61226322e-02,
 -1.19661271e-02,-6.60680221e-03,-1.42065283e-02, 1.48616127e-02,
  1.06736491e+00, 2.33115607e-02, 3.14835043e-02,-2.26123027e-03,
  9.49992689e-02,-7.02442652e-02, 1.04423460e-01, 9.99995255e-01,
  2.47862148e-03, 3.61993776e-04,-1.79312077e-03]

qacc:
[  0.07688134, -0.66916054,  2.07922043, -0.43374715,  0.75798031,
  -1.65746333,  7.88416474,-16.00038785, -0.57350495, -0.19352809,
  -0.24723099,  3.50288081,  0.82238801, -2.52338932,  1.88188144,
  -6.97624137, -1.23258065,  2.80441389, -0.27241432,-65.47964393,
 -31.38126406, -0.76748541]

qfrc_actuator:
[ 2.59292998e-04,-2.24119007e-04, 2.92880101e-05, 2.53282276e-04,
 -9.22749198e-04,-7.93738682e-04,-4.42002559e-04, 1.95312857e-04,
 -7.19926163e-04,-6.07308938e-04,-4.02912852e-04, 2.54636863e-04,
  2.10000000e-01, 4.94441938e-05, 7.79071807e-03, 2.73591308e-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: -0.0005975583987024094
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.64483064e-14, -2.67077762e-13,  1.00000000e+00,  1.24053097e-26,
        1.00000000e+00,  2.67077762e-13, -1.00000000e+00,  0.00000000e+00,
        4.64483064e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10108133, -0.08864688,  0.0619746 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.04639521e-07, 3.23497671e-05, 3.14615970e-05, 9.62724639e-06,
  4.45049210e-06, 1.45918080e-05, 1.97462897e-05,-2.10264927e-05,
 -3.42357912e-06, 2.75233875e-06, 1.26734331e-05, 1.10412162e-05,
  4.61312724e-04,-5.90983475e-06,-1.80115474e-05,-3.91470485e-05,
  1.02735207e-05, 4.32207571e-05,-9.80994360e+00,-1.17663044e-02,
 -2.39421823e-02, 1.05834684e-04]


--- Step 205 ---
qpos:
[-1.33105494e-02, 1.33377248e-02, 9.87633378e-03, 1.45162179e-02,
 -1.87470276e-02,-8.97436946e-03,-1.71562374e-02, 1.61270956e-02,
 -1.19701713e-02,-6.60985554e-03,-1.42111534e-02, 1.48684574e-02,
  1.07257235e+00, 2.33228227e-02, 3.16159800e-02,-2.26119174e-03,
  9.49940856e-02,-7.02379645e-02, 1.04423476e-01, 9.99995405e-01,
  2.40145498e-03, 2.94833635e-04,-1.82644685e-03]

qacc:
[ 3.35168609e+00,-2.10647705e-01, 2.05371551e-01, 1.43066236e+00,
  3.88069079e+00,-1.89152858e+00, 7.37945862e+00,-1.23390345e+01,
  2.99754468e+00, 1.47672181e+00,-1.05937677e+01, 3.02791113e+01,
  7.13983464e-01, 5.27111061e+00, 1.50068991e-01,-8.92370026e-01,
 -4.16651386e-02, 2.81733766e+00,-2.88082632e-01,-6.67578181e+01,
 -2.03466277e+00, 7.60594724e-01]

qfrc_actuator:
[ 2.79398716e-04,-2.51433137e-04, 2.51496556e-05, 2.56012586e-04,
 -9.00113514e-04,-8.27180360e-04,-4.31695349e-04, 1.80514275e-04,
 -7.02373133e-04,-6.31417379e-04,-3.96862643e-04, 3.11621637e-04,
  2.10000000e-01, 7.19819433e-05, 7.78916811e-03, 2.69677132e-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: -0.0005980967371842151
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90384119e-06,  8.31600836e-15,  1.00000000e+00,  1.58323593e-20,
        1.00000000e+00, -8.31600836e-15, -1.00000000e+00,  3.00926554e-36,
       -1.90384119e-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([ 0.09289832, -0.0887018 ,  0.06197458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98655106e-05,-2.11375072e-06, 6.81975074e-06, 5.40635676e-06,
  2.29020216e-05,-2.18829518e-05, 1.50968037e-05,-1.38858361e-05,
  1.76000012e-05,-1.93081354e-05, 8.61998039e-06, 5.77664523e-05,
  4.56078880e-04, 3.06231380e-05,-1.15478690e-05,-7.80575427e-06,
 -4.44878663e-06,-7.90635494e-06,-9.80999285e+00,-1.17628592e-02,
 -2.39475417e-02, 1.09767112e-04]


--- Step 206 ---
qpos:
[-1.33147424e-02, 1.33431447e-02, 9.87980390e-03, 1.45220556e-02,
 -1.87530057e-02,-8.97738606e-03,-1.71602301e-02, 1.61320572e-02,
 -1.19743158e-02,-6.61301228e-03,-1.42153784e-02, 1.48752071e-02,
  1.07778210e+00, 2.33346898e-02, 3.17482678e-02,-2.26087520e-03,
  9.49934745e-02,-7.02207112e-02, 1.04420817e-01, 9.99995833e-01,
  2.19460275e-03, 2.82473190e-04,-1.85398128e-03]

qacc:
[  2.33410243,  1.39192154, -5.46806152,  7.28185987, -3.21970558,
   0.1459801 , -3.16796084, 11.7034595 , -0.8613998 , -1.44822682,
   5.36978344, -7.58124436,  0.69362019,  6.28068262, -1.125222  ,
   3.51494929,  1.14306918,  2.73815307, -0.66890992,-64.89379934,
  27.28820352,  2.81113957]

qfrc_actuator:
[ 2.93016091e-04,-2.87772527e-04,-1.45159791e-05, 2.55273121e-04,
 -9.20061917e-04,-8.46008320e-04,-4.24060749e-04, 2.05513414e-04,
 -7.08181528e-04,-6.26755204e-04,-3.73744441e-04, 3.06883307e-04,
  2.10000000e-01, 9.84451540e-05, 7.78347775e-03, 2.85144059e-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: -0.0005969934365288102
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08453936, -0.08875752,  0.06197463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.39274248e-05,-3.56896396e-05,-3.90129393e-05,-4.76730076e-07,
 -1.91586649e-05,-2.83299293e-05, 4.55860289e-06, 2.43251783e-05,
 -5.16436820e-06,-1.71340312e-06, 2.22437879e-05,-4.13473980e-06,
  4.51254619e-04, 3.53572154e-05,-9.47312896e-06, 1.40950918e-05,
 -2.51785218e-05, 1.66153714e-05,-9.80997508e+00,-1.17659740e-02,
 -2.39530355e-02, 1.08440854e-04]


--- Step 207 ---
qpos:
[-1.33187442e-02, 1.33482662e-02, 9.88284285e-03, 1.45278518e-02,
 -1.87591736e-02,-8.98031472e-03,-1.71642509e-02, 1.61372455e-02,
 -1.19788400e-02,-6.61558075e-03,-1.42198176e-02, 1.48807648e-02,
  1.08299413e+00, 2.33465107e-02, 3.18804509e-02,-2.26136914e-03,
  9.49973546e-02,-7.01926710e-02, 1.04414862e-01, 9.99996457e-01,
  1.86035064e-03, 3.24091002e-04,-1.87608841e-03]

qacc:
[  1.64978538,  0.72217681, -2.9774036 ,  3.17364369, -1.6515084 ,
   0.66453057, -3.15310356,  7.05312103, -3.33206225, -1.07136771,
   9.99257509,-30.72652194,  0.77407493, -0.81031038,  2.29001677,
  -8.26729966,  1.12279219,  2.69671592, -0.82375387,-63.75069908,
  26.87684569,  2.63660401]

qfrc_actuator:
[ 3.02701255e-04,-3.11652245e-04,-3.93815888e-05, 2.52465419e-04,
 -9.29416578e-04,-8.20419609e-04,-4.17990975e-04, 2.18229388e-04,
 -7.27701209e-04,-5.69375254e-04,-3.76176141e-04, 2.48139564e-04,
  2.10000000e-01, 9.14604888e-05, 7.76998553e-03, 2.40872894e-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: -0.0005921333816060401
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.37477145e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.37477145e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08453792, -0.08875927,  0.06197483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.82612841e-06,-5.17384998e-05,-3.70009365e-05,-5.68467801e-06,
 -9.77165768e-06, 1.19411590e-05, 1.69231715e-06, 1.21473199e-05,
 -1.95201398e-05, 6.10004804e-05,-1.33827385e-07,-5.81183290e-05,
  4.46410439e-04, 1.99137104e-06,-1.39353944e-05,-4.41682476e-05,
 -1.67729716e-05, 5.80174390e-05,-9.80989897e+00,-1.17752328e-02,
 -2.39553064e-02, 9.85696635e-05]


--- Step 208 ---
qpos:
[-1.33226033e-02, 1.33531558e-02, 9.88580741e-03, 1.45331907e-02,
 -1.87650583e-02,-8.98306459e-03,-1.71687652e-02, 1.61422213e-02,
 -1.19832157e-02,-6.61749217e-03,-1.42240764e-02, 1.48855384e-02,
  1.08820842e+00, 2.33575392e-02, 3.20124421e-02,-2.26271531e-03,
  9.49939585e-02,-7.01637362e-02, 1.04411947e-01, 9.99997013e-01,
  1.51695655e-03, 2.80043709e-04,-1.89593020e-03]

qacc:
[  1.23805118, -1.04296305,  5.20036314,-12.82070633,  2.44163127,
   1.17258811, -2.94891421, -0.06428842,  1.29049453, -1.25229249,
   9.03156299,-23.36965899,  0.87280924, -8.95508297,  2.27811972,
  -8.4310497 , -1.81906363,  0.22365341,  0.7597777 , -4.49091527,
 -42.83885917,  1.21079994]

qfrc_actuator:
[ 3.09998348e-04,-3.10096967e-04,-3.75051927e-05, 2.30734617e-04,
 -9.14695637e-04,-8.21700314e-04,-4.48229218e-04, 2.05894911e-04,
 -7.19622884e-04,-5.16520232e-04,-3.57978370e-04, 2.11385407e-04,
  2.10000000e-01, 4.70638678e-05, 7.75713725e-03, 1.97241429e-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: -0.0005915340237096847
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.69213511e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.69213511e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361957, -0.07031193,  0.06197485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.33030986e-06,-3.50954823e-05,-1.35093254e-05,-2.53276646e-05,
  1.45854254e-05, 6.48752175e-06,-2.70702173e-05,-1.15135842e-05,
  7.67564308e-06, 8.46169537e-05, 2.88300034e-05,-3.52646918e-05,
  4.41072624e-04,-3.62191347e-05,-2.19580806e-05,-4.73779029e-05,
 -3.35014970e-06, 1.03260169e-04,-9.80974973e+00,-1.17891675e-02,
 -2.39543821e-02, 8.00865991e-05]


--- Step 209 ---
qpos:
[-1.33260045e-02, 1.33578036e-02, 9.88847509e-03, 1.45382443e-02,
 -1.87710628e-02,-8.98581558e-03,-1.71738120e-02, 1.61466921e-02,
 -1.19871134e-02,-6.61918166e-03,-1.42276551e-02, 1.48902007e-02,
  1.09342495e+00, 2.33673346e-02, 3.21441010e-02,-2.26358614e-03,
  9.49834275e-02,-7.01339132e-02, 1.04411232e-01, 9.99997479e-01,
  1.16421310e-03, 1.51987051e-04,-1.91390355e-03]

qacc:
[  3.96683013, -0.0849185 ,  1.0303857 , -5.30113034, -1.05717457,
   0.44882888,  0.5331492 , -8.42471075,  4.18996397, -1.84416633,
   7.45758243,-10.62115049,  0.932558  ,-13.79308748, -1.9601884 ,
   6.08092777, -1.78370611,  0.22205897,  0.55014161, -4.59522912,
 -42.01199141,  0.99654146]

qfrc_actuator:
[ 3.33587349e-04,-3.28733097e-04,-5.52731823e-05, 2.15834934e-04,
 -9.21431761e-04,-8.39228693e-04,-4.82022950e-04, 1.78878850e-04,
 -6.95362092e-04,-5.19942146e-04,-3.27711821e-04, 2.05646499e-04,
  2.10000000e-01,-1.90153859e-05, 7.75001276e-03, 2.25370255e-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: -0.0005935854218862766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361935, -0.07031243,  0.06197476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.35662355e-05,-4.19760331e-05,-2.75040297e-05,-1.73531316e-05,
 -6.17056425e-06,-1.97665197e-05,-3.61183619e-05,-2.78863190e-05,
  2.46189251e-05, 4.85103978e-05, 5.01319992e-05,-1.79186099e-06,
  4.35359643e-04,-5.88181173e-05,-1.99536917e-05, 2.32462787e-05,
 -3.74629411e-05, 1.78060963e-04,-9.80974025e+00,-1.18021078e-02,
 -2.39557927e-02, 6.72593281e-05]


--- Step 210 ---
qpos:
[-1.33294454e-02, 1.33622606e-02, 9.89059351e-03, 1.45430915e-02,
 -1.87770986e-02,-8.98832246e-03,-1.71787656e-02, 1.61496935e-02,
 -1.19906880e-02,-6.62078144e-03,-1.42309996e-02, 1.48948066e-02,
  1.09864368e+00, 2.33770347e-02, 3.22755285e-02,-2.26412923e-03,
  9.49689226e-02,-7.01146504e-02, 1.04411466e-01, 9.99997706e-01,
  9.37053311e-04,-2.32559054e-05,-1.92582202e-03]

qacc:
[-3.58392109e-01, 8.58704233e-01,-2.55484681e+00,-9.65480058e-04,
 -2.74112268e-01,-2.96079700e+00, 1.72317508e+01,-4.29962719e+01,
  2.82701874e+00,-6.57706910e-01, 2.74579081e+00,-4.15228347e+00,
  7.57115860e-01,-1.36002597e+00,-1.34878479e+00, 4.18763463e+00,
 -9.93479105e-01,-2.64005968e+00, 2.37230941e-01, 6.28365143e+01,
 -2.34693687e+01, 3.06421404e+00]

qfrc_actuator:
[ 3.31073793e-04,-3.41628880e-04,-8.45755508e-05, 2.05044844e-04,
 -9.22999779e-04,-7.95386764e-04,-4.64455766e-04, 1.07925953e-04,
 -6.79533319e-04,-5.39205287e-04,-3.26281009e-04, 2.00405078e-04,
  2.10000000e-01,-2.63359385e-05, 7.74101629e-03, 2.42310677e-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: -0.0005939105782492571
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.67335936e-14,  5.84169920e-15,  1.00000000e+00, -2.73003597e-28,
        1.00000000e+00, -5.84169920e-15, -1.00000000e+00,  0.00000000e+00,
        4.67335936e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09887728, -0.05158323,  0.06197475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.05763364e-06,-4.26445248e-05,-4.19140944e-05,-1.38692975e-05,
 -1.60056743e-06, 2.43491666e-05, 8.14076517e-06,-7.35788199e-05,
  1.66415438e-05, 1.83000599e-05, 1.76132956e-05,-1.45496464e-06,
  4.29637746e-04,-6.18842272e-07,-1.28706803e-05, 1.62888111e-05,
 -1.07891585e-04, 2.56548009e-04,-9.80970053e+00,-1.18156219e-02,
 -2.39606130e-02, 5.60778590e-05]


--- Step 211 ---
qpos:
[-1.33332384e-02, 1.33668016e-02, 9.89217846e-03, 1.45477351e-02,
 -1.87827589e-02,-8.99044242e-03,-1.71833461e-02, 1.61521276e-02,
 -1.19943878e-02,-6.62232677e-03,-1.42345373e-02, 1.48996946e-02,
  1.10386456e+00, 2.33880357e-02, 3.24067068e-02,-2.26511104e-03,
  9.49505324e-02,-7.01056924e-02, 1.04411691e-01, 9.99997757e-01,
  8.32150065e-04,-2.44784284e-04,-1.93234285e-03]

qacc:
[-3.07197251e+00, 1.18926031e+00,-3.20908803e+00, 4.65304107e-01,
  3.26635788e+00,-1.70484684e+00, 9.20553151e+00,-1.98938958e+01,
 -1.10085069e+00, 1.19449601e+00,-5.34231218e+00, 1.04902550e+01,
  5.42709643e-01, 1.38990669e+01, 9.66745098e-01,-3.91388841e+00,
 -9.71342463e-01,-2.57618070e+00,-2.19053736e-03, 6.11728449e+01,
 -2.30224090e+01, 2.71891294e+00]

qfrc_actuator:
[ 3.13213213e-04,-3.15529339e-04,-1.02674788e-04, 1.96755776e-04,
 -9.03754849e-04,-7.50472686e-04,-4.34237217e-04, 8.27879573e-05,
 -6.86552785e-04,-5.50177078e-04,-3.41977938e-04, 2.13204340e-04,
  2.10000000e-01, 3.64593115e-05, 7.72024793e-03, 2.16990251e-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: -0.000600821092658313
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15490185e-14, -2.30980370e-14,  1.00000000e+00,  2.66759656e-28,
        1.00000000e+00,  2.30980370e-14, -1.00000000e+00,  0.00000000e+00,
        1.15490185e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09887713, -0.05158592,  0.06197446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.81292932e-05,-6.85909321e-06,-3.25026614e-05,-1.18267658e-05,
  1.93527475e-05, 5.72772765e-05, 3.37754404e-05,-2.52312858e-05,
 -6.45027072e-06, 2.98022631e-06,-9.75239197e-06, 1.41719802e-05,
  4.24590317e-04, 7.07960115e-05,-2.26568831e-05,-2.55625438e-05,
 -1.28754593e-04, 1.55709345e-04,-9.80982840e+00,-1.18247706e-02,
 -2.39658383e-02, 4.89344735e-05]


--- Step 212 ---
qpos:
[-1.33365303e-02, 1.33712984e-02, 9.89408267e-03, 1.45521997e-02,
 -1.87877969e-02,-8.99240219e-03,-1.71877784e-02, 1.61553219e-02,
 -1.19977965e-02,-6.62355017e-03,-1.42383169e-02, 1.49039766e-02,
  1.10908758e+00, 2.33994303e-02, 3.25375561e-02,-2.26638237e-03,
  9.49394371e-02,-7.01015781e-02, 1.04413479e-01, 9.99997734e-01,
  7.82517995e-04,-3.77369266e-04,-1.94369264e-03]

qacc:
[  4.35671018, -1.32824528,  5.39181802, -8.95135595,  5.40657377,
   1.35120556, -7.73909428, 20.56148576,  2.5281173 , -0.15078041,
   3.70532348,-14.03532287,  0.66800093,  3.99353645,  0.3847247 ,
  -2.07192974,  1.82375182, -1.21094994,  0.39051929, 27.54903168,
  44.52298231, -2.458323  ]

qfrc_actuator:
[ 3.39730607e-04,-3.01736470e-04,-7.83429565e-05, 1.90047037e-04,
 -8.72416461e-04,-7.58413670e-04,-4.32250415e-04, 1.20329756e-04,
 -6.71456694e-04,-5.20669434e-04,-3.49865156e-04, 1.83254167e-04,
  2.10000000e-01, 5.12030089e-05, 7.70307796e-03, 2.02453958e-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: -0.0006049625693690663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08118273, -0.06129912,  0.06197428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.58010743e-05, 2.88424557e-06, 1.85546687e-05,-8.34618492e-06,
  3.20405769e-05, 3.01959259e-05, 1.71707070e-05, 4.06858510e-05,
  1.49987286e-05, 2.99063069e-05,-7.93478112e-06,-2.98755595e-05,
  4.20044889e-04, 2.43524940e-05,-2.79875980e-05,-1.83145153e-05,
 -1.49355686e-04, 6.73683747e-05,-9.80987793e+00,-1.18291879e-02,
 -2.39736916e-02, 4.77467305e-05]


--- Step 213 ---
qpos:
[-1.33391378e-02, 1.33755475e-02, 9.89693576e-03, 1.45561857e-02,
 -1.87927627e-02,-8.99390215e-03,-1.71925501e-02, 1.61592822e-02,
 -1.20009966e-02,-6.62421044e-03,-1.42420063e-02, 1.49071210e-02,
  1.11431273e+00, 2.34099485e-02, 3.26681782e-02,-2.26719413e-03,
  9.49354831e-02,-7.01022041e-02, 1.04415965e-01, 9.99997680e-01,
  7.86929176e-04,-4.23232234e-04,-1.95992952e-03]

qacc:
[  5.96824307, -3.97784222, 15.70866465,-25.3063659 ,  0.6099003 ,
   3.13095668,-13.51941441, 26.98578035,  1.81414536, -1.85309485,
  12.48460496,-32.72618236,  0.84724812, -9.88666903, -1.75205837,
   5.58814235,  1.78531848, -1.18506223,  0.17481145, 26.9363734 ,
  43.41151325, -2.48768991]

qfrc_actuator:
[ 3.74409747e-04,-3.12985537e-04,-2.91918390e-05, 1.66590684e-04,
 -8.69724152e-04,-7.26985196e-04,-4.47127003e-04, 1.58873671e-04,
 -6.61210240e-04,-4.67163386e-04,-3.35187798e-04, 1.28429610e-04,
  2.10000000e-01, 1.99719678e-06, 7.70406053e-03, 2.29919689e-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: -0.0006077489598103475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.28347372e-14, -1.14173686e-14,  1.00000000e+00,  2.60712613e-28,
        1.00000000e+00,  1.14173686e-14, -1.00000000e+00,  0.00000000e+00,
        2.28347372e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08118374, -0.06129937,  0.06197417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.52286327e-05,-6.01582735e-06, 5.17883032e-05,-2.28447714e-05,
  3.73890808e-06, 5.37983152e-05,-5.05865133e-06, 4.12338314e-05,
  1.07670449e-05, 6.74459965e-05, 1.88870192e-05,-5.43918958e-05,
  4.14845644e-04,-4.06990583e-05,-1.12111403e-05, 2.34670977e-05,
 -5.23347194e-05, 1.62188021e-05,-9.80995972e+00,-1.18310071e-02,
 -2.39789688e-02, 4.70518627e-05]


--- Step 214 ---
qpos:
[-1.33416579e-02, 1.33797332e-02, 9.90005898e-03, 1.45598831e-02,
 -1.87976553e-02,-8.99513321e-03,-1.71968204e-02, 1.61632944e-02,
 -1.20040472e-02,-6.62481616e-03,-1.42453418e-02, 1.49103216e-02,
  1.11953998e+00, 2.34198735e-02, 3.27987296e-02,-2.26769875e-03,
  9.49385411e-02,-7.01074835e-02, 1.04418405e-01, 9.99997607e-01,
  8.44358213e-04,-3.84219242e-04,-1.98109068e-03]

qacc:
[ 7.68032888e-01,-1.43484385e+00, 6.21000395e+00,-1.15866392e+01,
  6.46926554e-01,-9.40203462e-01, 3.64699352e+00,-3.74639219e+00,
  1.31446229e+00,-8.03807293e-01, 2.72924709e+00,-2.35870528e+00,
  7.94374878e-01,-6.78369104e+00,-1.05402378e+00, 3.49063172e+00,
  1.75297380e+00,-1.16335609e+00,-1.17283864e-02, 2.64246569e+01,
  4.24878952e+01,-2.50677644e+00]

qfrc_actuator:
[ 3.78097025e-04,-3.21286029e-04,-1.91643690e-05, 1.51209673e-04,
 -8.66165818e-04,-7.07804022e-04,-4.18435299e-04, 1.62203656e-04,
 -6.53907556e-04,-4.88391415e-04,-3.24959762e-04, 1.30464878e-04,
  2.10000000e-01,-3.12076008e-05, 7.70528574e-03, 2.46448085e-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: -0.0006064603048714368
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.28832583e-14, -2.28832583e-14,  1.00000000e+00,  5.23643511e-28,
        1.00000000e+00,  2.28832583e-14, -1.00000000e+00,  0.00000000e+00,
        2.28832583e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08118365, -0.06129897,  0.06197422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.50361456e-06,-1.82195570e-06, 1.44100723e-05,-1.42849183e-05,
  3.78496751e-06, 5.01688397e-05, 4.06657249e-05, 6.27375809e-06,
  7.69620791e-06, 1.81831225e-05, 2.46446351e-05, 4.52739534e-06,
  4.09124438e-04,-2.62340295e-05, 6.66961033e-07, 1.68456088e-05,
 -5.39236919e-06,-1.65605461e-06,-9.80999677e+00,-1.18311845e-02,
 -2.39804194e-02, 4.77478332e-05]


--- Step 215 ---
qpos:
[-1.33441177e-02, 1.33840061e-02, 9.90268534e-03, 1.45634021e-02,
 -1.88021203e-02,-8.99660740e-03,-1.72001502e-02, 1.61670058e-02,
 -1.20069850e-02,-6.62587212e-03,-1.42480077e-02, 1.49142562e-02,
  1.12476929e+00, 2.34297475e-02, 3.29291469e-02,-2.26798665e-03,
  9.49485034e-02,-7.01173445e-02, 1.04420155e-01, 9.99997496e-01,
  9.53959495e-04,-2.61847870e-04,-2.00719758e-03]

qacc:
[  0.50534603,  1.13563997, -3.13002943,  0.77274584,  3.74724867,
  -3.57445259, 13.53721485,-20.05548771,  1.01372773, -0.95677649,
  -0.55457669, 12.52367682,  0.70518833, -0.86101087, -0.86714768,
   2.71441331,  1.72610856, -1.1453896 , -0.17245586, 26.00255611,
  41.72867438, -2.51811067]

qfrc_actuator:
[ 3.81264925e-04,-3.27902588e-04,-5.00645096e-05, 1.40675217e-04,
 -8.44365077e-04,-7.49222125e-04,-3.82060480e-04, 1.44813001e-04,
 -6.48395341e-04,-5.36423943e-04,-2.99948483e-04, 1.65877369e-04,
  2.10000000e-01,-3.69919822e-05, 7.69599904e-03, 2.56382696e-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: -0.0006019142871291072
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.30560864e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.30560864e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08118268, -0.06129805,  0.06197442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.10091337e-06,-5.16096434e-06,-2.99584667e-05,-1.03843461e-05,
  2.20112700e-05,-4.51626349e-06, 5.20210785e-05,-1.37006969e-05,
  5.79167494e-06,-3.24621425e-05, 3.19982837e-05, 3.71392204e-05,
  4.03678051e-04, 1.47788685e-06,-5.86282083e-06, 1.12395826e-05,
 -5.03480508e-06, 1.16922280e-05,-9.80999216e+00,-1.18297520e-02,
 -2.39781239e-02, 4.97717382e-05]


--- Step 216 ---
qpos:
[-1.33468691e-02, 1.33883372e-02, 9.90519111e-03, 1.45667454e-02,
 -1.88066321e-02,-8.99845951e-03,-1.72031954e-02, 1.61715802e-02,
 -1.20098328e-02,-6.62727051e-03,-1.42500551e-02, 1.49189201e-02,
  1.13000064e+00, 2.34392047e-02, 3.30591183e-02,-2.26743655e-03,
  9.49652823e-02,-7.01317285e-02, 1.04420662e-01, 9.99997299e-01,
  1.11504690e-03,-5.73479141e-05,-2.03825959e-03]

qacc:
[-2.53313837, 0.05729585, 0.65738345,-3.55621525,-0.39138063, 0.48257409,
 -6.08848294,20.84842259, 0.81206268,-0.6809928 ,-1.31039674,13.19869063,
  0.75530966,-4.86928847,-3.21664279,10.25429826, 1.70414195,-1.13074765,
 -0.31056462,25.65996716,41.11348682,-2.52355419]

qfrc_actuator:
[ 3.66360826e-04,-3.15881334e-04,-5.16043888e-05, 1.33054054e-04,
 -8.47507846e-04,-7.91090065e-04,-3.77220550e-04, 1.86332422e-04,
 -6.43980561e-04,-5.46798296e-04,-2.66524438e-04, 2.02863244e-04,
  2.10000000e-01,-6.21342963e-05, 7.66976187e-03, 2.97833851e-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: -0.000594807838618587
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.16657741e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.16657741e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08118101, -0.06129671,  0.06197472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.50080099e-05, 2.60873378e-06,-6.61886411e-06,-9.07365969e-06,
 -2.42784545e-06,-3.40655024e-05, 9.89266057e-06, 4.28684945e-05,
  4.62720441e-06,-2.02125499e-05, 3.19826104e-05, 3.74311408e-05,
  3.98468326e-04,-1.72800119e-05,-2.62066252e-05, 4.16586608e-05,
 -4.85608409e-05, 5.46683564e-05,-9.80994821e+00,-1.18267333e-02,
 -2.39721465e-02, 5.30749060e-05]


--- Step 217 ---
qpos:
[-1.33504712e-02, 1.33926416e-02, 9.90793622e-03, 1.45703023e-02,
 -1.88114895e-02,-9.00048752e-03,-1.72061489e-02, 1.61759141e-02,
 -1.20126044e-02,-6.62860541e-03,-1.42520758e-02, 1.49236343e-02,
  1.13523400e+00, 2.34480172e-02, 3.31886134e-02,-2.26669949e-03,
  9.49888074e-02,-7.01505886e-02, 1.04419454e-01, 9.99996942e-01,
  1.32707596e-03, 2.28303568e-04,-2.07427682e-03]

qacc:
[-7.36940640e+00,-2.50164863e-01,-3.60862068e-02, 3.34247483e+00,
 -2.99551701e+00,-9.77988281e-01, 4.17601949e+00,-8.36862943e+00,
  6.64185259e-01, 1.11359152e-01,-4.90217710e-01, 1.27484470e+00,
  7.78383065e-01,-7.34154471e+00,-1.29070886e+00, 3.44722399e+00,
  1.68653703e+00,-1.11905047e+00,-4.29009248e-01, 2.53879991e+01,
  4.06248039e+01,-2.52446637e+00]

qfrc_actuator:
[ 3.23188574e-04,-3.10435958e-04,-3.57056439e-05, 1.45002016e-04,
 -8.65313273e-04,-7.97490607e-04,-3.73269208e-04, 1.73391222e-04,
 -6.40246653e-04,-5.34505459e-04,-2.63774732e-04, 2.04999045e-04,
  2.10000000e-01,-9.85050856e-05, 7.63871310e-03, 3.04229067e-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: -0.0005857316895748615
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.73861601e-14,  5.92327001e-15,  1.00000000e+00, -2.80681021e-28,
        1.00000000e+00, -5.92327001e-15, -1.00000000e+00,  0.00000000e+00,
        4.73861601e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0811788 , -0.06129506,  0.0619751 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.37967844e-05, 5.25939534e-06, 1.53488234e-05, 1.16628850e-05,
 -1.77964653e-05,-2.14064422e-05,-3.29918581e-07,-1.32141403e-05,
  3.92078236e-06, 9.31053458e-06, 3.84525658e-06, 3.11078004e-06,
  3.92960194e-04,-2.89775885e-05,-3.58379328e-05, 5.94701073e-06,
 -1.33914950e-04, 1.26055568e-04,-9.80986656e+00,-1.18221458e-02,
 -2.39625369e-02, 5.76205169e-05]


--- Step 218 ---
qpos:
[-1.33545666e-02, 1.33967256e-02, 9.91068348e-03, 1.45740164e-02,
 -1.88165210e-02,-9.00230798e-03,-1.72091900e-02, 1.61796770e-02,
 -1.20156534e-02,-6.62968965e-03,-1.42546900e-02, 1.49283569e-02,
  1.14046935e+00, 2.34567494e-02, 3.33178298e-02,-2.26690719e-03,
  9.50051480e-02,-7.01684776e-02, 1.04421094e-01, 9.99996518e-01,
  1.53064617e-03, 4.26938996e-04,-2.10695887e-03]

qacc:
[-4.27451287e+00, 3.46790596e-02,-1.19534537e+00, 4.05848233e+00,
 -1.51851891e+00,-6.52994163e-01, 5.14252652e+00,-1.50432116e+01,
 -2.44434259e+00, 2.01156457e+00,-6.71887630e+00, 7.61873606e+00,
  6.78949215e-01,-1.15228488e+00, 2.44047840e+00,-9.16398400e+00,
 -1.79610700e+00, 2.42787873e-01, 7.12066198e-01,-4.13949608e+00,
 -4.35144477e+01, 1.72428373e+00]

qfrc_actuator:
[ 2.99236469e-04,-3.44379704e-04,-4.51606700e-05, 1.50619904e-04,
 -8.73846245e-04,-7.64908919e-04,-3.69772075e-04, 1.46284679e-04,
 -6.54695956e-04,-5.26633903e-04,-2.96838005e-04, 2.04364614e-04,
  2.10000000e-01,-1.05713091e-04, 7.62077352e-03, 2.54401305e-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: -0.0005851149508736622
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.18590268e-14, -1.18590268e-14,  1.00000000e+00,  1.40636517e-28,
        1.00000000e+00,  1.18590268e-14, -1.00000000e+00,  0.00000000e+00,
        1.18590268e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1036205 , -0.07031874,  0.06197512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.54096645e-05,-2.72000375e-05,-6.02279020e-06, 6.61327397e-06,
 -8.95336230e-06, 2.01471221e-05,-1.36466761e-06,-2.82808289e-05,
 -1.42725220e-05, 1.41126657e-05,-3.05240609e-05,-3.60951653e-08,
  3.87268237e-04,-1.30935327e-07,-3.08966865e-05,-5.34483273e-05,
 -2.59569000e-04, 2.24951261e-04,-9.80974833e+00,-1.18160016e-02,
 -2.39493308e-02, 6.33816635e-05]


--- Step 219 ---
qpos:
[-1.33585766e-02, 1.34006167e-02, 9.91306251e-03, 1.45774469e-02,
 -1.88209241e-02,-9.00413006e-03,-1.72124075e-02, 1.61834642e-02,
 -1.20188507e-02,-6.63057480e-03,-1.42579911e-02, 1.49333941e-02,
  1.14570665e+00, 2.34654032e-02, 3.34468042e-02,-2.26708639e-03,
  9.50144394e-02,-7.01854424e-02, 1.04424787e-01, 9.99996082e-01,
  1.72567057e-03, 5.40666952e-04,-2.13673438e-03]

qacc:
[  0.73229138,  0.18901301,  0.15107687, -4.32572209,  5.45189159,
   0.53011679, -2.01455201,  2.7388051 , -1.31864191,  2.8325338 ,
 -11.04247273, 17.43625109,  0.67229798, -1.14809761, -0.45585038,
   1.04532156, -1.76231759,  0.23106977,  0.51330212, -4.18405916,
 -42.46036522,  1.51641174]

qfrc_actuator:
[ 3.04552018e-04,-3.66247301e-04,-6.96865160e-05, 1.34658096e-04,
 -8.41343730e-04,-7.80261521e-04,-3.84157437e-04, 1.46610785e-04,
 -6.61979489e-04,-5.21627660e-04,-3.33026772e-04, 2.19842586e-04,
  2.10000000e-01,-1.13482608e-04, 7.62135040e-03, 2.60659848e-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: -0.0005870217977411163
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.72820187e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.72820187e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361956, -0.07031982,  0.06197504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.38542378e-06,-3.78829877e-05,-3.06008894e-05,-1.71948625e-05,
  3.23466005e-05,-5.40048148e-06,-1.13112966e-05, 6.03466292e-07,
 -7.62675375e-06, 6.70212554e-06,-3.69958302e-05, 1.50329729e-05,
  3.81870737e-04,-8.11905197e-08,-1.73711280e-05,-1.85489509e-07,
 -1.33881853e-04, 1.63386555e-04,-9.80984341e+00,-1.18057061e-02,
 -2.39420002e-02, 6.66297241e-05]


--- Step 220 ---
qpos:
[-1.33628403e-02, 1.34042882e-02, 9.91516813e-03, 1.45799664e-02,
 -1.88249014e-02,-9.00626077e-03,-1.72153523e-02, 1.61872348e-02,
 -1.20221093e-02,-6.63132549e-03,-1.42616564e-02, 1.49375277e-02,
  1.15094588e+00, 2.34732785e-02, 3.35754447e-02,-2.26685275e-03,
  9.50167953e-02,-7.02015226e-02, 1.04429847e-01, 9.99995667e-01,
  1.91210941e-03, 5.71234433e-04,-2.16392719e-03]

qacc:
[ -2.20504296, -1.39818675,  8.41790069,-23.5952209 ,  3.71216289,
  -1.21094463,  3.78390596, -4.26752143, -0.55028277, -0.66360074,
   6.44126453,-21.59974359,  0.77134942, -8.79321934, -1.7661506 ,
   5.41315358, -1.73387052,  0.22113098,  0.34177836, -4.20463156,
 -41.5870245 ,  1.36080256]

qfrc_actuator:
[ 2.91541478e-04,-3.80808608e-04,-8.51327030e-05, 8.83736842e-05,
 -8.20457971e-04,-8.06495905e-04,-3.73643150e-04, 1.45276966e-04,
 -6.64981769e-04,-5.18389306e-04,-3.53007474e-04, 1.73667797e-04,
  2.10000000e-01,-1.57063985e-04, 7.60641494e-03, 2.82222184e-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: -0.0005853750418345766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.74150308e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.74150308e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361962, -0.07032077,  0.06197512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30715428e-05,-4.26417549e-05,-2.75818675e-05,-4.92906580e-05,
  2.19110007e-05,-3.13935862e-05, 8.07663039e-06,-1.93640658e-06,
 -3.15799472e-06, 1.06902535e-07,-2.25923112e-05,-4.68679338e-05,
  3.76584428e-04,-3.59384810e-05,-2.12403552e-05, 1.97070280e-05,
 -4.84655286e-05, 1.08067617e-04,-9.80990609e+00,-1.17961327e-02,
 -2.39379692e-02, 7.16576673e-05]


--- Step 221 ---
qpos:
[-1.33672298e-02, 1.34074158e-02, 9.91774618e-03, 1.45819018e-02,
 -1.88289401e-02,-9.00859715e-03,-1.72179113e-02, 1.61912844e-02,
 -1.20253774e-02,-6.63222713e-03,-1.42651303e-02, 1.49403837e-02,
  1.15618701e+00, 2.34803006e-02, 3.37037321e-02,-2.26635508e-03,
  9.50123100e-02,-7.02167521e-02, 1.04435685e-01, 9.99995285e-01,
  2.08995701e-03, 5.20073867e-04,-2.18877761e-03]

qacc:
[ -1.06789165, -3.24074299, 12.98139469,-23.44933487, -0.5168737 ,
  -0.77460886,  1.19141616,  3.16974334, -0.0740247 , -3.3639989 ,
  17.10054137,-39.40997953,  0.77315529, -9.60421282, -1.34440912,
   3.89508891, -1.71029859,  0.21267884,  0.19443784, -4.20787279,
 -40.87091197,  1.24690694]

qfrc_actuator:
[ 2.85592821e-04,-4.08634843e-04,-5.95733421e-05, 6.01418450e-05,
 -8.24343724e-04,-8.03446444e-04,-3.48567619e-04, 1.60731056e-04,
 -6.65442826e-04,-5.33979329e-04,-3.45558633e-04, 1.09346354e-04,
  2.10000000e-01,-2.03648569e-04, 7.58751485e-03, 2.94818431e-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: -0.0005808971302465535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.77805349e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.77805349e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10362047, -0.07032162,  0.06197531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.50018248e-06,-5.93176552e-05, 1.17049310e-05,-3.19611675e-05,
 -3.16259873e-06,-1.27683357e-05, 1.95647492e-05, 1.43586018e-05,
 -4.87685722e-07,-2.20830583e-05, 3.10810250e-06,-6.60033286e-05,
  3.70900501e-04,-3.98114874e-05,-2.45405869e-05, 1.14045081e-05,
 -4.97565298e-07, 5.84538840e-05,-9.80993857e+00,-1.17872099e-02,
 -2.39371888e-02, 7.84141840e-05]


--- Step 222 ---
qpos:
[-1.33716597e-02, 1.34100995e-02, 9.92056857e-03, 1.45838320e-02,
 -1.88329918e-02,-9.01069901e-03,-1.72208906e-02, 1.61954866e-02,
 -1.20286242e-02,-6.63340008e-03,-1.42682045e-02, 1.49431385e-02,
  1.16143002e+00, 2.34871338e-02, 3.38318776e-02,-2.26575008e-03,
  9.50010601e-02,-7.02311597e-02, 1.04441796e-01, 9.99994927e-01,
  2.25923171e-03, 3.88343329e-04,-2.21145922e-03]

qacc:
[ -0.33436479, -1.28009413,  3.73612226, -3.89207589, -0.13120296,
   1.7987345 , -6.60864293,  9.75133473,  0.20241699, -1.68391076,
   5.91093258, -8.10226056,  0.66014164, -2.34479589, -0.54762831,
   1.57944461, -1.69114609,  0.20546968,  0.0683774 , -4.19884516,
 -40.29191877,  1.16638961]

qfrc_actuator:
[ 2.83854955e-04,-4.26255331e-04,-4.55524114e-05, 6.05316282e-05,
 -8.25022941e-04,-7.82806179e-04,-3.68235528e-04, 1.68216293e-04,
 -6.64406621e-04,-5.42882115e-04,-3.22061995e-04, 1.05882903e-04,
  2.10000000e-01,-2.16143605e-04, 7.58755288e-03, 3.02018686e-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: -0.0005742045953554473
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10362194, -0.07032238,  0.06197559])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.09259373e-06,-4.95737106e-05, 2.16133230e-06,-2.35761710e-06,
 -6.70127596e-07, 1.83023201e-05,-1.93508099e-05, 7.90373558e-06,
  1.08414802e-06,-2.33140451e-05, 1.70762326e-05,-5.57915158e-06,
  3.65196143e-04,-5.86109804e-06,-8.00381678e-06, 5.13153182e-06,
  1.21828442e-05, 1.41032879e-05,-9.80994256e+00,-1.17788871e-02,
 -2.39396162e-02, 8.68572951e-05]


--- Step 223 ---
qpos:
[-1.33764237e-02, 1.34126138e-02, 9.92342866e-03, 1.45857306e-02,
 -1.88366735e-02,-9.01251992e-03,-1.72244167e-02, 1.61997490e-02,
 -1.20321769e-02,-6.63467335e-03,-1.42713140e-02, 1.49458382e-02,
  1.16667486e+00, 2.34941864e-02, 3.39599620e-02,-2.26606369e-03,
  9.49896544e-02,-7.02344142e-02, 1.04446335e-01, 9.99994839e-01,
  2.29615742e-03, 2.52921992e-04,-2.23270166e-03]

qacc:
[-2.89371033e+00,-3.88730405e-01, 1.20399462e+00,-1.69608368e+00,
  3.19294209e+00, 2.01568323e+00,-6.91326497e+00, 8.63236571e+00,
 -2.66959855e+00,-1.42243579e-01, 5.56336969e-01,-1.38896172e+00,
  5.84586217e-01, 2.13579697e+00, 2.68796784e+00,-9.55285716e+00,
 -3.89584912e-02, 2.78828531e+00,-3.93330878e-01,-6.61706651e+01,
 -1.99015826e+00, 6.98351662e-01]

qfrc_actuator:
[ 2.66855717e-04,-4.19882123e-04,-3.84154136e-05, 5.99965676e-05,
 -8.06049240e-04,-7.69721992e-04,-3.96344909e-04, 1.70934902e-04,
 -6.80251550e-04,-5.47591822e-04,-3.24726727e-04, 1.02763669e-04,
  2.10000000e-01,-2.08507892e-04, 7.57764434e-03, 2.52774551e-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: -0.0005714258609000282
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.39798764e-07, -4.70783145e-15,  1.00000000e+00,  2.07049846e-21,
        1.00000000e+00,  4.70783145e-15, -1.00000000e+00, -3.76158192e-37,
        4.39798764e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09288308, -0.08871682,  0.06197571])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72111172e-05,-2.08320656e-05,-2.86085020e-06,-2.61912893e-06,
  1.90632839e-05, 1.98074783e-05,-2.63916652e-05, 2.99619886e-06,
 -1.57501006e-05,-1.43345578e-05,-5.52831702e-06,-3.62847820e-06,
  3.59945730e-04, 1.50010711e-05,-1.20290457e-05,-4.97626851e-05,
 -8.80799713e-06,-2.53437428e-05,-9.80991936e+00,-1.17711283e-02,
 -2.39452147e-02, 9.69532024e-05]


--- Step 224 ---
qpos:
[-1.33813571e-02, 1.34150700e-02, 9.92631320e-03, 1.45872491e-02,
 -1.88397524e-02,-9.01398470e-03,-1.72283108e-02, 1.62036434e-02,
 -1.20362354e-02,-6.63585556e-03,-1.42745057e-02, 1.49481129e-02,
  1.17192150e+00, 2.35020439e-02, 3.40877603e-02,-2.26628946e-03,
  9.49828144e-02,-7.02267363e-02, 1.04448088e-01, 9.99995029e-01,
  2.20393790e-03, 1.72194287e-04,-2.24828896e-03]

qacc:
[ -1.46769153, -0.92530091,  4.79782886,-11.37932275,  5.21700465,
   0.73122117, -0.38845808, -5.63447181, -4.41993862, -0.51593284,
   3.82380553,-11.13177308,  0.49032772,  8.50615701, -0.68850952,
   1.78991377,  1.14144129,  2.73308905, -0.69609289,-64.6343727 ,
  27.20896062,  2.74874057]

qfrc_actuator:
[ 2.58762266e-04,-4.16962219e-04,-3.52998656e-05, 4.11823655e-05,
 -7.75661813e-04,-7.43559054e-04,-4.11472097e-04, 1.53072463e-04,
 -7.05906530e-04,-5.32095520e-04,-3.25060641e-04, 8.20926455e-05,
  2.10000000e-01,-1.71373861e-04, 7.56709148e-03, 2.59409943e-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: -0.0005710350001498707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.86057345e-14,  1.21514336e-14,  1.00000000e+00, -5.90629357e-28,
        1.00000000e+00, -1.21514336e-14, -1.00000000e+00,  0.00000000e+00,
        4.86057345e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08451886, -0.08876543,  0.06197573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.72517384e-06,-9.25507269e-06,-1.56843863e-06,-1.98441238e-05,
  3.10421170e-05, 3.20567379e-05,-1.41408671e-05,-1.78611565e-05,
 -2.60341448e-05, 6.31280492e-06,-4.05524914e-06,-2.15383001e-05,
  3.54742874e-04, 4.49333703e-05,-2.07823233e-05, 2.50745413e-06,
 -3.82186931e-05,-1.58539504e-05,-9.80996531e+00,-1.17698030e-02,
 -2.39526505e-02, 1.03482002e-04]


--- Step 225 ---
qpos:
[-1.33863517e-02, 1.34173997e-02, 9.92894271e-03, 1.45889043e-02,
 -1.88431310e-02,-9.01484581e-03,-1.72325219e-02, 1.62072576e-02,
 -1.20395339e-02,-6.63710631e-03,-1.42771165e-02, 1.49507870e-02,
  1.17716994e+00, 2.35100117e-02, 3.42151275e-02,-2.26804476e-03,
  9.49804606e-02,-7.02082859e-02, 1.04446482e-01, 9.99995469e-01,
  1.98475956e-03, 1.45354668e-04,-2.25852794e-03]

qacc:
[ -0.53677632,  0.82828532, -3.77096694,  6.63508133, -2.62347321,
   1.11180939, -1.61474383, -3.18196092,  6.6542008 , -0.90472037,
   1.38565271,  4.67300426,  0.58472417,  0.95617624,  3.99118442,
 -14.90736071,  1.12153444,  2.69313528, -0.84004584,-63.54040907,
  26.80706109,  2.60411444]

qfrc_actuator:
[ 2.55981217e-04,-4.33910566e-04,-5.23516600e-05, 4.72671644e-05,
 -7.92064686e-04,-6.91983785e-04,-4.18769966e-04, 1.41017997e-04,
 -6.66114710e-04,-5.22379481e-04,-2.88429628e-04, 1.04540416e-04,
  2.10000000e-01,-1.70472082e-04, 7.52421972e-03, 1.74665615e-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: -0.0005675119454866262
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.89074738e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.89074738e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08451767, -0.08876675,  0.06197588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.16074826e-06,-2.31116743e-05,-1.97796500e-05, 5.26042459e-06,
 -1.54065337e-05, 6.59377605e-05,-3.00162553e-06,-1.15121165e-05,
  3.91246375e-05, 1.16299632e-05, 3.67426443e-05, 2.21693300e-05,
  3.49763829e-04, 9.34571529e-06,-5.06429254e-05,-8.69332547e-05,
 -2.83638588e-05, 2.61805010e-05,-9.80996738e+00,-1.17744089e-02,
 -2.39572204e-02, 1.02070435e-04]


--- Step 226 ---
qpos:
[-1.33906537e-02, 1.34194707e-02, 9.93166716e-03, 1.45909579e-02,
 -1.88466783e-02,-9.01521379e-03,-1.72364991e-02, 1.62103291e-02,
 -1.20416392e-02,-6.63793428e-03,-1.42797633e-02, 1.49540334e-02,
  1.18242015e+00, 2.35173090e-02, 3.43420866e-02,-2.27345203e-03,
  9.49825266e-02,-7.01791949e-02, 1.04441016e-01, 9.99996078e-01,
  1.64039981e-03, 1.71735181e-04,-2.26365469e-03]

qacc:
[  6.01464748,  0.20174893, -2.91823434,  9.8761012 , -1.46597934,
  -1.11573994,  7.22054002,-17.35539644, 10.4073705 ,  1.81671206,
  -8.11873736, 17.80868902,  0.6890102 , -7.51668661, 10.44987572,
 -37.46824447,  1.10496983,  2.66013901, -0.9648897 ,-62.65106286,
  26.47364424,  2.49437934]

qfrc_actuator:
[ 2.91852462e-04,-4.44935541e-04,-4.57288933e-05, 6.79266202e-05,
 -8.00375112e-04,-6.61056394e-04,-4.03521350e-04, 1.14755132e-04,
 -6.05870993e-04,-4.80503174e-04,-2.83507919e-04, 1.34452431e-04,
  2.10000000e-01,-2.08689488e-04, 7.48328316e-03,-1.65821884e-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: -0.0005614352175077539
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.47184134e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.47184134e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08451614, -0.08876925,  0.06197613])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.56540807e-05,-2.76195667e-05,-3.41666572e-07, 1.90995714e-05,
 -8.65761266e-06, 6.68036609e-05, 2.81403764e-05,-2.37570031e-05,
  6.14358562e-05, 5.70584362e-05, 1.26574800e-05, 3.21192452e-05,
  3.44025767e-04,-3.06448965e-05,-7.13565153e-05,-2.02019123e-04,
 -1.35249883e-05, 7.19072669e-05,-9.80989548e+00,-1.17836771e-02,
 -2.39586115e-02, 9.20565024e-05]


--- Step 227 ---
qpos:
[-1.33941497e-02, 1.34215057e-02, 9.93436242e-03, 1.45932230e-02,
 -1.88502966e-02,-9.01536189e-03,-1.72398460e-02, 1.62127243e-02,
 -1.20426600e-02,-6.63791497e-03,-1.42827975e-02, 1.49572369e-02,
  1.18767210e+00, 2.35241671e-02, 3.44685621e-02,-2.28084670e-03,
  9.49774348e-02,-7.01492325e-02, 1.04438035e-01, 9.99996596e-01,
  1.28619327e-03, 1.12561983e-04,-2.26722480e-03]

qacc:
[  6.98777996,  0.45577309, -2.60995973,  6.36682719, -0.60093272,
  -2.86107141, 13.48196964,-26.36178268,  9.43985458,  2.09564375,
  -5.69842871,  4.98672653,  0.64846388, -5.02304109,  5.29471813,
 -19.59296273, -1.78947231,  0.21785433,  0.6212764 , -4.82660215,
 -42.7865493 ,  0.84754084]

qfrc_actuator:
[ 3.32432973e-04,-4.34471075e-04,-4.29019648e-05, 7.92617361e-05,
 -8.03841276e-04,-6.60401266e-04,-3.75169030e-04, 8.03417318e-05,
 -5.51845905e-04,-4.19794607e-04,-2.97227275e-04, 1.33005095e-04,
  2.10000000e-01,-2.34136598e-04, 7.47547589e-03,-1.09224155e-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: -0.0005626623211408832
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.46645053e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.46645053e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10362434, -0.0703247 ,  0.06197608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.14867981e-05,-4.05485661e-06,-2.20544544e-06, 1.05208634e-05,
 -3.63897110e-06, 4.29318569e-05, 4.48371428e-05,-3.10309896e-05,
  5.58564363e-05, 9.67089150e-05, 7.62131935e-07, 2.06302814e-06,
  3.37686938e-04,-1.88672350e-05,-6.01565632e-05,-1.12395611e-04,
  5.96936294e-06, 1.21385834e-04,-9.80975262e+00,-1.17975677e-02,
 -2.39569275e-02, 7.35943152e-05]


--- Step 228 ---
qpos:
[-1.33978238e-02, 1.34237805e-02, 9.93664173e-03, 1.45959427e-02,
 -1.88535823e-02,-9.01576484e-03,-1.72428803e-02, 1.62154634e-02,
 -1.20433687e-02,-6.63769962e-03,-1.42854405e-02, 1.49604280e-02,
  1.19292575e+00, 2.35310881e-02, 3.45944777e-02,-2.28933770e-03,
  9.49653003e-02,-7.01183966e-02, 1.04436807e-01, 9.99996999e-01,
  9.22047473e-04,-3.05395266e-05,-2.26950723e-03]

qacc:
[ -1.56038973,  2.4195828 ,-10.08195423, 18.43573212,  2.90251256,
  -0.50775645, -0.13994399,  5.7900748 ,  2.73395113, -0.8650583 ,
   3.5034097 , -4.47719161,  0.56350548,  0.44045235,  2.48691121,
  -9.92237971, -1.76067482,  0.21837279,  0.43833416, -4.87446976,
 -41.97444654,  0.69712581]

qfrc_actuator:
[ 3.22190938e-04,-4.11232220e-04,-6.00190442e-05, 1.02782619e-04,
 -7.86678458e-04,-7.13338775e-04,-3.74949783e-04, 9.46466986e-05,
 -5.37425820e-04,-4.37143452e-04,-2.86260028e-04, 1.30881050e-04,
  2.10000000e-01,-2.34131966e-04, 7.45561294e-03,-1.60659021e-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: -0.0005644929074605995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.45845211e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.45845211e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10362376, -0.07032483,  0.061976  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.15779247e-06, 2.11172773e-05,-1.78178182e-05, 2.34829932e-05,
  1.71119088e-05,-2.08684285e-05, 1.35789861e-05, 1.71005874e-05,
  1.60811228e-05, 3.70355431e-05, 3.11205808e-05, 2.08658260e-06,
  3.31812715e-04, 6.77974612e-06,-5.72998051e-05,-6.48085721e-05,
 -3.60636970e-05, 2.02549549e-04,-9.80973456e+00,-1.18117172e-02,
 -2.39589885e-02, 6.06953176e-05]


--- Step 229 ---
qpos:
[-1.34009043e-02, 1.34261303e-02, 9.93876716e-03, 1.45985809e-02,
 -1.88569806e-02,-9.01644491e-03,-1.72460828e-02, 1.62183903e-02,
 -1.20445877e-02,-6.63764567e-03,-1.42874351e-02, 1.49635978e-02,
  1.19818106e+00, 2.35390690e-02, 3.47201413e-02,-2.29847646e-03,
  9.49492164e-02,-7.00980959e-02, 1.04436452e-01, 9.99997171e-01,
  6.82967700e-04,-2.21940603e-04,-2.26758464e-03]

qacc:
[  5.14151164,  0.35127103, -0.7817608 , -0.42000191, -0.97858458,
   0.49215917, -3.07614685,  6.79630902, -4.4314123 , -2.06009992,
   7.14124738, -8.44461169,  0.39622939, 11.31694867,  1.59662766,
  -6.11997193, -0.98734472, -2.63379608,  0.21802549, 62.58780612,
 -24.00585643,  2.12259485]

qfrc_actuator:
[ 3.53127430e-04,-4.16095275e-04,-7.09514330e-05, 9.77817688e-05,
 -7.93018655e-04,-7.44787192e-04,-3.91544654e-04, 1.01927743e-04,
 -5.64182872e-04,-4.65509156e-04,-2.61104653e-04, 1.28337581e-04,
  2.10000000e-01,-1.83677439e-04, 7.46049561e-03,-1.87465749e-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: -0.0005759871010100406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.20469606e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.20469606e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09889023, -0.05158438,  0.06197551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.05646692e-05, 4.41152298e-06,-7.90376415e-06,-4.24542770e-06,
 -5.81195356e-06,-3.94550578e-05,-1.86029846e-05, 7.19613709e-06,
 -2.62688960e-05,-1.10513973e-06, 3.67204726e-05, 1.61851940e-07,
  3.26330642e-04, 5.77522302e-05,-2.59298602e-05,-3.71605866e-05,
 -1.14234555e-04, 2.87305837e-04,-9.80968683e+00,-1.18263882e-02,
 -2.39644321e-02, 4.94220385e-05]


--- Step 230 ---
qpos:
[-1.34032473e-02, 1.34281890e-02, 9.94093607e-03, 1.46008276e-02,
 -1.88607722e-02,-9.01726360e-03,-1.72494940e-02, 1.62210220e-02,
 -1.20461174e-02,-6.63777495e-03,-1.42890523e-02, 1.49670801e-02,
  1.20343800e+00, 2.35476633e-02, 3.48464137e-02,-2.31035139e-03,
  9.49292606e-02,-7.00880806e-02, 1.04436041e-01, 9.99997176e-01,
  5.65730983e-04,-4.60548909e-04,-2.26176646e-03]

qacc:
[ 6.40136363e+00,-1.32533135e+00, 5.79885419e+00,-1.24078252e+01,
 -3.41992883e+00,-2.00836929e-01, 1.70821747e+00,-6.39392888e+00,
 -2.69741098e+00,-6.47983757e-01, 6.48727990e-01, 4.28186772e+00,
  4.43970891e-01, 6.50224068e+00, 9.19643049e+00,-3.08658505e+01,
 -9.67961822e-01,-2.57133062e+00,-1.40011230e-02, 6.09753696e+01,
 -2.34640916e+01, 1.95020153e+00]

qfrc_actuator:
[ 3.90317967e-04,-4.55503250e-04,-7.82687190e-05, 7.60222677e-05,
 -8.13148500e-04,-7.45465315e-04,-4.00119635e-04, 8.72603093e-05,
 -5.79443340e-04,-4.82453321e-04,-2.45602623e-04, 1.43308996e-04,
  2.10000000e-01,-1.57232993e-04, 7.50152124e-03,-3.23774044e-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: -0.0005837873023184087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48574958e-15,  2.37719932e-14,  1.00000000e+00, -3.53192289e-29,
        1.00000000e+00, -2.37719932e-14, -1.00000000e+00,  0.00000000e+00,
        1.48574958e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09888923, -0.05158728,  0.06197519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.79581143e-05,-3.86233135e-05,-7.48654151e-06,-2.19195788e-05,
 -2.02546332e-05,-2.61539872e-05,-1.87270549e-05,-1.68540153e-05,
 -1.60003642e-05,-9.93413048e-06, 1.98192659e-05, 1.62014545e-05,
  3.21516364e-04, 3.48549135e-05, 2.61497923e-05,-1.41450271e-04,
 -1.43636488e-04, 1.81984328e-04,-9.80980993e+00,-1.18362498e-02,
 -2.39717816e-02, 4.20078079e-05]


--- Step 231 ---
qpos:
[-1.34054728e-02, 1.34299806e-02, 9.94329199e-03, 1.46027836e-02,
 -1.88640847e-02,-9.01830503e-03,-1.72532895e-02, 1.62241714e-02,
 -1.20478180e-02,-6.63811764e-03,-1.42906689e-02, 1.49704001e-02,
  1.20869656e+00, 2.35558857e-02, 3.49734701e-02,-2.32550714e-03,
  9.49165617e-02,-7.00841677e-02, 1.04436850e-01, 9.99997119e-01,
  5.18944852e-04,-6.10850223e-04,-2.26247643e-03]

qacc:
[  1.02814127, -1.47658888,  5.97635159,-11.10592758,  4.153298  ,
   1.83638593, -9.17558865, 18.93043942, -1.48805163, -0.61479874,
   2.47343277, -5.13261858,  0.58770866, -4.2306071 , 11.09438713,
 -37.15393305,  1.81420632, -1.52562214,  0.30521448, 35.12384311,
  44.23118341, -3.30534108]

qfrc_actuator:
[ 3.95374325e-04,-4.62044254e-04,-6.58001104e-05, 6.23028269e-05,
 -7.87968536e-04,-7.63214169e-04,-4.21527536e-04, 1.13089530e-04,
 -5.87801292e-04,-5.10210805e-04,-2.53633578e-04, 1.32958783e-04,
  2.10000000e-01,-1.80677343e-04, 7.54286110e-03,-4.87930511e-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: -0.0005913355564069825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.67638073e-08,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.67638073e-08, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08113925, -0.05919573,  0.06197487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.03367510e-06,-3.05181142e-05, 2.84030830e-06,-1.60553061e-05,
  2.46532308e-05,-3.68337761e-05,-2.96549311e-05, 2.37417424e-05,
 -8.80528290e-06,-2.84733943e-05,-7.06131370e-06,-9.77103512e-06,
  3.16397802e-04,-1.56152132e-05, 3.54870474e-05,-1.69177174e-04,
 -1.71488424e-04, 8.81328172e-05,-9.80985639e+00,-1.18413373e-02,
 -2.39814546e-02, 4.05319298e-05]


--- Step 232 ---
qpos:
[-1.34079672e-02, 1.34319875e-02, 9.94583449e-03, 1.46044971e-02,
 -1.88674128e-02,-9.01992572e-03,-1.72572007e-02, 1.62283242e-02,
 -1.20485706e-02,-6.63860355e-03,-1.42926221e-02, 1.49728949e-02,
  1.21395671e+00, 2.35641837e-02, 3.51008157e-02,-2.34086556e-03,
  9.49109603e-02,-7.00862288e-02, 1.04438013e-01, 9.99997050e-01,
  5.40935946e-04,-6.74992012e-04,-2.26960827e-03]

qacc:
[ -2.32949839, -0.73201119,  4.0546253 , -8.71737948, -0.12948261,
   1.62282669,-11.13420386, 29.11303078,  8.26663028, -0.96375393,
   6.61837261,-20.22839879,  0.52093031,  0.58691972,  1.03515372,
  -3.02070618,  1.77438185, -1.49350028,  0.08831785, 34.28908881,
  43.15577127, -3.25429707]

qfrc_actuator:
[ 3.81475292e-04,-4.13267381e-04,-4.16208848e-05, 5.34631572e-05,
 -7.89575674e-04,-8.08818527e-04,-4.32623496e-04, 1.62521939e-04,
 -5.38775407e-04,-5.26600171e-04,-2.75558454e-04, 9.00127995e-05,
  2.10000000e-01,-1.80057164e-04, 7.57370022e-03,-4.89630435e-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: -0.000595748059811705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.65894520e-14,  3.43829578e-06,  1.00000000e+00,  1.60188316e-19,
        1.00000000e+00, -3.43829578e-06, -1.00000000e+00,  0.00000000e+00,
       -4.65894520e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08114039, -0.05919671,  0.06197468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.38318401e-05, 3.17006752e-05, 1.76998353e-05,-1.03557476e-05,
 -8.34690063e-07,-7.11807004e-05,-2.14977213e-05, 4.72962570e-05,
  4.87884103e-05,-3.41284010e-05,-2.89926064e-05,-4.45967473e-05,
  3.10638554e-04, 7.23720429e-06, 2.54997841e-05,-7.22705701e-06,
 -6.37397774e-05, 1.97258984e-05,-9.80994974e+00,-1.18422436e-02,
 -2.39879711e-02, 4.00306785e-05]


--- Step 233 ---
qpos:
[-1.34116454e-02, 1.34342453e-02, 9.94830754e-03, 1.46064490e-02,
 -1.88710771e-02,-9.02220162e-03,-1.72605619e-02, 1.62323101e-02,
 -1.20487290e-02,-6.63921216e-03,-1.42951420e-02, 1.49748695e-02,
  1.21921841e+00, 2.35728441e-02, 3.52290383e-02,-2.35790001e-03,
  9.49123219e-02,-7.00941557e-02, 1.04438776e-01, 9.99996981e-01,
  6.30309254e-04,-6.54769588e-04,-2.28307025e-03]

qacc:
[-10.270559  ,  1.03689674, -4.18822421,  8.20440747, -2.89133633,
  -2.73982149,  9.22743827,-12.52333882,  5.17008369,  0.3403869 ,
   0.72977919, -8.7175346 ,  0.45625112,  3.75542577,  6.37681882,
 -20.43332422,  1.74074759, -1.46644685, -0.09985907, 33.59313395,
  42.25673625, -3.21061984]

qfrc_actuator:
[ 3.21037073e-04,-4.02685858e-04,-4.59949328e-05, 6.53720992e-05,
 -8.06951903e-04,-8.35185315e-04,-4.02141929e-04, 1.54412961e-04,
 -5.09627641e-04,-5.36153492e-04,-3.05482818e-04, 6.37424377e-05,
  2.10000000e-01,-1.65297017e-04, 7.62488417e-03,-5.73148581e-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: -0.0005958909346009337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.65782814e-14,  2.01246628e-06,  1.00000000e+00,  9.37372206e-20,
        1.00000000e+00, -2.01246628e-06, -1.00000000e+00,  0.00000000e+00,
       -4.65782814e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08114043, -0.05919674,  0.06197468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.09323281e-05, 3.16160406e-05, 4.03072256e-06, 1.36856859e-05,
 -1.73306129e-05,-6.84639104e-05, 1.48064888e-05,-1.09751814e-05,
  3.05710967e-05,-3.64903345e-05,-4.20795432e-05,-2.96043988e-05,
  3.05271198e-04, 2.18573604e-05, 6.05665403e-05,-8.10133843e-05,
 -8.15201999e-06,-3.71035607e-06,-9.80999161e+00,-1.18411124e-02,
 -2.39904162e-02, 4.18646171e-05]


--- Step 234 ---
qpos:
[-1.34163664e-02, 1.34363680e-02, 9.95087792e-03, 1.46089125e-02,
 -1.88749195e-02,-9.02458014e-03,-1.72637031e-02, 1.62350834e-02,
 -1.20492251e-02,-6.64023860e-03,-1.42976602e-02, 1.49768578e-02,
  1.22448161e+00, 2.35816868e-02, 3.53616270e-02,-2.38274760e-03,
  9.49205341e-02,-7.01078584e-02, 1.04438489e-01, 9.99996888e-01,
  7.85915295e-04,-5.51667409e-04,-2.30278290e-03]

qacc:
[ -9.0370842 ,  0.6207852 , -4.60152979, 13.36612241, -1.53825893,
  -3.24244522, 16.49157857,-37.76556385, -2.93984746, -0.5226901 ,
   1.01461452, -0.48348012,  0.42729658,  1.97072685, 30.14647199,
 -96.08667762,  1.71267668, -1.44395445, -0.26253997, 33.01961838,
  41.51338162, -3.17315957]

qfrc_actuator:
[ 2.69202999e-04,-4.32895753e-04,-4.95669105e-05, 8.93462501e-05,
 -8.15710218e-04,-8.14196629e-04,-3.82838573e-04, 9.47953736e-05,
 -5.27937317e-04,-5.59321050e-04,-3.04336867e-04, 6.52550915e-05,
  2.10000000e-01,-1.60122438e-04, 7.90656906e-03,-9.52740077e-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: -0.0005925996509857417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.68369760e-14, -4.22453236e-06,  1.00000000e+00, -1.97864321e-19,
        1.00000000e+00,  4.22453236e-06, -1.00000000e+00,  0.00000000e+00,
       -4.68369760e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08113958, -0.05919602,  0.06197482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.36953912e-05,-1.09888553e-05, 3.97956606e-06, 2.57468603e-05,
 -9.16791037e-06,-1.45810669e-05, 6.64972391e-06,-6.22437164e-05,
 -1.73968107e-05,-5.35129147e-05,-1.25957688e-05,-2.08400864e-06,
  3.00061039e-04, 1.25611007e-05, 2.96695785e-04,-3.77214479e-04,
 -1.16537411e-06, 1.48724462e-05,-9.80998554e+00,-1.18379608e-02,
 -2.39888970e-02, 4.59360130e-05]


--- Step 235 ---
qpos:
[-1.34216749e-02, 1.34384504e-02, 9.95338944e-03, 1.46116435e-02,
 -1.88788351e-02,-9.02667807e-03,-1.72670609e-02, 1.62367557e-02,
 -1.20502802e-02,-6.64165176e-03,-1.43002043e-02, 1.49795370e-02,
  1.22974626e+00, 2.35899049e-02, 3.55054490e-02,-2.41741965e-03,
  9.49356005e-02,-7.01261054e-02, 1.04437208e-01, 9.99996730e-01,
  9.93368117e-04,-3.66469966e-04,-2.32782728e-03]

qacc:
[  -5.09568291,   0.67244299,  -3.58717592,   8.32322317,  -0.64837282,
   -1.28834404,   9.78289776, -28.70048705,  -4.87336685,   0.99285732,
   -7.18274969,  19.44974965,   0.48648743,  -6.68731178,  46.40053525,
 -138.21999774,   1.71350393,  -1.13607989,  -0.24852515,  25.82734131,
   41.10508799,  -2.71249041]

qfrc_actuator:
[ 2.40616656e-04,-4.34037135e-04,-5.27966433e-05, 1.02438429e-04,
 -8.19321452e-04,-7.82837814e-04,-3.87884657e-04, 4.08905545e-05,
 -5.56274753e-04,-5.72560312e-04,-3.02642970e-04, 1.00864404e-04,
  2.10000000e-01,-1.96169523e-04, 8.69901420e-03,-1.37889963e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005875172140235724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.72421487e-14, -2.36210744e-14,  1.00000000e+00,  1.11591031e-27,
        1.00000000e+00,  2.36210744e-14, -1.00000000e+00,  0.00000000e+00,
        4.72421487e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08118101, -0.06129219,  0.06197503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.02517243e-05,-5.19905900e-06,-4.05599640e-06, 1.32742131e-05,
 -3.76072860e-06, 2.20477456e-05,-9.34720241e-06,-5.55019418e-05,
 -2.87915852e-05,-4.58374580e-05,-1.09735234e-05, 3.28418782e-05,
  2.95474797e-04,-2.89182056e-05, 8.69117383e-04,-4.13140298e-04,
 -3.99979601e-05, 7.31835420e-05,-9.80993418e+00,-1.18328032e-02,
 -2.39834968e-02, 5.21685050e-05]


--- Step 236 ---
qpos:
[-1.34272876e-02, 1.34406662e-02, 9.95523526e-03, 1.46141853e-02,
 -1.88824166e-02,-9.02850417e-03,-1.72705106e-02, 1.62377612e-02,
 -1.20509760e-02,-6.64304760e-03,-1.43029146e-02, 1.49829245e-02,
  1.23501226e+00, 2.35973615e-02, 3.56674705e-02,-2.45728838e-03,
  9.49574420e-02,-7.01488499e-02, 1.04434430e-01, 9.99996431e-01,
  1.25208688e-03,-1.00148953e-04,-2.35815257e-03]

qacc:
[  -2.66077159,   1.652524  ,  -4.82812873,   2.50803155,   2.89348407,
   -0.76197527,   6.0448066 , -17.63105489,   3.13119629,   1.93932506,
   -9.88325411,  22.40775164,   0.46304338,  -8.16383067,  42.68115658,
 -110.26413296,   1.6938058 ,  -1.12435426,  -0.37411126,  25.53756977,
   40.61867508,  -2.69029893]

qfrc_actuator:
[ 2.25940792e-04,-4.35530804e-04,-9.12090372e-05, 9.12881592e-05,
 -8.02125364e-04,-7.63351701e-04,-3.89439235e-04, 8.53923724e-06,
 -5.37014514e-04,-5.44201314e-04,-3.00593511e-04, 1.38496388e-04,
  2.10000000e-01,-2.38462802e-04, 9.91430763e-03,-1.54382135e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005799569265226776
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08117901, -0.06129087,  0.06197535])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56608902e-05,-4.47870848e-06,-3.94581027e-05,-1.12405431e-05,
  1.72102014e-05, 2.76470098e-05,-2.65460086e-08,-3.28012364e-05,
  1.84936742e-05, 1.90203798e-06,-7.61685639e-06, 3.59309890e-05,
  2.93022782e-04,-3.60904716e-05, 1.52101104e-03,-8.72713871e-05,
 -1.20973662e-04, 1.56294042e-04,-9.80984974e+00,-1.18260933e-02,
 -2.39746291e-02, 5.96413963e-05]


--- Step 237 ---
qpos:
[-1.34320005e-02, 1.34427422e-02, 9.95669664e-03, 1.46165902e-02,
 -1.88857622e-02,-9.02999132e-03,-1.72740771e-02, 1.62393998e-02,
 -1.20507447e-02,-6.64451550e-03,-1.43047156e-02, 1.49863270e-02,
  1.24027957e+00, 2.36050342e-02, 3.58530235e-02,-2.50042498e-03,
  9.49859964e-02,-7.01760554e-02, 1.04429725e-01, 9.99995885e-01,
  1.56162558e-03, 2.46537812e-04,-2.39371603e-03]

qacc:
[   7.79345319,   0.59298335,  -1.83082485,   0.20841532,   2.04008202,
    2.07259209,  -9.42105731,  20.32533826,   8.12269423,  -2.62094599,
    9.11682853, -10.22955538,   0.26813511,   2.54083596,  44.7405928 ,
 -105.99643572,   1.67822692,  -1.11526318,  -0.4820385 ,  25.31501827,
   40.2393641 ,  -2.67222146]

qfrc_actuator:
[ 2.72820781e-04,-4.55145899e-04,-1.14595387e-04, 8.36948884e-05,
 -7.90575543e-04,-7.33340067e-04,-3.88936901e-04, 4.23843167e-05,
 -4.89890362e-04,-5.26637964e-04,-2.44922033e-04, 1.41542966e-04,
  2.10000000e-01,-2.30859272e-04, 1.13077176e-02,-1.64146150e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005707036777182969
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.86339526e-14,  9.11886611e-15,  1.00000000e+00,  4.43486502e-28,
        1.00000000e+00, -9.11886611e-15, -1.00000000e+00,  0.00000000e+00,
       -4.86339526e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08117658, -0.06128927,  0.06197574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.63217339e-05,-3.05449802e-05,-2.94895467e-05,-9.35482708e-06,
  1.21609364e-05, 4.41967920e-05, 5.11586188e-06, 3.43978173e-05,
  4.77279888e-05, 1.86315393e-05, 5.63803797e-05, 3.56472056e-06,
  2.93340514e-04, 1.38429526e-05, 2.00274083e-03, 7.44925508e-05,
 -2.42299913e-04, 2.67061367e-04,-9.80972867e+00,-1.18178448e-02,
 -2.39621473e-02, 6.83453298e-05]


--- Step 238 ---
qpos:
[-1.34357720e-02, 1.34446625e-02, 9.95809396e-03, 1.46195560e-02,
 -1.88889414e-02,-9.03117715e-03,-1.72776481e-02, 1.62421184e-02,
 -1.20513285e-02,-6.64593338e-03,-1.43055531e-02, 1.49893738e-02,
  1.24554817e+00, 2.36124845e-02, 3.60645674e-02,-2.54667187e-03,
  9.50072502e-02,-7.02022809e-02, 1.04428601e-01, 9.99995196e-01,
  1.86266399e-03, 5.04510609e-04,-2.42568827e-03]

qacc:
[   8.16299211,   1.11292406,  -6.66251062,  16.61835552,   1.4409687 ,
    2.63074743, -13.36844555,  31.85408008,  -7.08604236,  -3.34445996,
   13.54714207, -21.30722552,   0.32307705,  -2.20921374,  47.89788706,
 -111.77337456,  -1.82515657,   0.24499994,   0.89535889,  -4.14428473,
  -44.36415593,   1.86365065]

qfrc_actuator:
[ 3.20046593e-04,-4.49908867e-04,-1.11228451e-04, 1.13764328e-04,
 -7.82448980e-04,-7.14941591e-04,-3.87138933e-04, 9.71612926e-05,
 -5.33275216e-04,-5.15469568e-04,-1.93591688e-04, 1.24248317e-04,
  2.10000000e-01,-2.47248523e-04, 1.27003467e-02,-1.76959340e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005752465818769995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.82498749e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.82498749e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361839, -0.07033011,  0.06197554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.84548984e-05,-1.81412015e-05,-6.84125031e-06, 2.75677743e-05,
  8.58272487e-06, 4.57697010e-05, 1.27862041e-05, 5.75243670e-05,
 -4.19472057e-05, 3.33997970e-05, 6.22451720e-05,-1.44784168e-05,
  2.95256536e-04,-8.61738911e-06, 2.21715538e-03, 1.09334736e-04,
 -4.02861273e-04, 4.04819100e-04,-9.80957163e+00,-1.18080616e-02,
 -2.39460773e-02, 7.82605818e-05]


--- Step 239 ---
qpos:
[-1.34399839e-02, 1.34462950e-02, 9.95987245e-03, 1.46224994e-02,
 -1.88919965e-02,-9.03238322e-03,-1.72809854e-02, 1.62451522e-02,
 -1.20531160e-02,-6.64713371e-03,-1.43060836e-02, 1.49925590e-02,
  1.25081804e+00, 2.36197849e-02, 3.63040985e-02,-2.59330015e-03,
  9.50213565e-02,-7.02275812e-02, 1.04430170e-01, 9.99994437e-01,
  2.15519127e-03, 6.76166222e-04,-2.45447590e-03]

qacc:
[-3.80156943e+00,-1.48498680e+00, 4.85007130e+00,-5.64948458e+00,
  1.08504199e+00,-3.35961389e-02,-1.25332888e+00, 6.35265882e+00,
 -1.05017066e+01,-2.64724290e-01, 8.12198635e-01, 8.94245403e-01,
  3.05344279e-01,-1.44147412e+00, 4.25807240e+01,-8.88896463e+01,
 -1.78687509e+00, 2.31297349e-01, 6.73454162e-01,-4.15159439e+00,
 -4.31657252e+01, 1.67045395e+00]

qfrc_actuator:
[ 2.96068016e-04,-4.65194043e-04,-9.19761458e-05, 1.12530453e-04,
 -7.76401258e-04,-7.39114235e-04,-3.84628923e-04, 1.10539378e-04,
 -5.94088817e-04,-5.08231382e-04,-1.80789261e-04, 1.30618841e-04,
  2.10000000e-01,-2.59928701e-04, 1.42032803e-02,-1.75509708e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005809733440515566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.38871335e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.38871335e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361645, -0.0703311 ,  0.0619753 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.26810128e-05,-2.55002164e-05, 1.56622853e-05,-1.70386978e-06,
  6.38683747e-06, 6.64621047e-06, 1.55664858e-05, 1.69081737e-05,
 -6.19509138e-05, 3.81633817e-05, 2.68779909e-05, 9.67682381e-06,
  2.96103833e-04,-4.92643022e-06, 2.41896872e-03, 2.78940198e-04,
 -2.38354604e-04, 3.17220343e-04,-9.80969278e+00,-1.17936506e-02,
 -2.39366121e-02, 8.39154459e-05]


--- Step 240 ---
qpos:
[-1.34434172e-02, 1.34475764e-02, 9.96195087e-03, 1.46250740e-02,
 -1.88952985e-02,-9.03364777e-03,-1.72841618e-02, 1.62476430e-02,
 -1.20556181e-02,-6.64807720e-03,-1.43067360e-02, 1.49961663e-02,
  1.25608916e+00, 2.36280325e-02, 3.65733245e-02,-2.63848729e-03,
  9.50301296e-02,-7.02425861e-02, 1.04432334e-01, 9.99993899e-01,
  2.32791520e-03, 7.80350544e-04,-2.48476822e-03]

qacc:
[  6.76579104, -2.0755547 ,  8.26156632,-14.84205393, -2.13906151,
  -1.63964203,  8.03424291,-17.65339723, -6.24527517,  1.56083214,
  -6.83404618, 14.122851  ,  0.11671176, 10.51238288, 39.59846688,
 -74.76283668, -1.33332536,  2.57386709,  0.14864939,-59.81827152,
 -33.88418302, -0.71986336]

qfrc_actuator:
[ 3.36887728e-04,-4.92598030e-04,-8.13648643e-05, 9.28735748e-05,
 -7.89377641e-04,-7.53123242e-04,-3.81928309e-04, 8.16583960e-05,
 -6.29139701e-04,-5.03538868e-04,-1.90832387e-04, 1.50836657e-04,
  2.10000000e-01,-2.17109172e-04, 1.57712814e-02,-1.65650860e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005827803984702833
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.93263648e-07, -2.26646771e-06,  1.00000000e+00,  1.79790645e-12,
        1.00000000e+00,  2.26646771e-06, -1.00000000e+00,  2.01948392e-28,
        7.93263648e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10139602, -0.08622353,  0.06197523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.00700329e-05,-3.83495112e-05, 7.26810317e-06,-2.02292773e-05,
 -1.27152655e-05,-6.23939162e-06, 6.61162853e-06,-2.77218664e-05,
 -3.67707758e-05, 3.20468391e-05, 1.51003603e-06, 2.29778998e-05,
  2.96520139e-04, 5.12068784e-05, 2.58610312e-03, 3.96208169e-04,
 -1.16792414e-04, 2.36943993e-04,-9.80977967e+00,-1.17800046e-02,
 -2.39304728e-02, 9.14153354e-05]


--- Step 241 ---
qpos:
[-1.34456468e-02, 1.34487212e-02, 9.96409195e-03, 1.46270370e-02,
 -1.88983841e-02,-9.03493181e-03,-1.72870293e-02, 1.62500989e-02,
 -1.20585206e-02,-6.64898348e-03,-1.43073696e-02, 1.49996616e-02,
  1.26136152e+00, 2.36365073e-02, 3.68731715e-02,-2.68201631e-03,
  9.50340002e-02,-7.02463488e-02, 1.04433447e-01, 9.99993687e-01,
  2.36938504e-03, 8.22288280e-04,-2.51705240e-03]

qacc:
[ 10.44158586, -1.63606131,  8.11865973,-18.66699821,  1.88989797,
  -0.96404547,  3.54166101, -4.62015216, -3.49546564, -0.22708408,
   1.36556294, -3.37348638,  0.22906939,  2.66907997, 40.30179242,
 -75.25541257, -1.22558014,  2.81051799, -0.26285173,-65.54891289,
 -31.28861722, -0.97427872]

qfrc_actuator:
[ 3.97791020e-04,-4.91589725e-04,-7.60094176e-05, 6.25182844e-05,
 -7.77941841e-04,-7.43235113e-04,-3.61381300e-04, 8.14118257e-05,
 -6.48740659e-04,-5.18252707e-04,-1.96524206e-04, 1.43518558e-04,
  2.10000000e-01,-2.13037524e-04, 1.73398811e-02,-1.56239272e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005884008199211338
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10105182, -0.08867081,  0.06197499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.19695090e-05,-1.96576925e-05,-2.32866203e-06,-3.21337461e-05,
  1.11462029e-05, 6.69230965e-06, 1.91526215e-05,-8.16750543e-07,
 -2.06101265e-05, 4.58404123e-06, 1.94047948e-06,-5.43865213e-06,
  2.96918588e-04, 1.43518583e-05, 2.66854560e-03, 4.17896852e-04,
 -3.95534708e-05, 8.74590564e-05,-9.80992581e+00,-1.17719346e-02,
 -2.39286049e-02, 9.43828961e-05]


--- Step 242 ---
qpos:
[-1.34478196e-02, 1.34498011e-02, 9.96625639e-03, 1.46282690e-02,
 -1.89009627e-02,-9.03586296e-03,-1.72898157e-02, 1.62528452e-02,
 -1.20609454e-02,-6.64991098e-03,-1.43080011e-02, 1.50027062e-02,
  1.26663513e+00, 2.36440638e-02, 3.72042333e-02,-2.72288796e-03,
  9.50330588e-02,-7.02391006e-02, 1.04432740e-01, 9.99993817e-01,
  2.28226598e-03, 8.03540717e-04,-2.55181126e-03]

qacc:
[  0.49310007, -1.6577964 ,  8.87068358,-21.50970089,  4.39942782,
   0.82854691, -3.51892895,  8.1725881 ,  4.17024848, -0.96964422,
   5.30609073,-13.08091754,  0.4174512 , -9.8274351 , 38.13508135,
 -66.43586339, -1.2030395 ,  2.75275034, -0.45511247,-64.21705759,
 -30.50736248, -1.21788201]

qfrc_actuator:
[ 3.98997300e-04,-4.91360737e-04,-7.36901803e-05, 2.61342991e-05,
 -7.52223381e-04,-7.01271655e-04,-3.48091343e-04, 9.80551696e-05,
 -6.23594700e-04,-5.26740818e-04,-1.99697187e-04, 1.20044099e-04,
  2.10000000e-01,-2.67378591e-04, 1.89343165e-02,-1.41849593e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005893533944692775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.70949618e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.70949618e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10105077, -0.08867105,  0.06197496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.91685172e-06,-1.25133267e-05,-3.11282728e-06,-3.79289175e-05,
  2.61158157e-05, 4.97427993e-05, 1.70390561e-05, 1.75834399e-05,
  2.45899268e-05,-5.65622444e-06,-2.13963051e-06,-2.33097688e-05,
  2.95795248e-04,-4.42743127e-05, 2.73058842e-03, 4.78536960e-04,
 -6.17647321e-06, 1.03449005e-05,-9.80999451e+00,-1.17692035e-02,
 -2.39295195e-02, 9.39517842e-05]


--- Step 243 ---
qpos:
[-1.34496172e-02, 1.34510325e-02, 9.96800110e-03, 1.46297488e-02,
 -1.89032120e-02,-9.03611274e-03,-1.72928090e-02, 1.62547106e-02,
 -1.20630497e-02,-6.65051919e-03,-1.43091216e-02, 1.50057815e-02,
  1.27190991e+00, 2.36517609e-02, 3.75724212e-02,-2.76220185e-03,
  9.50273811e-02,-7.02210344e-02, 1.04429545e-01, 9.99994244e-01,
  2.06877335e-03, 7.25393378e-04,-2.58941340e-03]

qacc:
[  3.23877236,  1.87796889, -7.46283992, 12.32458637,  2.84210724,
  -0.33998443,  6.22904493,-21.63620853,  2.77703131,  1.84614475,
  -6.10988519,  7.19985959,  0.18237505,  1.83343235, 50.23547284,
 -96.04044585, -1.18404914,  2.70448511, -0.62178978,-63.10980029,
 -29.86430943, -1.40423618]

qfrc_actuator:
[ 4.18308817e-04,-4.73863681e-04,-9.09310614e-05, 3.97549323e-05,
 -7.36065033e-04,-6.58180224e-04,-3.56804136e-04, 5.35105136e-05,
 -6.07823845e-04,-4.95944688e-04,-2.19102190e-04, 1.22764692e-04,
  2.10000000e-01,-2.66949643e-04, 2.09957898e-02,-1.28189836e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005865779171571883
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.73177984e-14,  1.18294496e-14,  1.00000000e+00, -5.59743511e-28,
        1.00000000e+00, -1.18294496e-14, -1.00000000e+00,  0.00000000e+00,
        4.73177984e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10105061, -0.08867277,  0.06197507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.93259070e-05, 8.31664499e-06,-2.14927185e-05, 1.22441252e-05,
  1.69865407e-05, 7.52832197e-05, 4.29834163e-06,-4.14765456e-05,
  1.65084726e-05, 2.62916930e-05,-2.16151544e-05, 1.95461663e-06,
  2.93257189e-04, 9.78804859e-06, 3.23002880e-03, 4.81929767e-04,
 -1.18966675e-05, 1.32860196e-05,-9.80997719e+00,-1.17716054e-02,
 -2.39329753e-02, 9.02277483e-05]


--- Step 244 ---
qpos:
[-1.34511706e-02, 1.34523834e-02, 9.96948649e-03, 1.46317184e-02,
 -1.89052486e-02,-9.03618324e-03,-1.72954149e-02, 1.62560514e-02,
 -1.20649479e-02,-6.65068335e-03,-1.43105766e-02, 1.50088382e-02,
  1.27718578e+00, 2.36602669e-02, 3.79853883e-02,-2.80079474e-03,
  9.50145814e-02,-7.02020935e-02, 1.04428402e-01, 9.99994691e-01,
  1.84649403e-03, 5.64940220e-04,-2.62477162e-03]

qacc:
[ 2.10715559e+00, 1.88763343e+00,-8.57545698e+00, 1.73849166e+01,
  1.85463861e+00,-1.92856093e+00, 9.42950997e+00,-1.92540107e+01,
  1.78050653e+00, 1.47926331e+00,-4.35030359e+00, 4.24186823e+00,
  8.44079217e-04, 9.26110465e+00, 6.41126982e+01,-1.28131599e+02,
 -1.78051727e+00, 2.18698009e-01, 5.12903471e-01,-4.28759814e+00,
 -4.11617359e+01, 1.20392721e+00]

qfrc_actuator:
[ 4.30389562e-04,-4.63948881e-04,-1.01721639e-04, 6.49392659e-05,
 -7.25667971e-04,-6.68139542e-04,-3.42957714e-04, 2.65660744e-05,
 -5.97711928e-04,-4.59662669e-04,-2.30003571e-04, 1.23148451e-04,
  2.10000000e-01,-2.34350099e-04, 2.35062553e-02,-1.16739627e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005839428087282411
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361711, -0.07033504,  0.06197518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25730301e-05, 1.07283151e-05,-1.12726154e-05, 2.50394002e-05,
  1.09539614e-05, 3.13369696e-05, 2.85163039e-05,-2.43725344e-05,
  1.06230327e-05, 4.66877599e-05,-8.04046481e-06, 8.04232553e-07,
  2.92996616e-04, 4.38708394e-05, 3.88297936e-03, 5.18225112e-04,
 -5.45726795e-05, 9.15111739e-05,-9.80987849e+00,-1.17790012e-02,
 -2.39390290e-02, 8.32003421e-05]


--- Step 245 ---
qpos:
[-1.34539476e-02, 1.34539066e-02, 9.97051733e-03, 1.46339812e-02,
 -1.89074888e-02,-9.03624557e-03,-1.72974464e-02, 1.62570684e-02,
 -1.20667097e-02,-6.65046897e-03,-1.43121833e-02, 1.50122164e-02,
  1.28246276e+00, 2.36699754e-02, 3.84431294e-02,-2.83714051e-03,
  9.49947771e-02,-7.01822883e-02, 1.04428617e-01, 9.99995110e-01,
  1.61524839e-03, 3.23232156e-04,-2.65819045e-03]

qacc:
[-1.06263478e+01, 2.12324436e+00,-8.44233732e+00, 1.40791979e+01,
 -1.74964833e+00,-2.25647007e+00, 9.43564715e+00,-1.59734449e+01,
  1.18015052e+00, 1.58350439e+00,-6.28191730e+00, 1.18150873e+01,
 -6.07550687e-02, 1.35170750e+01, 5.94833858e+01,-1.11940036e+02,
 -1.75113181e+00, 2.16057371e-01, 3.39695616e-01,-4.37701668e+00,
 -4.06372068e+01, 1.04213714e+00]

qfrc_actuator:
[ 3.67102354e-04,-4.58612146e-04,-1.26387179e-04, 7.89682564e-05,
 -7.36495231e-04,-6.74194499e-04,-3.16087397e-04, 1.01777924e-05,
 -5.91009108e-04,-4.38094226e-04,-2.35761758e-04, 1.39919872e-04,
  2.10000000e-01,-1.83172962e-04, 2.57621634e-02,-1.04818521e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005822315578324078
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.76710258e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.76710258e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361827, -0.07033567,  0.06197525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.29921332e-05, 1.01473579e-05,-2.29504971e-05, 1.45898632e-05,
 -1.04709364e-05, 1.63921216e-05, 3.60358849e-05,-1.45288647e-05,
  7.03985320e-06, 4.61237607e-05, 2.94573125e-06, 1.85130277e-05,
  2.95045121e-04, 6.40502923e-05, 3.89881596e-03, 6.01090981e-04,
 -1.24600207e-04, 1.36834399e-04,-9.80983437e+00,-1.17865465e-02,
 -2.39453465e-02, 7.80799418e-05]


--- Step 246 ---
qpos:
[-1.34581528e-02, 1.34558512e-02, 9.97112634e-03, 1.46360148e-02,
 -1.89101857e-02,-9.03595606e-03,-1.72997752e-02, 1.62572070e-02,
 -1.20683770e-02,-6.65027293e-03,-1.43136906e-02, 1.50161484e-02,
  1.28774085e+00, 2.36811164e-02, 3.89432106e-02,-2.87094760e-03,
  9.49680632e-02,-7.01616253e-02, 1.04429594e-01, 9.99995437e-01,
  1.37487682e-03, 1.12166050e-06,-2.68992431e-03]

qacc:
[-1.24042960e+01, 1.28869914e+00,-2.77733399e+00,-8.69442494e-01,
 -3.98274203e+00,-5.04557591e-01, 6.19652189e+00,-2.11988122e+01,
  8.28730952e-01, 8.36768265e-01,-5.36058404e+00, 1.48060240e+01,
 -8.25525415e-02, 1.59821225e+01, 5.49999562e+01,-1.01474522e+02,
 -1.72741718e+00, 2.14447094e-01, 1.90318166e-01,-4.45628071e+00,
 -4.02117754e+01, 9.05819502e-01]

qfrc_actuator:
[ 2.95469720e-04,-4.20617434e-04,-1.41326114e-04, 6.85519528e-05,
 -7.59726063e-04,-6.60054813e-04,-3.35002410e-04,-3.53728681e-05,
 -5.86364581e-04,-4.60971301e-04,-2.38482990e-04, 1.66191197e-04,
  2.10000000e-01,-1.21566222e-04, 2.77944902e-02,-9.45715898e-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: -0.0005777221022504817
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.40215629e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.40215629e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361997, -0.07033627,  0.06197544])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.35171636e-05, 3.96384702e-05,-1.51266921e-05,-1.04818911e-05,
 -2.35035153e-05, 3.02045821e-05,-1.15661584e-05,-4.38785258e-05,
  4.86490293e-06, 4.38369635e-06, 7.83052089e-06, 2.87133146e-05,
  2.95475031e-04, 7.59257477e-05, 3.69145357e-03, 5.90934047e-04,
 -2.28137731e-04, 1.86297000e-04,-9.80976284e+00,-1.17946329e-02,
 -2.39549260e-02, 7.45815553e-05]


--- Step 247 ---
qpos:
[-1.34611174e-02, 1.34581848e-02, 9.97153301e-03, 1.46375512e-02,
 -1.89127950e-02,-9.03551964e-03,-1.73019938e-02, 1.62571425e-02,
 -1.20699754e-02,-6.65029750e-03,-1.43150440e-02, 1.50196972e-02,
  1.29302010e+00, 2.36920871e-02, 3.94828012e-02,-2.90199438e-03,
  9.49461514e-02,-7.01411292e-02, 1.04433462e-01, 9.99995618e-01,
  1.13430980e-03,-2.62342012e-04,-2.72182535e-03]

qacc:
[ 1.07438839e+01, 3.45491237e-02, 2.68596321e+00,-1.12164711e+01,
  7.61994371e-01,-5.32994379e-01, 3.03711901e+00,-6.83312773e+00,
  6.09782406e-01,-1.51174812e+00, 6.58390195e+00,-1.33002667e+01,
  2.19309862e-01,-1.53094384e+00, 5.01136050e+01,-9.05080368e+01,
  1.20053565e+00,-4.17088833e-02, 7.22642626e-01,-1.76500786e-01,
  2.93229019e+01,-1.24104133e-01]

qfrc_actuator:
[ 3.61544975e-04,-3.98851310e-04,-1.50279975e-04, 4.38735472e-05,
 -7.54559073e-04,-6.51897906e-04,-3.27488909e-04,-4.44790193e-05,
 -5.82967664e-04,-4.92517586e-04,-2.39572406e-04, 1.44543547e-04,
  2.10000000e-01,-1.43176079e-04, 2.96699722e-02,-8.36729425e-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: -0.0005710476469097216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.79684711e-08,  2.22767033e-07,  1.00000000e+00,  1.73688050e-14,
        1.00000000e+00, -2.22767033e-07, -1.00000000e+00,  3.15544362e-30,
       -7.79684711e-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([ 0.08525026, -0.06877932,  0.06197572])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.38885151e-05, 4.04922370e-05,-2.93650574e-06,-2.36938443e-05,
  4.51976965e-06, 2.08676974e-05, 1.08417511e-05,-9.05900867e-06,
  3.53807766e-06,-2.61848251e-05, 1.79409481e-06,-2.06270084e-05,
  2.93365940e-04,-6.05138474e-06, 3.44901697e-03, 5.72736110e-04,
 -3.64361923e-04, 2.39921803e-04,-9.80966489e+00,-1.18032239e-02,
 -2.39677238e-02, 7.26827870e-05]


--- Step 248 ---
qpos:
[-1.34629245e-02, 1.34607306e-02, 9.97160650e-03, 1.46388121e-02,
 -1.89153220e-02,-9.03528132e-03,-1.73034137e-02, 1.62573110e-02,
 -1.20722100e-02,-6.65073849e-03,-1.43162800e-02, 1.50229878e-02,
  1.29830047e+00, 2.37022596e-02, 4.00619297e-02,-2.93142921e-03,
  9.49314423e-02,-7.01254943e-02, 1.04438528e-01, 9.99995654e-01,
  9.47864951e-04,-4.37072618e-04,-2.75722519e-03]

qacc:
[  10.02284212,   0.62503865,  -0.69200697,  -3.66371355,   0.74380967,
   -2.01475995,   5.81786471,  -2.9131705 ,  -5.54301874,  -1.39886421,
    5.29840376,  -9.66931809,   0.31947629,  -8.33567134,  53.62810946,
 -102.75836517,   1.80068154,  -1.21532517,   0.29971361,  26.93983281,
   44.43799238,  -1.80701208]

qfrc_actuator:
[ 4.19384233e-04,-4.04711074e-04,-1.73446190e-04, 2.87503116e-05,
 -7.50467747e-04,-6.65019112e-04,-2.86654214e-04,-3.20424623e-05,
 -6.15836773e-04,-5.29055801e-04,-2.39777042e-04, 1.30365434e-04,
  2.10000000e-01,-1.95933274e-04, 3.16364806e-02,-7.60575010e-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: -0.0005782795046752887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.39984085e-14, -2.39984085e-14,  1.00000000e+00,  5.75923613e-28,
        1.00000000e+00,  2.39984085e-14, -1.00000000e+00,  0.00000000e+00,
        2.39984085e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08118728, -0.06128279,  0.06197542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.96040877e-05, 1.52996306e-05,-1.59481811e-05,-1.39459620e-05,
  4.23904713e-06, 4.95536973e-07, 4.61974614e-05, 1.35353037e-05,
 -3.27672767e-05,-5.16342452e-05,-6.08682278e-06,-1.56365528e-05,
  2.88196507e-04,-3.82002170e-05, 3.43918322e-03, 5.10636069e-04,
 -2.63875662e-04, 2.09447848e-04,-9.80973252e+00,-1.18136617e-02,
 -2.39783198e-02, 6.61927205e-05]


--- Step 249 ---
qpos:
[-1.34654045e-02, 1.34633395e-02, 9.97145831e-03, 1.46398940e-02,
 -1.89174351e-02,-9.03519552e-03,-1.73048832e-02, 1.62583714e-02,
 -1.20744759e-02,-6.65142475e-03,-1.43175690e-02, 1.50260730e-02,
  1.30358196e+00, 2.37119778e-02, 4.06800970e-02,-2.96025503e-03,
  9.49237985e-02,-7.01146122e-02, 1.04444010e-01, 9.99995620e-01,
  8.14525724e-04,-5.25291309e-04,-2.79644393e-03]

qacc:
[-5.84358276e+00, 3.45770227e-01,-3.36701394e-01,-2.47405988e+00,
  3.59520934e+00, 1.76496879e+00,-1.03638708e+01, 2.60043127e+01,
 -2.71355615e-01,-5.98514264e-01, 2.53194727e+00,-5.82286768e+00,
  2.48766108e-01,-4.56862851e+00, 5.59354838e+01,-1.11888442e+02,
  1.76630136e+00,-1.18816772e+00, 1.03886914e-01, 2.64326291e+01,
  4.33271576e+01,-1.96214287e+00]

qfrc_actuator:
[ 3.83105530e-04,-4.09372663e-04,-1.87175401e-04, 1.93373312e-05,
 -7.29298983e-04,-6.90620931e-04,-2.97569936e-04, 1.07174849e-05,
 -6.16530027e-04,-5.32799840e-04,-2.39475824e-04, 1.20697265e-04,
  2.10000000e-01,-2.31177736e-04, 3.35603157e-02,-7.39580870e-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: -0.0005813968205594724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.38697346e-14,  1.19348673e-14,  1.00000000e+00, -2.84882115e-28,
        1.00000000e+00, -1.19348673e-14, -1.00000000e+00,  0.00000000e+00,
        2.38697346e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08118873, -0.06128255,  0.06197529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.46493020e-05, 9.66700382e-08,-1.29940292e-05,-9.57829027e-06,
  2.12962324e-05,-1.51091732e-05,-4.62467613e-06, 4.46487296e-05,
 -1.62571873e-06,-3.44738006e-05,-1.16265594e-05,-1.23897203e-05,
  2.82408220e-04,-2.06216725e-05, 3.38525900e-03, 4.50795239e-04,
 -1.30286184e-04, 1.10878920e-04,-9.80985865e+00,-1.18220523e-02,
 -2.39848216e-02, 5.87039935e-05]


--- Step 250 ---
qpos:
[-1.34676117e-02, 1.34656315e-02, 9.97186488e-03, 1.46408499e-02,
 -1.89189332e-02,-9.03485901e-03,-1.73066618e-02, 1.62605930e-02,
 -1.20767324e-02,-6.65212393e-03,-1.43189703e-02, 1.50289921e-02,
  1.30886453e+00, 2.37225097e-02, 4.13341761e-02,-2.98733070e-03,
  9.49231038e-02,-7.01083910e-02, 1.04449229e-01, 9.99995559e-01,
  7.33424227e-04,-5.28841297e-04,-2.83971759e-03]

qacc:
[ 2.38876316e+00,-2.23403620e+00, 7.88162992e+00,-1.07074840e+01,
  5.32751166e+00, 3.57395048e+00,-1.71852226e+01, 3.76161693e+01,
  7.90629429e-02,-4.49578089e-02, 8.36319191e-01,-3.52062545e+00,
  3.27952919e-02, 9.17299808e+00, 4.78655514e+01,-9.03336565e+01,
  1.73728218e+00,-1.16525600e+00,-6.56316211e-02, 2.59993112e+01,
  4.24055478e+01,-2.07569363e+00]

qfrc_actuator:
[ 3.98239411e-04,-4.31003584e-04,-1.59715388e-04, 1.33641505e-05,
 -6.98248128e-04,-6.52666940e-04,-3.03501844e-04, 7.09195293e-05,
 -6.16020777e-04,-5.16871974e-04,-2.38747778e-04, 1.13785520e-04,
  2.10000000e-01,-2.02681138e-04, 3.52547883e-02,-6.80314197e-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: -0.0005807389796244275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.38967734e-14, -2.38967734e-14,  1.00000000e+00, -5.71055780e-28,
        1.00000000e+00,  2.38967734e-14, -1.00000000e+00,  0.00000000e+00,
       -2.38967734e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08118907, -0.06128181,  0.06197532])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.40407493e-05,-2.45854627e-05, 2.55812174e-05,-6.59740145e-06,
  3.16687947e-05, 3.05472476e-05,-8.05347021e-06, 6.02673454e-05,
  4.84750470e-07,-6.19802714e-06,-8.22569494e-06,-9.02756922e-06,
  2.76460599e-04, 4.43256804e-05, 3.12691508e-03, 4.79372305e-04,
 -4.75644549e-05, 4.52203407e-05,-9.80993948e+00,-1.18286753e-02,
 -2.39876333e-02, 5.25736905e-05]


--- Step 251 ---
qpos:
[-1.34689327e-02, 1.34675740e-02, 9.97235942e-03, 1.46421091e-02,
 -1.89200476e-02,-9.03394615e-03,-1.73083606e-02, 1.62627581e-02,
 -1.20793094e-02,-6.65292958e-03,-1.43203388e-02, 1.50318073e-02,
  1.31414815e+00, 2.37339329e-02, 4.20230847e-02,-3.00897631e-03,
  9.49292616e-02,-7.01067544e-02, 1.04453601e-01, 9.99995483e-01,
  7.03828724e-04,-4.49236764e-04,-2.88721633e-03]

qacc:
[ 7.69260460e+00,-9.82815423e-02,-1.62600430e+00, 7.01915339e+00,
  3.32566734e+00, 4.16073912e-01,-1.50945882e-01,-1.36656858e+00,
 -2.79490973e+00,-4.40814599e-01, 1.81589464e+00,-3.59895251e+00,
  2.54469144e-02, 9.92860372e+00, 3.51080997e+01,-4.80323358e+01,
  1.71313543e+00,-1.14611731e+00,-2.11796524e-01, 2.56337032e+01,
  4.16486534e+01,-2.15666637e+00]

qfrc_actuator:
[ 4.43544125e-04,-4.62461442e-04,-1.61487495e-04, 2.72261077e-05,
 -6.79387341e-04,-5.94674307e-04,-2.88411468e-04, 6.99500542e-05,
 -6.32570922e-04,-5.24780457e-04,-2.37682977e-04, 1.08570432e-04,
  2.10000000e-01,-1.72531554e-04, 3.69969221e-02,-4.04189800e-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: -0.0005770583342798313
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -2.4049194e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  2.4049194e-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([ 0.08118852, -0.06128068,  0.06197547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.56104633e-05,-4.01120899e-05,-3.89998988e-06, 1.35702094e-05,
  1.97846467e-05, 7.60591732e-05, 2.25097564e-05, 1.23581243e-06,
 -1.65024562e-05,-1.33754130e-05,-1.51314657e-06,-5.93616698e-06,
  2.69955543e-04, 4.82683237e-05, 3.07258484e-03, 6.67746827e-04,
 -1.20631401e-05, 1.06732461e-05,-9.80997823e+00,-1.18336015e-02,
 -2.39868033e-02, 4.77457529e-05]


--- Step 252 ---
qpos:
[-1.34697018e-02, 1.34693949e-02, 9.97245823e-03, 1.46438746e-02,
 -1.89212717e-02,-9.03288909e-03,-1.73096702e-02, 1.62645834e-02,
 -1.20820639e-02,-6.65397272e-03,-1.43216018e-02, 1.50342049e-02,
  1.31943274e+00, 2.37455853e-02, 4.27519453e-02,-3.01824988e-03,
  9.49421929e-02,-7.01096389e-02, 1.04456624e-01, 9.99995377e-01,
  7.25131622e-04,-2.87704902e-04,-2.93905854e-03]

qacc:
[  4.77458151,  1.97943678, -9.44506031, 18.94984289, -0.94416677,
  -1.59426295,  7.39950286,-14.01340057, -1.54203512, -1.46560244,
   6.53929831,-13.76844524,  0.11994406,  2.6691509 , 21.63465645,
  10.06488377,  1.69338333, -1.13031588, -0.33744001, 25.32984963,
  41.03542195, -2.2120315 ]

qfrc_actuator:
[ 4.70723622e-04,-4.64150863e-04,-1.80553989e-04, 5.26103096e-05,
 -6.85608034e-04,-6.13847580e-04,-2.78725508e-04, 5.07835974e-05,
 -6.41277894e-04,-5.46892041e-04,-2.36516378e-04, 8.66250042e-05,
  2.10000000e-01,-1.77298540e-04, 3.92564298e-02, 2.99463997e-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: -0.0005709970239282519
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.43044836e-14, -1.21522418e-14,  1.00000000e+00,  2.95353962e-28,
        1.00000000e+00,  1.21522418e-14, -1.00000000e+00,  0.00000000e+00,
        2.43044836e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08118728, -0.06127925,  0.06197573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.84013692e-05,-2.42739498e-05,-2.73468355e-05, 2.37961914e-05,
 -5.64361474e-06, 2.81086221e-05, 2.82241215e-05,-1.51024906e-05,
 -9.14500994e-06,-3.00671161e-05,-1.95553289e-06,-2.26801724e-05,
  2.63618770e-04, 1.41768366e-05, 3.58972089e-03, 1.09965394e-03,
 -2.09566983e-05, 5.78458411e-06,-9.80997732e+00,-1.18368821e-02,
 -2.39823740e-02, 4.41753152e-05]


--- Step 253 ---
qpos:
[-1.34708300e-02, 1.34713628e-02, 9.97247755e-03, 1.46455284e-02,
 -1.89225609e-02,-9.03206095e-03,-1.73109258e-02, 1.62665829e-02,
 -1.20842106e-02,-6.65556212e-03,-1.43226862e-02, 1.50363563e-02,
  1.32471822e+00, 2.37581053e-02, 4.35248577e-02,-3.01245692e-03,
  9.49618346e-02,-7.01169934e-02, 1.04457865e-01, 9.99995196e-01,
  7.96838278e-04,-4.52218159e-05,-2.99532172e-03]

qacc:
[-3.11845420e+00, 1.92184429e-01, 7.93632007e-02,-2.00776767e+00,
 -5.58998601e-01,-9.40636981e-02,-8.37000473e-01, 3.93101075e+00,
  5.32049809e+00,-1.73771800e+00, 6.17023888e+00,-1.02957977e+01,
 -3.78910278e-02, 9.63619913e+00, 1.95453879e+01, 2.61935138e+01,
  1.67757573e+00,-1.11745812e+00,-4.45199548e-01, 2.50821940e+01,
  4.05478822e+01,-2.24718244e+00]

qfrc_actuator:
[ 4.51502627e-04,-4.30314657e-04,-1.74043339e-04, 4.90781227e-05,
 -6.88784900e-04,-6.61366147e-04,-2.90376291e-04, 5.65101074e-05,
 -6.09788531e-04,-5.95104506e-04,-2.35374618e-04, 7.27493149e-05,
  2.10000000e-01,-1.49451892e-04, 4.16382444e-02, 1.10850039e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005630999810990397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.23226676e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.23226676e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08118549, -0.06127757,  0.06197607])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84814070e-05, 1.56766938e-05,-1.03829020e-06,-5.05429364e-06,
 -3.35713871e-06,-2.65751790e-05,-2.87609350e-06, 7.61676287e-06,
  3.12652435e-05,-6.63011860e-05,-6.06007230e-06,-1.56666926e-05,
  2.60230853e-04, 4.67462657e-05, 3.97303204e-03, 1.28984932e-03,
 -7.20855575e-05, 2.94010849e-05,-9.80993856e+00,-1.18385533e-02,
 -2.39743813e-02, 4.18270453e-05]


--- Step 254 ---
qpos:
[-1.34721812e-02, 1.34735797e-02, 9.97252904e-03, 1.46464146e-02,
 -1.89235337e-02,-9.03149693e-03,-1.73125246e-02, 1.62686689e-02,
 -1.20852722e-02,-6.65759986e-03,-1.43240416e-02, 1.50383440e-02,
  1.33000461e+00, 2.37718915e-02, 4.43398394e-02,-2.99602475e-03,
  9.49777742e-02,-7.01339805e-02, 1.04456971e-01, 9.99994866e-01,
  9.86388262e-04, 1.53572233e-04,-3.04482271e-03]

qacc:
[ -1.93690924, -1.33799142,  8.49502098,-22.02084351,  2.74175876,
   0.78281667, -3.67256559,  5.92369125,  9.47056522, -0.19063734,
   0.47917827, -2.51470182, -0.12306649, 14.03518506, 30.04017752,
 -14.75298861, -0.92551533, -2.40818791, -0.53386792, 58.98702516,
 -21.66523358,  3.39559524]

qfrc_actuator:
[ 4.40636773e-04,-4.10888257e-04,-1.70096981e-04, 1.08591709e-05,
 -6.72383702e-04,-6.90071199e-04,-3.14649627e-04, 5.90417512e-05,
 -5.54895692e-04,-6.23068463e-04,-2.52115524e-04, 6.37110649e-05,
  2.10000000e-01,-1.02767225e-04, 4.36229663e-02, 1.60031775e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 12.18964804,  11.12546136,   4.98112726,  11.12546136,
        32.19452458, -44.68134808,   4.98112726, -44.68134808,
       111.98645817,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005595123885676345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09891709, -0.05159318,  0.06197622])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14681388e-05, 2.78028478e-05, 6.89817350e-06,-3.76774529e-05,
  1.62752762e-05,-4.37878117e-05,-2.98379782e-05, 1.44457898e-06,
  5.58315771e-05,-6.68683840e-05,-3.16983661e-05,-1.23904196e-05,
  2.58806246e-04, 6.72487478e-05, 3.75425930e-03, 1.02810491e-03,
 -1.63831893e-04, 8.06277877e-05,-9.80986320e+00,-1.18386398e-02,
 -2.39628529e-02, 4.06737513e-05]


--- Step 255 ---
qpos:
[-1.34726194e-02, 1.34757832e-02, 9.97300691e-03, 1.46468423e-02,
 -1.89249921e-02,-9.03124357e-03,-1.73143869e-02, 1.62707700e-02,
 -1.20856657e-02,-6.65987362e-03,-1.43256844e-02, 1.50398364e-02,
  1.33529194e+00, 2.37857910e-02, 4.51953803e-02,-2.97391207e-03,
  9.49900768e-02,-7.01605080e-02, 1.04453445e-01, 9.99994350e-01,
  1.29169993e-03, 3.09177768e-04,-3.08809628e-03]

qacc:
[  7.92959951, -2.16954734,  9.61900018,-18.19782323, -4.22034859,
   0.3648532 , -1.94660864,  2.84374229,  5.82560625, -0.5397851 ,
   3.54360184,-11.46141404,  0.09544573,  1.58548398, 42.81998355,
 -62.73189992, -0.90924187, -2.38507956, -0.65804346, 57.94591321,
 -21.41482326,  3.14359948]

qfrc_actuator:
[ 4.88049419e-04,-4.18021177e-04,-1.50016434e-04,-1.19661912e-05,
 -6.97848991e-04,-7.07361363e-04,-3.28368075e-04, 5.96744345e-05,
 -5.22186407e-04,-6.21010114e-04,-2.61455288e-04, 3.98386233e-05,
  2.10000000e-01,-1.16535914e-04, 4.55437763e-02, 1.84694650e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005548754190119326
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.00212744e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.00212744e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09891865, -0.05159269,  0.06197641])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.70101825e-05, 8.27719139e-06, 2.53883926e-05,-2.21243922e-05,
 -2.50172697e-05,-4.78363854e-05,-2.63778090e-05,-2.24663390e-06,
  3.43720690e-05,-4.23476230e-05,-2.74720565e-05,-2.80756121e-05,
  2.55062650e-04, 8.29013198e-06, 3.57067747e-03, 7.42535626e-04,
 -1.28536231e-04, 1.58783648e-04,-9.80985729e+00,-1.18292024e-02,
 -2.39513445e-02, 4.67942817e-05]


--- Step 256 ---
qpos:
[-1.34735219e-02, 1.34777950e-02, 9.97381388e-03, 1.46473684e-02,
 -1.89267440e-02,-9.03149202e-03,-1.73160339e-02, 1.62725085e-02,
 -1.20860067e-02,-6.66232235e-03,-1.43275238e-02, 1.50413619e-02,
  1.34058019e+00, 2.37987524e-02, 4.60900984e-02,-2.94727410e-03,
  9.49952824e-02,-7.01860651e-02, 1.04452345e-01, 9.99993774e-01,
  1.58836533e-03, 3.78448388e-04,-3.12824663e-03]

qacc:
[ -4.01224224, -0.96298035,  2.66373855, -1.35991607, -2.53416052,
  -2.00559201,  7.72923251,-13.9910254 ,  0.45625851,  0.38510492,
  -1.84959349,  2.8654728 ,  0.31025735, -9.8287034 , 44.25905817,
 -70.7684195 , -1.77424258,  0.24259573,  0.60639435, -4.19025559,
 -43.17853887,  1.61592885]

qfrc_actuator:
[ 4.62866555e-04,-4.40927018e-04,-1.38415082e-04,-7.80476421e-06,
 -7.12253428e-04,-7.35403042e-04,-3.17943546e-04, 4.14518478e-05,
 -5.20556839e-04,-6.18723987e-04,-2.66229617e-04, 4.29679639e-05,
  2.10000000e-01,-1.83682759e-04, 4.74408379e-02, 2.05368091e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005525529453475064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.51157612e-14, -1.25578806e-14,  1.00000000e+00,  3.15400730e-28,
        1.00000000e+00,  1.25578806e-14, -1.00000000e+00,  0.00000000e+00,
        2.51157612e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10362217, -0.07035015,  0.06197651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.39108678e-05,-1.39410319e-05, 1.56786939e-05, 4.96366779e-06,
 -1.51321846e-05,-6.02920857e-05,-2.76520876e-06,-2.12246893e-05,
  2.69974798e-06,-2.82375303e-05,-1.78701647e-05,-1.82476923e-07,
  2.48842475e-04,-4.55238454e-05, 3.43879424e-03, 6.64995156e-04,
 -9.35854885e-05, 2.45013176e-04,-9.80978476e+00,-1.18154352e-02,
 -2.39423118e-02, 5.85514249e-05]


--- Step 257 ---
qpos:
[-1.34750652e-02, 1.34796012e-02, 9.97478398e-03, 1.46482994e-02,
 -1.89279651e-02,-9.03218548e-03,-1.73176004e-02, 1.62747078e-02,
 -1.20870128e-02,-6.66489404e-03,-1.43294809e-02, 1.50432455e-02,
  1.34586932e+00, 2.38125898e-02, 4.70226646e-02,-2.91667459e-03,
  9.49935009e-02,-7.02107002e-02, 1.04452964e-01, 9.99993163e-01,
  1.87637093e-03, 3.63275751e-04,-3.16561066e-03]

qacc:
[ -5.54752765,  0.11677574, -2.50120424,  9.37827846,  4.62015252,
   0.12617654, -3.26478198, 11.4564275 , -5.80783967,  0.91523207,
  -4.99216134, 11.44998533, -0.07664759,  9.8862027 , 44.03161865,
 -72.75841384, -1.74679325,  0.23051398,  0.43003125, -4.19828482,
 -42.23269125,  1.45852537]

qfrc_actuator:
[ 4.30643784e-04,-4.55360188e-04,-1.31974512e-04, 1.21752163e-05,
 -6.84513938e-04,-7.51827574e-04,-3.11159169e-04, 6.55457576e-05,
 -5.54979563e-04,-6.16267828e-04,-2.68240502e-04, 6.19682325e-05,
  2.10000000e-01,-1.57582026e-04, 4.92797084e-02, 2.23536172e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005549671703781664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.00130045e-14,  2.50065023e-14,  1.00000000e+00,  1.25065031e-27,
        1.00000000e+00, -2.50065023e-14, -1.00000000e+00,  0.00000000e+00,
       -5.00130045e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10362099, -0.07035111,  0.06197641])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.30013360e-05,-1.87460846e-05, 5.67816328e-06, 2.00253397e-05,
  2.73083356e-05,-5.15620171e-05,-6.72308870e-06, 2.10060521e-05,
 -3.42477540e-05,-1.70107117e-05,-1.00431681e-05, 1.71694843e-05,
  2.41336897e-04, 4.73274771e-05, 3.31771617e-03, 6.20138865e-04,
 -1.57526480e-05, 1.64330921e-04,-9.80983651e+00,-1.18013029e-02,
 -2.39403187e-02, 6.87377297e-05]


--- Step 258 ---
qpos:
[-1.34762950e-02, 1.34812230e-02, 9.97582319e-03, 1.46498119e-02,
 -1.89288437e-02,-9.03311511e-03,-1.73194210e-02, 1.62768295e-02,
 -1.20880769e-02,-6.66735639e-03,-1.43315506e-02, 1.50449660e-02,
  1.35115930e+00, 2.38273860e-02, 4.79929584e-02,-2.88465669e-03,
  9.49848241e-02,-7.02344550e-02, 1.04454692e-01, 9.99992520e-01,
  2.15574367e-03, 2.65212540e-04,-3.20043041e-03]

qacc:
[  2.72420954,  0.75562756, -5.51225944, 15.61278564,  2.97043866,
   0.23268052, -0.96508404,  0.21341365, -0.51058993,  0.12410612,
   0.4575195 , -3.18280825, -0.11934909, 10.85029982, 51.56547221,
 -99.36301783, -1.72381301,  0.2200623 ,  0.27704275, -4.18564123,
 -41.45627612,  1.34827676]

qfrc_actuator:
[ 4.47817220e-04,-4.64619159e-04,-1.28596092e-04, 4.13005586e-05,
 -6.67700289e-04,-7.61137917e-04,-3.24262954e-04, 6.10932636e-05,
 -5.57078977e-04,-5.95939053e-04,-2.68593522e-04, 5.46473817e-05,
  2.10000000e-01,-1.30229535e-04, 5.11356314e-02, 2.29424821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005541646364670555
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.00854327e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.00854327e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10362075, -0.07035195,  0.06197644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61355111e-05,-1.76596407e-05, 9.20753433e-07, 2.89137557e-05,
  1.76198956e-05,-3.85783125e-05,-2.38421439e-05,-6.48427161e-06,
 -2.97475198e-06, 9.51187236e-06,-4.49230039e-06,-8.05899396e-06,
  2.34674582e-04, 5.15391814e-05, 3.28005199e-03, 4.80650822e-04,
  2.35791897e-05, 9.01747619e-05,-9.80985745e+00,-1.17878472e-02,
 -2.39415986e-02, 8.07052332e-05]


--- Step 259 ---
qpos:
[-1.34780006e-02, 1.34825354e-02, 9.97695533e-03, 1.46520217e-02,
 -1.89298577e-02,-9.03411633e-03,-1.73211487e-02, 1.62777999e-02,
 -1.20891562e-02,-6.66935739e-03,-1.43338024e-02, 1.50465444e-02,
  1.35645013e+00, 2.38421238e-02, 4.89991598e-02,-2.85308160e-03,
  9.49809869e-02,-7.02467725e-02, 1.04455346e-01, 9.99992123e-01,
  2.29950011e-03, 2.23681305e-04,-3.22750640e-03]

qacc:
[-4.11751134e+00, 7.75615871e-01,-6.28871085e+00, 1.84214537e+01,
 -1.17243204e+00,-2.72121297e+00, 1.44317445e+01,-3.44606560e+01,
 -1.47646306e-01, 8.26350452e-01,-1.46072606e+00,-1.04971740e+00,
  9.84102071e-02,-1.73996835e-01, 5.44967028e+01,-1.13558640e+02,
  1.20989114e+00, 2.85932518e+00,-2.68485011e-01,-6.78993935e+01,
  2.80570764e+01, 3.79333019e+00]

qfrc_actuator:
[ 4.22919794e-04,-4.88465254e-04,-1.27026190e-04, 7.55744787e-05,
 -6.75218785e-04,-7.48457928e-04,-3.13491786e-04, 4.36173313e-06,
 -5.57878296e-04,-5.47317192e-04,-2.67909979e-04, 4.96645043e-05,
  2.10000000e-01,-1.55817087e-04, 5.28459863e-02, 2.24491139e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005570846572867313
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.98229044e-14, -3.73671783e-14,  1.00000000e+00,  1.86174135e-27,
        1.00000000e+00,  3.73671783e-14, -1.00000000e+00,  0.00000000e+00,
        4.98229044e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0844745 , -0.08876301,  0.06197632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.45137474e-05,-3.22356601e-05,-9.47397749e-07, 3.41146030e-05,
 -6.97306516e-06,-1.40573754e-05,-3.49101280e-07,-5.93347058e-05,
 -7.71142526e-07, 5.27146915e-05, 1.83289805e-06,-4.88452259e-06,
  2.27926577e-04,-5.21127159e-07, 3.10275546e-03, 3.60072213e-04,
  2.67326002e-05, 2.19581207e-05,-9.80984936e+00,-1.17750135e-02,
 -2.39461104e-02, 9.44062207e-05]


--- Step 260 ---
qpos:
[-1.34799926e-02, 1.34835036e-02, 9.97842538e-03, 1.46546127e-02,
 -1.89309529e-02,-9.03494516e-03,-1.73228660e-02, 1.62777113e-02,
 -1.20905797e-02,-6.67118788e-03,-1.43353857e-02, 1.50480282e-02,
  1.36174176e+00, 2.38579207e-02, 5.00393894e-02,-2.82260417e-03,
  9.49818758e-02,-7.02478912e-02, 1.04454128e-01, 9.99992028e-01,
  2.31086245e-03, 2.37712192e-04,-3.24765053e-03]

qacc:
[-2.46626350e+00,-6.09563321e-01,-8.82092016e-02, 6.39145544e+00,
 -7.08450246e-01,-1.97907296e+00, 1.18619508e+01,-3.03388209e+01,
 -2.98562237e+00,-1.83152317e+00, 7.26657658e+00,-1.01070390e+01,
 -1.56847163e-01, 1.19450711e+01, 5.37199726e+01,-1.14831016e+02,
  1.18152188e+00, 2.79969617e+00,-4.67851965e-01,-6.62873146e+01,
  2.75751270e+01, 3.38769676e+00]

qfrc_actuator:
[ 4.08949131e-04,-5.03112283e-04,-1.08840235e-04, 9.48365563e-05,
 -6.79243039e-04,-7.22653863e-04,-3.06393825e-04,-4.71271901e-05,
 -5.75669559e-04,-5.35373119e-04,-2.30984483e-04, 4.61287950e-05,
  2.10000000e-01,-1.23771838e-04, 5.44731317e-02, 2.16743967e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005627083420262774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.93249763e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.93249763e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08447418, -0.0887602 ,  0.06197608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47557475e-05,-3.13483652e-05, 1.26146983e-05, 1.85175562e-05,
 -4.17290816e-06, 1.53628836e-05, 2.11027131e-06,-5.32556040e-05,
 -1.76995391e-05, 4.16385766e-05, 4.78875290e-05,-1.30544387e-06,
  2.19716467e-04, 5.66710457e-05, 2.93310547e-03, 3.04385246e-04,
  9.20635497e-06, 8.98893888e-06,-9.80996525e+00,-1.17705953e-02,
 -2.39516755e-02, 1.04164710e-04]


--- Step 261 ---
qpos:
[-1.34817933e-02, 1.34841476e-02, 9.98038574e-03, 1.46577465e-02,
 -1.89320870e-02,-9.03550319e-03,-1.73248516e-02, 1.62770126e-02,
 -1.20922034e-02,-6.67326437e-03,-1.43362600e-02, 1.50491639e-02,
  1.36703418e+00, 2.38751241e-02, 5.11161713e-02,-2.81306181e-03,
  9.49873957e-02,-7.02380135e-02, 1.04450344e-01, 9.99992231e-01,
  2.19252266e-03, 3.06476458e-04,-3.26151516e-03]

qacc:
[ 1.68043877e+00,-6.84601426e-01,-4.78228923e-01, 9.33370663e+00,
 -3.50632618e-01,-1.47393995e-01, 3.62248376e+00,-1.39547992e+01,
 -1.72153820e+00,-3.01925398e+00, 1.17701754e+01,-1.87561658e+01,
 -3.53141017e-01, 1.62376925e+01, 1.17608619e+02,-3.32852278e+02,
  1.15774947e+00, 2.74910615e+00,-6.41789844e-01,-6.49405187e+01,
  2.71630781e+01, 3.06155607e+00]

qfrc_actuator:
[ 4.19287987e-04,-5.12081230e-04,-8.09667915e-05, 1.22881258e-04,
 -6.81170782e-04,-7.06943330e-04,-3.19207012e-04,-7.73496926e-05,
 -5.85568463e-04,-5.80834670e-04,-2.08597078e-04, 2.57178559e-05,
  2.10000000e-01,-7.59935989e-05, 5.61823726e-02, 1.06201899e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005640557296094709
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08447337, -0.08875935,  0.06197603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.84322854e-06,-2.30278841e-05, 2.36192257e-05, 2.75042401e-05,
 -1.98988752e-06, 2.24935012e-05,-1.12098683e-05,-3.05249801e-05,
 -1.03116844e-05,-1.22891783e-05, 3.68623306e-05,-1.69906549e-05,
  2.11869687e-04, 7.44395010e-05, 2.93939283e-03,-7.46543251e-04,
 -1.19148742e-06, 1.61554094e-06,-9.80999955e+00,-1.17709223e-02,
 -2.39535085e-02, 1.04909905e-04]


--- Step 262 ---
qpos:
[-1.34838020e-02, 1.34845265e-02, 9.98240675e-03, 1.46612143e-02,
 -1.89332344e-02,-9.03592551e-03,-1.73270297e-02, 1.62773504e-02,
 -1.20932418e-02,-6.67554968e-03,-1.43370695e-02, 1.50500874e-02,
  1.37232739e+00, 2.38928829e-02, 5.22289738e-02,-2.83837581e-03,
  9.49974676e-02,-7.02173094e-02, 1.04443386e-01, 9.99992668e-01,
  1.94670565e-03, 4.29277749e-04,-3.26962741e-03]

qacc:
[-1.79737600e+00, 1.71666714e-01,-2.52431570e+00, 8.39675189e+00,
 -1.23519157e-01, 2.85026590e+00,-1.42801411e+01, 3.24305434e+01,
  5.11411526e+00,-9.03668681e-01, 3.70027277e+00,-7.30358324e+00,
 -2.21999158e-01, 7.34736790e+00, 1.59014295e+02,-4.78844728e+02,
  1.13800605e+00, 2.70659412e+00,-7.93294562e-01,-6.38273789e+01,
  2.68166889e+01, 2.79777345e+00]

qfrc_actuator:
[ 4.08344085e-04,-5.35278276e-04,-8.30736886e-05, 1.38128884e-04,
 -6.81850497e-04,-6.97456267e-04,-3.25939641e-04,-2.38270842e-05,
 -5.55232924e-04,-6.07133410e-04,-2.12992922e-04, 1.32259322e-05,
  2.10000000e-01,-7.28045061e-05, 5.78169256e-02,-7.46410381e-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: -0.0005619416470153335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08447215, -0.08876009,  0.06197611])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07233464e-05,-2.99435693e-05,-2.97895924e-06, 1.56180855e-05,
 -6.82260318e-07, 1.84823668e-05,-4.51035171e-06, 5.35071336e-05,
  3.01180427e-05,-2.62223356e-05,-2.95930571e-06,-1.20692264e-05,
  2.03528243e-04, 3.08988268e-05, 2.74465092e-03,-1.50865360e-03,
 -5.45797454e-06,-7.60000945e-07,-9.80995671e+00,-1.17759698e-02,
 -2.39518919e-02, 9.68668854e-05]


--- Step 263 ---
qpos:
[-1.34866167e-02, 1.34847683e-02, 9.98412067e-03, 1.46641571e-02,
 -1.89347251e-02,-9.03633392e-03,-1.73289800e-02, 1.62790037e-02,
 -1.20932170e-02,-6.67812885e-03,-1.43381220e-02, 1.50505421e-02,
  1.37762133e+00, 2.39113677e-02, 5.33755360e-02,-2.89033421e-03,
  9.50003017e-02,-7.01957219e-02, 1.04439551e-01, 9.99993096e-01,
  1.69103849e-03, 4.65111844e-04,-3.27593887e-03]

qacc:
[-6.99622004e+00,-3.90817563e-01, 3.37107706e+00,-1.18933071e+01,
 -2.97322499e+00, 2.09441957e+00,-1.29861692e+01, 3.53693706e+01,
  9.27778208e+00,-6.92433852e-01, 3.85417289e+00,-1.13319703e+01,
 -2.35858658e-01, 8.97769015e+00, 1.30773134e+02,-3.84913188e+02,
 -1.80944172e+00, 2.20866643e-01, 7.80725479e-01,-4.78323803e+00,
 -4.34976283e+01, 9.82911211e-01]

qfrc_actuator:
[ 3.67200793e-04,-5.49189107e-04,-1.02935253e-04, 1.10184670e-04,
 -6.99543994e-04,-6.91676534e-04,-3.11239849e-04, 4.30346471e-05,
 -5.01462135e-04,-6.39625873e-04,-2.33098153e-04,-1.22639867e-05,
  2.10000000e-01,-6.05752688e-05, 5.95119134e-02,-2.06671806e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005649203674102515
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.82636747e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.82636747e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361653, -0.07035405,  0.06197599])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.15084732e-05,-3.05287153e-05,-2.58464034e-05,-2.90204433e-05,
 -1.76685593e-05, 1.75177287e-05, 1.98268367e-05, 6.85416111e-05,
  5.47150884e-05,-4.82284899e-05,-2.62899158e-05,-2.69494128e-05,
  1.93305928e-04, 3.95243629e-05, 2.63675114e-03,-1.08663160e-03,
 -4.28478574e-06, 1.53219199e-06,-9.80984021e+00,-1.17857076e-02,
 -2.39470313e-02, 8.02181065e-05]


--- Step 264 ---
qpos:
[-1.34899038e-02, 1.34851386e-02, 9.98542046e-03, 1.46670609e-02,
 -1.89371054e-02,-9.03652951e-03,-1.73308151e-02, 1.62817725e-02,
 -1.20922009e-02,-6.68065692e-03,-1.43398550e-02, 1.50506741e-02,
  1.38291595e+00, 2.39303462e-02, 5.45542974e-02,-2.95802412e-03,
  9.49960308e-02,-7.01732563e-02, 1.04438022e-01, 9.99993516e-01,
  1.42549601e-03, 4.15913281e-04,-3.28070791e-03]

qacc:
[-4.11049995e+00, 1.25553236e+00,-4.05190553e+00, 3.93078081e+00,
 -7.72545429e+00, 2.27032848e+00,-1.23723075e+01, 3.13140503e+01,
  8.63044636e+00, 1.28760766e+00,-3.16020044e+00,-1.34196952e+00,
 -1.44845177e-01, 6.19164660e+00, 9.53721817e+01,-2.64454044e+02,
 -1.77625340e+00, 2.19501109e-01, 5.76527211e-01,-4.79869514e+00,
 -4.25309052e+01, 8.40788487e-01]

qfrc_actuator:
[ 3.44124356e-04,-5.22044742e-04,-1.15353511e-04, 1.10308743e-04,
 -7.44863148e-04,-6.70301048e-04,-3.01776597e-04, 9.94537752e-05,
 -4.52094910e-04,-6.22408105e-04,-2.62347036e-04,-2.74584306e-05,
  2.10000000e-01,-6.10671412e-05, 6.11834853e-02,-2.82213268e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005693134652557177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.43763562e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.43763562e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1036152 , -0.07035415,  0.0619758 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.43169755e-05, 3.58027762e-06,-2.28749852e-05,-2.63434053e-06,
 -4.57912839e-05, 3.82517902e-05, 1.79140059e-05, 5.91939268e-05,
  5.10244166e-05,-1.63095170e-05,-4.33806674e-05,-1.86970790e-05,
  1.84254408e-04, 2.75183401e-05, 2.61829927e-03,-5.10366442e-04,
  4.86192243e-06, 5.72650522e-05,-9.80986002e+00,-1.17956344e-02,
 -2.39453884e-02, 6.89807574e-05]


--- Step 265 ---
qpos:
[-1.34927537e-02, 1.34858831e-02, 9.98609668e-03, 1.46702711e-02,
 -1.89400101e-02,-9.03655823e-03,-1.73327551e-02, 1.62852174e-02,
 -1.20909432e-02,-6.68304509e-03,-1.43415868e-02, 1.50522898e-02,
  1.38821121e+00, 2.39496748e-02, 5.57628312e-02,-3.02861797e-03,
  9.49847662e-02,-7.01499152e-02, 1.04438089e-01, 9.99993906e-01,
  1.15004108e-03, 2.83282056e-04,-3.28415769e-03]

qacc:
[ 3.76557633e+00, 2.86188573e+00,-1.07927040e+01, 1.68315423e+01,
 -4.55981546e+00, 1.91326436e+00,-9.34156488e+00, 2.10711600e+01,
  2.10627415e+00, 3.23175176e+00,-1.75273689e+01, 4.31120388e+01,
 -5.57028666e-02, 4.29004445e+00, 5.28850581e+01,-1.21066779e+02,
 -1.74843382e+00, 2.18900097e-01, 3.98959243e-01,-4.81958938e+00,
 -4.17313744e+01, 7.16983856e-01]

qfrc_actuator:
[ 3.67382019e-04,-4.88230701e-04,-1.40828530e-04, 1.26997650e-04,
 -7.70568718e-04,-6.75277839e-04,-3.13186297e-04, 1.31528333e-04,
 -4.41228460e-04,-5.75591610e-04,-2.43289688e-04, 5.23288358e-05,
  2.10000000e-01,-6.92499573e-05, 6.27227653e-02,-2.93707184e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005698972601919303
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361489, -0.07035431,  0.06197577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25238251e-05, 3.10916256e-05,-2.76023917e-05, 1.60087804e-05,
 -2.69911676e-05, 2.27207901e-05, 7.76207139e-07, 3.54929034e-05,
  1.24362124e-05, 2.79251463e-05, 9.68823885e-06, 7.72197562e-05,
  1.76465318e-04, 2.00627920e-05, 2.54538985e-03, 1.60681166e-04,
 -2.39519053e-05, 1.16894028e-04,-9.80984859e+00,-1.18061284e-02,
 -2.39471587e-02, 5.94096757e-05]


--- Step 266 ---
qpos:
[-1.34949589e-02, 1.34870554e-02, 9.98614364e-03, 1.46729589e-02,
 -1.89425107e-02,-9.03654066e-03,-1.73349558e-02, 1.62880113e-02,
 -1.20905972e-02,-6.68560048e-03,-1.43424204e-02, 1.50551698e-02,
  1.39350706e+00, 2.39692716e-02, 5.70008750e-02,-3.09750704e-03,
  9.49696370e-02,-7.01368833e-02, 1.04438143e-01, 9.99994108e-01,
  9.96965186e-04, 1.03459383e-04,-3.28324051e-03]

qacc:
[ 5.56211479e+00, 1.23776160e+00,-1.40607638e+00,-6.92414081e+00,
  3.50006103e+00,-5.56979405e-01, 4.81190280e+00,-1.56841302e+01,
 -7.92456075e+00,-1.12781383e-01,-5.23030365e+00, 2.57719637e+01,
 -2.96566669e-02, 3.30178762e+00, 3.85223726e+01,-7.13980671e+01,
 -9.66162201e-01,-2.57732056e+00,-3.13250366e-03, 6.12661278e+01,
 -2.33920866e+01, 2.22762585e+00]

qfrc_actuator:
[ 3.99966833e-04,-4.68464645e-04,-1.73762524e-04, 1.00037793e-04,
 -7.49010261e-04,-6.96105179e-04,-3.36945861e-04, 9.57316138e-05,
 -4.88614422e-04,-5.82135645e-04,-1.95657935e-04, 1.16417318e-04,
  2.10000000e-01,-8.21011082e-05, 6.42403132e-02,-2.83403437e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005686456075087443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.62655797e-15,  2.44049855e-14,  1.00000000e+00,  1.86126037e-28,
        1.00000000e+00, -2.44049855e-14, -1.00000000e+00,  0.00000000e+00,
       -7.62655797e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09892162, -0.05160173,  0.06197582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.32036994e-05, 3.22517403e-05,-2.93227785e-05,-2.62647041e-05,
  2.08040109e-05,-6.34453871e-06,-1.77075230e-05,-3.40978329e-05,
 -4.69205528e-05, 1.43497495e-05, 5.72540845e-05, 6.71203972e-05,
  1.69501593e-04, 1.57751777e-05, 2.57188398e-03, 4.08280310e-04,
 -8.85931540e-05, 1.80418301e-04,-9.80980785e+00,-1.18171487e-02,
 -2.39522753e-02, 5.14688892e-05]


--- Step 267 ---
qpos:
[-1.34967570e-02, 1.34884500e-02, 9.98613259e-03, 1.46749444e-02,
 -1.89447333e-02,-9.03659001e-03,-1.73368045e-02, 1.62899820e-02,
 -1.20904752e-02,-6.68775119e-03,-1.43430714e-02, 1.50577352e-02,
  1.39880347e+00, 2.39887444e-02, 5.82670107e-02,-3.15881318e-03,
  9.49507091e-02,-7.01339493e-02, 1.04437386e-01, 9.99994155e-01,
  9.63514626e-04,-1.22623709e-04,-3.27823153e-03]

qacc:
[  3.5235178 , -0.99759072,  6.93636332,-19.15002856,  2.4256142 ,
  -2.77021464, 13.21775036,-27.9716778 , -1.957884  , -0.61930914,
   4.31950406,-10.36244504,  0.09668521, -1.10363492, 18.59280337,
  -4.75491806, -0.94965904, -2.5244772 , -0.20303788, 59.88812348,
 -22.9316465 ,  2.07488396]

qfrc_actuator:
[ 4.20013007e-04,-4.57330574e-04,-1.75411514e-04, 6.53475511e-05,
 -7.35317401e-04,-6.90883757e-04,-3.14659650e-04, 5.57739725e-05,
 -4.98884887e-04,-5.49434318e-04,-1.85037030e-04, 9.97019088e-05,
  2.10000000e-01,-1.15564126e-04, 6.56585609e-02,-2.44388440e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005729121029516976
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.84464815e-14, -1.81674306e-14,  1.00000000e+00,  8.80148090e-28,
        1.00000000e+00,  1.81674306e-14, -1.00000000e+00,  0.00000000e+00,
        4.84464815e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09892111, -0.05160332,  0.06197564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.09682615e-05, 2.20825683e-05, 5.18946297e-07,-3.48296390e-05,
  1.43106904e-05,-3.34701916e-06, 1.76429710e-05,-4.15011564e-05,
 -1.15186639e-05, 5.54076922e-05, 2.29609005e-05,-1.28117011e-05,
  1.63206414e-04,-4.37864447e-06, 2.51197562e-03, 7.12508302e-04,
 -1.11696025e-04, 9.61932346e-05,-9.80988661e+00,-1.18235237e-02,
 -2.39591352e-02, 4.76597467e-05]


--- Step 268 ---
qpos:
[-1.34989912e-02, 1.34899818e-02, 9.98663406e-03, 1.46771603e-02,
 -1.89474637e-02,-9.03670508e-03,-1.73380811e-02, 1.62910973e-02,
 -1.20901314e-02,-6.68932883e-03,-1.43441992e-02, 1.50597596e-02,
  1.40334702e+00, 2.40641534e-02, 5.95732290e-02,-3.20330786e-03,
  9.49390114e-02,-7.01358253e-02, 1.04437761e-01, 9.99994105e-01,
  9.85329979e-04,-2.61157743e-04,-3.27876946e-03]

qacc:
[-3.76750431e+00,-7.69499410e-01, 2.04695947e+00, 1.00604430e+00,
 -4.39068892e+00,-3.43662100e+00, 1.57556012e+01,-3.14456814e+01,
  1.91200696e+00, 9.72207656e-01,-8.98362001e-02,-8.92608845e+00,
 -2.72859404e+02, 8.04217443e+02, 1.39841517e+01, 5.17043133e+01,
  1.80755573e+00,-1.20248249e+00, 2.83199771e-01, 2.74889984e+01,
  4.38621834e+01,-2.81916284e+00]

qfrc_actuator:
[ 3.97010437e-04,-4.33588650e-04,-1.40856419e-04, 7.96658432e-05,
 -7.61884678e-04,-6.87691010e-04,-2.83006979e-04, 1.37523928e-05,
 -4.87208819e-04,-5.29196045e-04,-2.14018923e-04, 7.10826546e-05,
  2.10000000e-01,-3.68408167e-05, 6.68671716e-02,-1.78151118e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005734896123143277
  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([ 0.08118857, -0.06127398,  0.06197562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24435110e-05, 3.47825375e-05, 3.79973622e-05, 1.46085067e-05,
 -2.61363145e-05, 3.27264808e-06, 3.17240463e-05,-4.23577919e-05,
  1.14448335e-05, 5.54145541e-05,-1.51506401e-05,-2.56994610e-05,
  1.56781011e-04, 1.07924198e-04, 2.31311273e-03, 9.95001954e-04,
 -1.33520398e-04, 2.24731909e-05,-9.80989282e+00,-1.18252276e-02,
 -2.39682916e-02, 4.97048676e-05]


--- Step 269 ---
qpos:
[-1.35011400e-02, 1.34915642e-02, 9.98758967e-03, 1.46798905e-02,
 -1.89504907e-02,-9.03702393e-03,-1.73391252e-02, 1.62910512e-02,
 -1.20899935e-02,-6.69091564e-03,-1.43451716e-02, 1.50618024e-02,
  1.40718356e+00, 2.41400898e-02, 6.09082135e-02,-3.22786757e-03,
  9.49344026e-02,-7.01424243e-02, 1.04438495e-01, 9.99993993e-01,
  1.06126025e-03,-3.14069762e-04,-3.28480181e-03]

qacc:
[ 7.54035615e-01,-1.44788211e-01,-1.56054734e+00, 9.70125516e+00,
 -2.56589562e+00,-3.30336643e+00, 1.63010588e+01,-3.66340755e+01,
 -1.79305435e+00,-4.05104946e-01, 1.35528158e+00,-1.28522620e+00,
 -2.42587355e+02, 1.97762780e+02,-1.36348551e+01, 1.20755595e+02,
  1.77223013e+00,-1.18075483e+00, 8.96910707e-02, 2.69162479e+01,
  4.28967553e+01,-2.79654725e+00]

qfrc_actuator:
[ 4.02116896e-04,-4.37791228e-04,-1.20631460e-04, 1.04984882e-04,
 -7.76428278e-04,-7.21195169e-04,-2.81600621e-04,-4.68986504e-05,
 -4.98226506e-04,-5.52271130e-04,-2.12918214e-04, 7.11785603e-05,
  2.10000000e-01,-7.42478310e-08, 6.79745387e-02,-8.79302562e-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: -0.0005765840163053579
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.40689777e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.40689777e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0811894 , -0.06127452,  0.06197549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.40311772e-06, 2.38020524e-05, 3.26250056e-05, 2.84154185e-05,
 -1.52776648e-05,-2.68464420e-05, 4.55757144e-06,-6.02301707e-05,
 -1.06030805e-05, 3.67930514e-06, 9.78930437e-06, 1.44499839e-06,
  3.78013191e-02,-2.62607857e-03, 1.44293869e-03, 1.06337400e-03,
 -4.31520622e-05,-6.84273809e-06,-9.80996015e+00,-1.18236128e-02,
 -2.39739119e-02, 5.31238410e-05]


--- Step 270 ---
qpos:
[-1.35025228e-02, 1.34929643e-02, 9.98866994e-03, 1.46829565e-02,
 -1.89533234e-02,-9.03749605e-03,-1.73402066e-02, 1.62913277e-02,
 -1.20906773e-02,-6.69236969e-03,-1.43459018e-02, 1.50641515e-02,
  1.41039284e+00, 2.42102604e-02, 6.22702047e-02,-3.22967845e-03,
  9.49367638e-02,-7.01536737e-02, 1.04438915e-01, 9.99993819e-01,
  1.19035371e-03,-2.82964568e-04,-3.29628533e-03]

qacc:
[ 6.64931662e+00, 8.92153651e-02,-2.10859960e+00, 7.88159728e+00,
  1.68839362e+00, 5.62096212e-01,-3.66613132e+00, 9.42824335e+00,
 -7.16616716e+00, 1.43486588e-01,-1.52610702e+00, 6.31658945e+00,
 -2.13690898e+02, 1.12045469e+02,-2.53492529e+01, 1.56447589e+02,
  1.74247198e+00,-1.16261468e+00,-7.82661640e-02, 2.64426158e+01,
  4.20927673e+01,-2.77859883e+00]

qfrc_actuator:
[ 4.41494322e-04,-4.76481428e-04,-1.26903841e-04, 1.18775679e-04,
 -7.66013049e-04,-7.23295224e-04,-2.80478659e-04,-2.93161652e-05,
 -5.40273923e-04,-5.29970693e-04,-1.94209496e-04, 8.81605713e-05,
  2.10000000e-01,-7.97158384e-05, 6.94041920e-02, 2.81227628e-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: -0.0005759690570437889
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.40946760e-14, -2.40946760e-14,  1.00000000e+00,  5.80553411e-28,
        1.00000000e+00,  2.40946760e-14, -1.00000000e+00,  0.00000000e+00,
        2.40946760e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08118927, -0.06127442,  0.06197552])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.94357402e-05,-1.73370550e-05, 3.67402426e-06, 1.64983287e-05,
  9.99238803e-06,-1.86474734e-05,-5.90994668e-06, 1.54249839e-05,
 -4.22860349e-05, 2.64388017e-05, 2.07255856e-05, 1.75067827e-05,
  7.31575753e-02,-2.70509159e-03, 1.45732973e-03, 1.23302593e-03,
 -1.12144806e-06,-3.41287321e-06,-9.80998410e+00,-1.18204315e-02,
 -2.39756910e-02, 5.79285006e-05]


--- Step 271 ---
qpos:
[-1.35034242e-02, 1.34944191e-02, 9.98961106e-03, 1.46861527e-02,
 -1.89560089e-02,-9.03811469e-03,-1.73413330e-02, 1.62928481e-02,
 -1.20911693e-02,-6.69314399e-03,-1.43471854e-02, 1.50663247e-02,
  1.41305191e+00, 2.42753139e-02, 6.36619024e-02,-3.21687192e-03,
  9.49459958e-02,-7.01695140e-02, 1.04438442e-01, 9.99993556e-01,
  1.37183483e-03,-1.69162203e-04,-3.31318472e-03]

qacc:
[   4.16753922,   0.72137479,  -3.03038118,   5.4798032 ,   1.2808902 ,
    2.48927573, -14.41402785,  36.12856832,   1.64462516,   2.07885709,
   -5.37185554,   2.71780843,-187.65527025, 101.46669865,   2.881225  ,
   62.36455219,   1.71773842,  -1.14771795,  -0.22352943,  26.05666105,
   41.43143648,  -2.76469526]

qfrc_actuator:
[ 4.65214199e-04,-4.64640841e-04,-1.31174182e-04, 1.25622201e-04,
 -7.58747357e-04,-7.24274446e-04,-2.79350564e-04, 3.41870702e-05,
 -5.29230602e-04,-4.80583197e-04,-2.18342671e-04, 7.94737388e-05,
  2.10000000e-01,-1.16604348e-04, 7.10156881e-02, 1.03563132e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005723783975504493
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.42458274e-14, -1.21229137e-14,  1.00000000e+00,  2.93930072e-28,
        1.00000000e+00,  1.21229137e-14, -1.00000000e+00,  0.00000000e+00,
        2.42458274e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08118836, -0.0612738 ,  0.06197567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47800603e-05, 3.68141869e-06,-6.81052322e-06, 6.55431052e-06,
  7.57575246e-06,-1.18601482e-05,-2.88501742e-06, 6.28057654e-05,
  9.89574481e-06, 6.92182028e-05,-1.55017898e-05,-6.49271431e-06,
  1.04524891e-01,-2.42587796e-03, 1.73715107e-03, 8.54728487e-04,
 -4.45348717e-06, 3.09041582e-05,-9.80996730e+00,-1.18156965e-02,
 -2.39737094e-02, 6.40621966e-05]


--- Step 272 ---
qpos:
[-1.35043804e-02, 1.34962768e-02, 9.99033773e-03, 1.46890207e-02,
 -1.89578959e-02,-9.03898099e-03,-1.73423952e-02, 1.62954683e-02,
 -1.20911799e-02,-6.69341145e-03,-1.43484484e-02, 1.50683591e-02,
  1.41522978e+00, 2.43361908e-02, 6.50830395e-02,-3.20311805e-03,
  9.49618802e-02,-7.01895199e-02, 1.04436863e-01, 9.99993157e-01,
  1.60078771e-03, 2.44109312e-05,-3.33512021e-03]

qacc:
[  -0.4885619 ,   0.45705399,   0.52996239,  -6.16492437,   6.94057287,
    1.7427908 , -11.35716276,  30.4991849 ,   4.19451628,   0.31840756,
    0.40842461,  -3.20105373,-164.43138244,  95.53051984,  43.55962509,
  -81.49518352,   1.6630658 ,  -1.04138187,  -0.27635636,  23.60325067,
   39.96030435,  -2.57699312]

qfrc_actuator:
[ 4.61765296e-04,-4.22646044e-04,-1.34029338e-04, 1.10620949e-04,
 -7.17896870e-04,-7.42279241e-04,-2.78196093e-04, 8.86872012e-05,
 -5.04770206e-04,-4.51048841e-04,-2.14224543e-04, 7.34979156e-05,
  2.10000000e-01,-1.26183305e-04, 7.24368305e-02, 1.04831732e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005663753030396084
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.62157195e-06,  4.63306258e-06,  1.00000000e+00,  7.51284431e-12,
        1.00000000e+00, -4.63306258e-06, -1.00000000e+00,  0.00000000e+00,
       -1.62157195e-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([ 0.08150243, -0.06196006,  0.06197592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.80382537e-06, 4.29749755e-05,-2.69413647e-06,-1.49495246e-05,
  4.10943133e-05,-2.24412861e-05, 5.53888684e-07, 5.51200841e-05,
  2.48070963e-05, 6.47855897e-05, 1.62884871e-05,-3.67178962e-06,
  1.32038480e-01,-2.15100220e-03, 1.68807141e-03, 1.40365086e-04,
 -5.08341754e-05, 9.46835141e-05,-9.80991171e+00,-1.18094189e-02,
 -2.39680290e-02, 7.14817536e-05]


--- Step 273 ---
qpos:
[-1.35053718e-02, 1.34983901e-02, 9.99106952e-03, 1.46913447e-02,
 -1.89589332e-02,-9.03977666e-03,-1.73432331e-02, 1.62979784e-02,
 -1.20908966e-02,-6.69333971e-03,-1.43493274e-02, 1.50706473e-02,
  1.41698722e+00, 2.43930048e-02, 6.65322596e-02,-3.19728689e-03,
  9.49706432e-02,-7.02085980e-02, 1.04437621e-01, 9.99992708e-01,
  1.82070224e-03, 1.32218666e-04,-3.35444719e-03]

qacc:
[-3.09734848e-01,-7.96483192e-01, 5.62816918e+00,-1.52423291e+01,
  7.38473266e+00,-7.73935128e-01, 3.33518553e+00,-5.62467046e+00,
  2.57121992e+00,-1.07247292e-01,-4.77456653e-02, 3.58757500e+00,
 -1.43739225e+02, 8.21430177e+01, 6.80976213e+01,-1.71165052e+02,
 -1.78034127e+00, 2.31943905e-01, 5.84184207e-01,-4.37611733e+00,
 -4.28953907e+01, 1.37269970e+00]

qfrc_actuator:
[ 4.60111301e-04,-4.16186558e-04,-1.35904431e-04, 8.29172424e-05,
 -6.75358194e-04,-7.17081738e-04,-2.59364505e-04, 8.41740453e-05,
 -4.90378638e-04,-4.33525343e-04,-1.93508175e-04, 8.69345645e-05,
  2.10000000e-01,-1.53775461e-04, 7.37906474e-02, 6.23795796e-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: -0.0005642458964132957
  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([ 0.10361533, -0.07035692,  0.06197601])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80122931e-06, 2.93351539e-05, 6.16753310e-06,-2.62429488e-05,
  4.37497071e-05, 1.52077201e-05, 1.61923837e-05,-4.38038595e-06,
  1.51441330e-05, 5.69695805e-05, 3.59779513e-05, 1.67039340e-05,
  1.56099290e-01,-1.94048791e-03, 1.58233289e-03,-3.28409740e-04,
 -1.35537728e-04, 1.81120906e-04,-9.80982393e+00,-1.18017112e-02,
 -2.39588939e-02, 7.98837070e-05]


--- Step 274 ---
qpos:
[-1.35063768e-02, 1.35003574e-02, 9.99195781e-03, 1.46933603e-02,
 -1.89601413e-02,-9.04035362e-03,-1.73438552e-02, 1.62993600e-02,
 -1.20907876e-02,-6.69294000e-03,-1.43498952e-02, 1.50727399e-02,
  1.41837830e+00, 2.44459291e-02, 6.80073912e-02,-3.20030633e-03,
  9.49725838e-02,-7.02266010e-02, 1.04440098e-01, 9.99992244e-01,
  2.02945117e-03, 1.58187126e-04,-3.37159909e-03]

qacc:
[-1.10816296e-01,-1.26535521e+00, 5.53364735e+00,-1.10128974e+01,
 -1.48055188e+00,-2.63322558e+00, 1.45793283e+01,-3.46240740e+01,
 -1.51705131e+00,-8.36035285e-01, 4.44169574e+00,-8.57428271e+00,
 -1.25294958e+02, 7.04303105e+01, 6.73852994e+01,-1.74172245e+02,
 -1.70558716e+00, 2.68751225e-01, 4.29777380e-01,-5.44563082e+00,
 -4.09360862e+01, 1.16127198e+00]

qfrc_actuator:
[ 4.59536594e-04,-4.48814833e-04,-1.37325277e-04, 6.56918660e-05,
 -6.85435151e-04,-7.01687345e-04,-2.47864893e-04, 2.72702903e-05,
 -4.99785959e-04,-4.23243451e-04,-1.80957182e-04, 7.61762989e-05,
  2.10000000e-01,-1.90618618e-04, 7.50818281e-02, 1.76225096e-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: -0.0005654285945948376
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.32839792e-06,  6.65256529e-06,  1.00000000e+00, -1.54898192e-11,
        1.00000000e+00, -6.65256529e-06, -1.00000000e+00,  0.00000000e+00,
        2.32839792e-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([ 0.10330334, -0.07065683,  0.06197596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.05775743e-07,-1.60312151e-05, 4.50546058e-06,-1.62623031e-05,
 -8.77947281e-06, 2.71083335e-05, 1.64942910e-05,-5.57764884e-05,
 -8.95324817e-06, 5.02818780e-05, 2.93247266e-05,-6.74847352e-06,
  1.77120220e-01,-1.74430937e-03, 1.47976219e-03,-3.77264569e-04,
 -4.89573005e-05, 1.21162998e-04,-9.80988554e+00,-1.17916329e-02,
 -2.39550464e-02, 8.60222117e-05]


--- Step 275 ---
qpos:
[-1.35073827e-02, 1.35021969e-02, 9.99314341e-03, 1.46947970e-02,
 -1.89618047e-02,-9.04054495e-03,-1.73447580e-02, 1.63010979e-02,
 -1.20914821e-02,-6.69210295e-03,-1.43503110e-02, 1.50743391e-02,
  1.41945058e+00, 2.44945576e-02, 6.95070561e-02,-3.21058018e-03,
  9.49792243e-02,-7.02333966e-02, 1.04440639e-01, 9.99992031e-01,
  2.10631283e-03, 2.40066076e-04,-3.38277380e-03]

qacc:
[ 3.83960389e-03,-2.19298610e+00, 1.00187426e+01,-2.04225277e+01,
 -3.96974214e+00, 2.03464134e+00,-8.00723574e+00, 1.43270480e+01,
 -7.01655393e+00,-8.48365548e-01, 5.97036116e+00,-1.50992152e+01,
 -1.08861098e+02, 5.37551155e+01, 6.02156528e+01,-1.52830356e+02,
  1.17496534e+00, 2.80188065e+00,-4.84189580e-01,-6.60381056e+01,
  2.77387386e+01, 2.92182903e+00]

qfrc_actuator:
[ 4.59601943e-04,-4.51338489e-04,-1.20874365e-04, 3.69827172e-05,
 -7.08648275e-04,-6.74598523e-04,-2.58598438e-04, 4.65103782e-05,
 -5.40874663e-04,-3.99678363e-04,-1.73386189e-04, 5.12491422e-05,
  2.10000000e-01,-2.67065712e-04, 7.63505889e-02,-1.74562344e-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: -0.0005691769252124598
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.87644077e-14, -7.31466115e-14,  1.00000000e+00,  3.56695118e-27,
        1.00000000e+00,  7.31466115e-14, -1.00000000e+00,  0.00000000e+00,
        4.87644077e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08446704, -0.08875716,  0.0619758 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.61624669e-08,-1.12110146e-05, 1.31466799e-05,-2.95535104e-05,
 -2.34295574e-05, 4.33053550e-05,-5.01798450e-06, 1.98900678e-05,
 -4.13410178e-05, 5.74426320e-05, 2.13346365e-05,-2.18892985e-05,
  1.95437317e-01,-1.59585128e-03, 1.46185860e-03,-2.83341848e-04,
 -1.41213483e-06, 6.71951943e-05,-9.80991799e+00,-1.17822932e-02,
 -2.39544039e-02, 9.37865973e-05]


--- Step 276 ---
qpos:
[-1.35083817e-02, 1.35041160e-02, 9.99442865e-03, 1.46958651e-02,
 -1.89633885e-02,-9.04042107e-03,-1.73457930e-02, 1.63033967e-02,
 -1.20919745e-02,-6.69082455e-03,-1.43509105e-02, 1.50756502e-02,
  1.42024693e+00, 2.45390435e-02, 7.10323048e-02,-3.22895527e-03,
  9.49904772e-02,-7.02291932e-02, 1.04438550e-01, 9.99992079e-01,
  2.05391219e-03, 3.76965318e-04,-3.38846086e-03]

qacc:
[ 6.03898692e-02,-9.32287527e-01, 5.03218557e+00,-1.16269262e+01,
  6.83162074e-01, 1.93854352e+00,-8.67835251e+00, 1.83672301e+01,
  1.75018632e+00, 4.99819808e-01, 2.74849070e-01,-5.28656313e+00,
 -9.42241378e+01, 4.40957516e+01, 6.40867515e+01,-1.64793347e+02,
  1.15310578e+00, 2.74971250e+00,-6.57338784e-01,-6.47246272e+01,
  2.72970426e+01, 2.67078151e+00]

qfrc_actuator:
[ 4.60043992e-04,-4.35759155e-04,-1.11656451e-04, 1.95300163e-05,
 -7.03884899e-04,-6.58500075e-04,-2.64509051e-04, 7.48980248e-05,
 -5.29262693e-04,-3.86136522e-04,-1.86521059e-04, 3.59491356e-05,
  2.10000000e-01,-3.47560486e-04, 7.77275821e-02,-5.54098950e-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: -0.0005697999817159127
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.43555427e-14,  6.08888568e-14,  1.00000000e+00, -1.48298116e-27,
        1.00000000e+00, -6.08888568e-14, -1.00000000e+00,  0.00000000e+00,
        2.43555427e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08446645, -0.08875691,  0.06197578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.53889656e-07, 1.08029545e-05, 7.51384665e-06,-1.80502724e-05,
  4.11704730e-06, 4.01827989e-05, 3.12484118e-06, 3.04615308e-05,
  1.04189352e-05, 4.91408021e-05, 6.09921821e-07,-1.25233298e-05,
  2.11374760e-01,-1.43061351e-03, 1.62000390e-03,-2.98272468e-04,
 -2.24486384e-05, 2.45501133e-05,-9.80997525e+00,-1.17794859e-02,
 -2.39530377e-02, 9.55941076e-05]


--- Step 277 ---
qpos:
[-1.35100589e-02, 1.35058941e-02, 9.99561206e-03, 1.46971037e-02,
 -1.89649027e-02,-9.04032423e-03,-1.73466919e-02, 1.63053529e-02,
 -1.20933595e-02,-6.68955805e-03,-1.43514605e-02, 1.50768106e-02,
  1.42080570e+00, 2.45799661e-02, 7.25826943e-02,-3.25444123e-03,
  9.49946274e-02,-7.02241259e-02, 1.04438767e-01, 9.99992170e-01,
  1.99194502e-03, 4.28590950e-04,-3.39226268e-03]

qacc:
[  -5.87929043,   0.460627  ,  -2.61241822,   5.80669489,   0.6079511 ,
   -1.12223372,   5.39439037, -11.51983978,  -7.78840074,  -0.44872794,
    2.23974626,  -4.94648097, -81.23039398,  39.79732556,  60.21155688,
 -152.77783092,  -1.77568071,   0.21600691,   0.57649456,  -4.63915247,
  -42.6507479 ,   1.02845887]

qfrc_actuator:
[ 4.25199511e-04,-4.62732274e-04,-1.24452204e-04, 2.66048202e-05,
 -7.00441207e-04,-6.84584948e-04,-2.67562035e-04, 5.51693740e-05,
 -5.75477657e-04,-4.14292864e-04,-1.94052010e-04, 2.64175627e-05,
  2.10000000e-01,-4.11166178e-04, 7.90407181e-02,-8.93878546e-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: -0.000568870421050964
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.43953408e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.43953408e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361301, -0.07035879,  0.06197582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.49169051e-05,-2.01095181e-05,-1.02481750e-05, 7.44949582e-06,
  3.57737942e-06,-1.60499166e-06, 6.70434942e-06,-1.73023786e-05,
 -4.59410758e-05,-1.06966254e-06, 2.26560064e-06,-7.64812472e-06,
  2.25168867e-01,-1.25562694e-03, 1.66100470e-03,-2.31315897e-04,
 -3.76964179e-05,-1.24982882e-05,-9.80995460e+00,-1.17814498e-02,
 -2.39483457e-02, 8.86347906e-05]


--- Step 278 ---
qpos:
[-1.35124869e-02, 1.35073057e-02, 9.99675820e-03, 1.46984428e-02,
 -1.89663637e-02,-9.04055457e-03,-1.73465990e-02, 1.63066921e-02,
 -1.20949432e-02,-6.68859633e-03,-1.43519508e-02, 1.50782311e-02,
  1.42116103e+00, 2.46181489e-02, 7.41547265e-02,-3.28421205e-03,
  9.49917898e-02,-7.02182090e-02, 1.04440585e-01, 9.99992316e-01,
  1.92046969e-03, 3.96647330e-04,-3.39434939e-03]

qacc:
[-6.50494529e+00,-1.60561417e-01,-5.32689869e-01, 2.57779243e+00,
  4.98606397e-01,-4.47323287e+00, 1.79274045e+01,-2.99519892e+01,
 -1.72775671e+00,-3.09183364e-02,-1.56655255e+00, 6.19059748e+00,
 -6.97283780e+01, 3.88513808e+01, 4.62774289e+01,-1.12059846e+02,
 -1.74694483e+00, 2.12395237e-01, 4.00391174e-01,-4.61272040e+00,
 -4.17987295e+01, 9.38833243e-01]

qfrc_actuator:
[ 3.87617877e-04,-4.97295353e-04,-1.32541927e-04, 3.02520437e-05,
 -6.97810984e-04,-7.00258382e-04,-2.15858090e-04, 2.50026166e-05,
 -5.84364521e-04,-4.49438750e-04,-1.98380199e-04, 3.80774840e-05,
  2.10000000e-01,-4.45807960e-04, 8.00803238e-02,-1.11879067e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005695429178920464
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.43665356e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.43665356e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1036126 , -0.07035901,  0.06197579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.86763282e-05,-4.75506149e-05,-1.32239095e-05, 2.58185313e-06,
  2.73578951e-06,-1.58713110e-05, 5.16171826e-05,-3.03370289e-05,
 -1.02448746e-05,-3.55733642e-05,-4.51762441e-06, 1.15482727e-05,
  2.37044478e-01,-1.08012851e-03, 1.45010792e-03,-9.91571263e-05,
 -3.13319512e-06,-2.73924525e-06,-9.80998595e+00,-1.17836311e-02,
 -2.39462542e-02, 8.47858533e-05]


--- Step 279 ---
qpos:
[-1.35150035e-02, 1.35085738e-02, 9.99743627e-03, 1.46998169e-02,
 -1.89674371e-02,-9.04080771e-03,-1.73459506e-02, 1.63073048e-02,
 -1.20955874e-02,-6.68819441e-03,-1.43520621e-02, 1.50797916e-02,
  1.42134276e+00, 2.46538898e-02, 7.57498799e-02,-3.31771808e-03,
  9.49820598e-02,-7.02114538e-02, 1.04443396e-01, 9.99992506e-01,
  1.83953149e-03, 2.82533141e-04,-3.39486016e-03]

qacc:
[  -0.78051214,   1.19270804,  -4.6728159 ,   6.13021783,   3.38354353,
   -3.08334386,  14.00723192, -27.44133412,   8.22209496,  -1.52678237,
    3.75176978,  -1.49338646, -59.56604916,  33.44724284,  46.62422024,
 -110.57364278,  -1.72310679,   0.209577  ,   0.24817791,  -4.59229972,
  -41.09952428,   0.86506518]

qfrc_actuator:
[ 3.84243277e-04,-5.00625288e-04,-1.55584485e-04, 3.18444469e-05,
 -6.77927785e-04,-6.91621371e-04,-1.85467915e-04,-1.10154981e-05,
 -5.35685986e-04,-4.88480734e-04,-1.83064189e-04, 4.43491886e-05,
  2.10000000e-01,-4.80222308e-04, 8.13440039e-02,-1.27476396e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000567147277547822
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.89389207e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.89389207e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361302, -0.07035928,  0.06197589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.57344552e-06,-3.24613767e-05,-3.43716044e-05,-8.44829829e-07,
  1.99599237e-05, 9.17754000e-06, 3.24376104e-05,-3.54993036e-05,
  4.83401749e-05,-5.93219650e-05, 7.82937731e-06, 4.81932245e-06,
  2.47212901e-01,-9.45144909e-04, 1.63787699e-03,-3.94517226e-05,
 -5.52823376e-06, 1.16302640e-05,-9.80998722e+00,-1.17863760e-02,
 -2.39474843e-02, 8.26129223e-05]


--- Step 280 ---
qpos:
[-1.35168530e-02, 1.35095710e-02, 9.99843083e-03, 1.47008158e-02,
 -1.89682640e-02,-9.04056821e-03,-1.73457552e-02, 1.63081752e-02,
 -1.20959884e-02,-6.68848024e-03,-1.43515886e-02, 1.50810723e-02,
  1.42137723e+00, 2.46874338e-02, 7.73727902e-02,-3.35439893e-03,
  9.49655149e-02,-7.02038687e-02, 1.04446676e-01, 9.99992707e-01,
  1.74916193e-03, 8.73787018e-05,-3.39390925e-03]

qacc:
[ 5.79870098e+00,-2.02713976e+00, 8.27233423e+00,-1.50508424e+01,
  2.11773598e+00, 2.44226848e+00,-8.85945385e+00, 1.36902779e+01,
  2.15299691e+00,-3.12269703e+00, 1.09899663e+01,-1.62542977e+01,
 -5.05908280e+01, 2.83463233e+01, 5.16310779e+01,-1.18560034e+02,
 -1.70373075e+00, 2.07454463e-01, 1.17141404e-01,-4.57829754e+00,
 -4.05344887e+01, 8.04057675e-01]

qfrc_actuator:
[ 4.18783623e-04,-5.03044455e-04,-1.33895140e-04, 1.44765928e-05,
 -6.65801110e-04,-6.50818959e-04,-2.03331730e-04, 3.06970458e-06,
 -5.24537540e-04,-5.29483449e-04,-1.56304891e-04, 2.96514033e-05,
  2.10000000e-01,-5.13702139e-04, 8.29489220e-02,-1.37045703e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005623151694402473
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.46797322e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.46797322e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361411, -0.07035958,  0.06197609])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.43417680e-05,-2.76136688e-05, 1.07529986e-05,-1.99582434e-05,
  1.27049181e-05, 5.11593009e-05,-1.31889807e-05, 1.49116578e-05,
  1.24951308e-05,-7.23131322e-05, 1.56420914e-05,-1.68760787e-05,
  2.55889223e-01,-8.23647031e-04, 2.09279905e-03, 5.29999090e-05,
 -4.29303943e-05, 3.04248441e-05,-9.80996006e+00,-1.17896550e-02,
 -2.39519809e-02, 8.20815987e-05]


--- Step 281 ---
qpos:
[-1.35179302e-02, 1.35101946e-02, 1.00000247e-02, 1.47012467e-02,
 -1.89685942e-02,-9.04005829e-03,-1.73457333e-02, 1.63095619e-02,
 -1.20962522e-02,-6.68932543e-03,-1.43508293e-02, 1.50825166e-02,
  1.42128793e+00, 2.47193427e-02, 7.90241960e-02,-3.39273675e-03,
  9.49422164e-02,-7.01954599e-02, 1.04449975e-01, 9.99992871e-01,
  1.64937859e-03,-1.87921940e-04,-3.39159088e-03]

qacc:
[ 6.71975758e+00,-3.35259287e+00, 1.36131094e+01,-2.41045471e+01,
  4.30380272e+00, 1.89628154e+00,-8.43811295e+00, 1.74699986e+01,
  1.21585168e+00,-1.20342441e+00, 2.52330558e+00, 2.68045770e-01,
 -4.26828828e+01, 2.71428653e+01, 4.79906527e+01,-1.04601066e+02,
 -1.68839938e+00, 2.05942220e-01, 4.72097277e-03,-4.57088071e+00,
 -4.00875869e+01, 7.53349560e-01]

qfrc_actuator:
[ 4.57599911e-04,-5.22484848e-04,-1.03716621e-04,-1.38712511e-05,
 -6.40589562e-04,-6.44481526e-04,-2.13856432e-04, 2.87706639e-05,
 -5.17834041e-04,-5.53558092e-04,-1.40789539e-04, 3.82409643e-05,
  2.10000000e-01,-5.28136831e-04, 8.44537635e-02,-1.42904826e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005555853792614807
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.99573543e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.99573543e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1036157 , -0.07035992,  0.06197638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.97474926e-05,-3.34329720e-05, 2.51307121e-05,-2.95442431e-05,
  2.55821453e-05, 3.28948308e-05,-1.05707564e-06, 2.77283826e-05,
  7.03820557e-06,-6.19853363e-05, 1.92511277e-06, 5.70370752e-06,
  2.63247130e-01,-6.94786187e-04, 2.21582785e-03, 1.54515697e-04,
 -1.13918617e-04, 5.35208415e-05,-9.80990577e+00,-1.17934450e-02,
 -2.39596972e-02, 8.31643246e-05]


--- Step 282 ---
qpos:
[-1.35192239e-02, 1.35106816e-02, 1.00013207e-02, 1.47017119e-02,
 -1.89689645e-02,-9.03966489e-03,-1.73456335e-02, 1.63109333e-02,
 -1.20967781e-02,-6.69050551e-03,-1.43502472e-02, 1.50840558e-02,
  1.42109505e+00, 2.47497530e-02, 8.07026695e-02,-3.43077088e-03,
  9.49240475e-02,-7.01872182e-02, 1.04455163e-01, 9.99992967e-01,
  1.55148622e-03,-4.02174282e-04,-3.39077829e-03]

qacc:
[-1.88395596e+00, 7.26540619e-01,-2.99074277e+00, 4.15401776e+00,
 -3.43454202e-01,-4.02506278e-01, 1.27755141e+00,-1.58244452e+00,
 -2.28771686e+00, 2.52564313e-01,-1.93567825e+00, 4.09941043e+00,
 -3.57318541e+01, 2.21644156e+01, 3.98072195e+01,-7.93789932e+01,
  1.28241455e+00,-4.17731625e-02, 4.72477827e-01, 8.41868382e-01,
  3.05258914e+01,-8.03528224e-01]

qfrc_actuator:
[ 4.45351943e-04,-5.34174424e-04,-1.22111907e-04,-1.29588214e-05,
 -6.43381204e-04,-6.76550554e-04,-2.20075833e-04, 2.55741113e-05,
 -5.31541365e-04,-5.67329193e-04,-1.49708237e-04, 4.27187742e-05,
  2.10000000e-01,-5.48580199e-04, 8.58069548e-02,-1.41236843e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005538125326112822
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.01172761e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.01172761e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08460275, -0.06872129,  0.06197645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11553382e-05,-2.64039300e-05,-2.32151183e-05,-2.24420742e-07,
 -2.06667764e-06,-1.26835192e-05, 1.40728679e-06,-1.28419118e-06,
 -1.35091635e-05,-4.77776557e-05,-2.12851052e-05, 1.99925270e-06,
  2.69431279e-01,-5.99446823e-04, 2.15032202e-03, 2.55415521e-04,
 -2.17513565e-04, 8.08463875e-05,-9.80982529e+00,-1.17977277e-02,
 -2.39705937e-02, 8.58395009e-05]


--- Step 283 ---
qpos:
[-1.35209994e-02, 1.35109861e-02, 1.00023582e-02, 1.47028785e-02,
 -1.89700550e-02,-9.03947337e-03,-1.73455341e-02, 1.63122732e-02,
 -1.20971187e-02,-6.69187808e-03,-1.43501302e-02, 1.50856385e-02,
  1.42081599e+00, 2.47784697e-02, 8.24066817e-02,-3.46716684e-03,
  9.49118892e-02,-7.01812931e-02, 1.04461216e-01, 9.99992998e-01,
  1.48025038e-03,-5.44640107e-04,-3.39345698e-03]

qacc:
[ -4.18190335,  1.93453145,-10.19502811, 22.86843191, -6.25165439,
  -0.31840783,  0.90279394, -1.32345669,  1.60607657,  1.13148378,
  -4.59263761,  6.23614976,-29.61277561, 14.39925248, 33.37999158,
 -60.49408768,  1.50265331, -0.57916002,  0.21607268, 13.20581087,
  35.93547862, -1.80678324]

qfrc_actuator:
[ 4.20897913e-04,-5.41301028e-04,-1.33488742e-04, 2.28872654e-05,
 -6.80389312e-04,-6.95879423e-04,-2.23894173e-04, 2.31167740e-05,
 -5.21645491e-04,-5.74918886e-04,-1.72938550e-04, 4.47328503e-05,
  2.10000000e-01,-5.89863820e-04, 8.70682587e-02,-1.33407121e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005531919630995232
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.65569991e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.65569991e-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([ 0.08301012, -0.06525187,  0.06197648])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.48177469e-05,-2.66511518e-05,-1.96806899e-05, 3.39107262e-05,
 -3.70905612e-05,-2.61730680e-05,-6.30480904e-06,-2.97623101e-06,
  9.52553986e-06,-3.86007439e-05,-3.56448554e-05,-7.29389518e-07,
  2.74605634e-01,-5.31206688e-04, 2.06443941e-03, 3.19920464e-04,
 -1.37123525e-04, 6.34476570e-05,-9.80988712e+00,-1.18012946e-02,
 -2.39792610e-02, 8.56967996e-05]


--- Step 284 ---
qpos:
[-1.35227100e-02, 1.35110561e-02, 1.00029917e-02, 1.47044825e-02,
 -1.89719257e-02,-9.03946579e-03,-1.73459940e-02, 1.63129197e-02,
 -1.20969925e-02,-6.69336266e-03,-1.43501077e-02, 1.50875419e-02,
  1.42046715e+00, 2.48063392e-02, 8.41368068e-02,-3.50156938e-03,
  9.49066250e-02,-7.01799994e-02, 1.04466603e-01, 9.99992962e-01,
  1.46204828e-03,-6.04020563e-04,-3.40196200e-03]

qacc:
[  0.55444131,  1.71918748, -8.42786135, 16.81851318, -6.78969237,
  -0.09416801,  2.93360197,-13.92931702,  4.07326333,  0.76826577,
  -4.3223461 , 10.12252207,-24.24451531, 17.94029266, 33.07085323,
 -58.40707326,  1.72349588, -1.1578405 , -0.16661714, 26.37418033,
  41.6280476 , -2.98919364]

qfrc_actuator:
[ 4.24977448e-04,-5.63341903e-04,-1.58327354e-04, 4.35073977e-05,
 -7.19478421e-04,-7.25184850e-04,-2.61729952e-04,-1.43798695e-05,
 -4.97930266e-04,-5.61055547e-04,-1.68891833e-04, 6.30347868e-05,
  2.10000000e-01,-5.89599162e-04, 8.84227154e-02,-1.22025949e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005521663929125009
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.42500394e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.42500394e-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([ 0.0811826 , -0.06127085,  0.06197653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.32826940e-06,-3.94987971e-05,-3.15711875e-05, 1.94624979e-05,
 -4.01767512e-05,-4.53444576e-05,-4.41072616e-05,-3.88903277e-05,
  2.40208720e-05,-1.50966130e-05,-8.33796255e-06, 1.54004606e-05,
  2.78909229e-01,-4.11125091e-04, 2.14828719e-03, 3.53245435e-04,
 -6.21759760e-05, 3.02915182e-05,-9.80994841e+00,-1.18037319e-02,
 -2.39851609e-02, 8.47360576e-05]


--- Step 285 ---
qpos:
[-1.35243590e-02, 1.35108089e-02, 1.00036506e-02, 1.47059570e-02,
 -1.89739059e-02,-9.03965094e-03,-1.73466357e-02, 1.63127421e-02,
 -1.20969270e-02,-6.69483991e-03,-1.43500973e-02, 1.50892826e-02,
  1.42006265e+00, 2.48340415e-02, 8.58930028e-02,-3.53376200e-03,
  9.49081649e-02,-7.01832793e-02, 1.04470820e-01, 9.99992877e-01,
  1.49608954e-03,-5.81531649e-04,-3.41619725e-03]

qacc:
[  0.54092247, -0.75804109,  2.63916382, -4.68516273, -0.95420392,
  -1.44070178,  8.25094729,-22.08685451, -0.53007823, -0.29068391,
   1.73962264, -4.54500017,-19.58896244, 20.28925787, 32.27948204,
 -55.92938181,  1.70106442, -1.14340061, -0.29239423, 25.98054135,
  41.01905772, -2.94080412]

qfrc_actuator:
[ 4.28070473e-04,-5.76453742e-04,-1.55488943e-04, 3.72228204e-05,
 -7.23962882e-04,-7.24908142e-04,-2.66159272e-04,-5.44731121e-05,
 -5.01784288e-04,-5.52076503e-04,-1.66416102e-04, 5.53095054e-05,
  2.10000000e-01,-5.64574694e-04, 8.97468801e-02,-1.10390224e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000548755246185445
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.05791531e-14,  1.26447883e-14,  1.00000000e+00,  6.39562682e-28,
        1.00000000e+00, -1.26447883e-14, -1.00000000e+00,  0.00000000e+00,
       -5.05791531e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08118169, -0.06127031,  0.06197667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.16224407e-06,-4.08232367e-05,-8.51500882e-06,-8.68675181e-06,
 -5.64979614e-06,-3.58028553e-05,-2.05509326e-05,-4.43136858e-05,
 -3.12232566e-06,-5.17198979e-07,-1.13806451e-06,-8.36237595e-06,
  2.82393408e-01,-3.08073012e-04, 2.17331062e-03, 3.71393464e-04,
 -1.04045251e-05, 2.12511833e-06,-9.80999240e+00,-1.18043123e-02,
 -2.39875462e-02, 8.44823437e-05]


--- Step 286 ---
qpos:
[-1.35259583e-02, 1.35105549e-02, 1.00044665e-02, 1.47072951e-02,
 -1.89755800e-02,-9.03998898e-03,-1.73468564e-02, 1.63123829e-02,
 -1.20969069e-02,-6.69635468e-03,-1.43503254e-02, 1.50909387e-02,
  1.41961406e+00, 2.48617577e-02, 8.76627660e-02,-3.56222353e-03,
  9.49164358e-02,-7.01910856e-02, 1.04473434e-01, 9.99992731e-01,
  1.58173321e-03,-4.78161462e-04,-3.43608097e-03]

qacc:
[  0.43482847, -0.72982092,  3.16391422, -5.76982411,  2.67494202,
  -1.75691712,  6.72945709,-10.42386149, -0.40337367,  0.44362548,
  -1.29537316,  0.23929975,-15.54695069, 17.70365452,  9.08330127,
  -1.82963643,  1.68272493, -1.13159954, -0.40068135, 25.66126701,
  40.52424809, -2.89982609]

qfrc_actuator:
[ 4.30548846e-04,-5.48526300e-04,-1.36312023e-04, 3.29399469e-05,
 -7.08043099e-04,-7.06799793e-04,-2.32945830e-04,-6.02109169e-05,
 -5.04086502e-04,-5.63855207e-04,-1.82680253e-04, 5.00757358e-05,
  2.10000000e-01,-5.42787915e-04, 9.00000000e-02,-1.04028942e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005433032877598803
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10867065e-14,  1.27716766e-14,  1.00000000e+00,  6.52462896e-28,
        1.00000000e+00, -1.27716766e-14, -1.00000000e+00,  0.00000000e+00,
       -5.10867065e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08118026, -0.0612694 ,  0.0619769 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.55406262e-06, 3.02849816e-06, 9.41464374e-06,-6.49205778e-06,
  1.57620254e-05,-7.98632299e-06, 2.17766829e-05,-8.84095496e-06,
 -2.34195655e-06,-1.26604818e-05,-1.68000232e-05,-5.45813166e-06,
  2.85170311e-01,-2.41704214e-04, 1.12959372e-03, 3.26020194e-04,
 -1.66035545e-06, 4.17399879e-06,-9.80999740e+00,-1.18033939e-02,
 -2.39862395e-02, 8.55395182e-05]


--- Step 287 ---
qpos:
[-1.35271709e-02, 1.35106649e-02, 1.00045010e-02, 1.47082430e-02,
 -1.89773947e-02,-9.04035413e-03,-1.73473339e-02, 1.63126786e-02,
 -1.20965687e-02,-6.69797284e-03,-1.43507436e-02, 1.50928699e-02,
  1.41913142e+00, 2.48895701e-02, 8.94382073e-02,-3.58769980e-03,
  9.49305105e-02,-7.02011331e-02, 1.04475431e-01, 9.99992537e-01,
  1.69287613e-03,-3.06229834e-04,-3.45934180e-03]

qacc:
[  3.32218774,  1.85562281, -4.2821867 , -1.47732926, -1.22931952,
   2.03142114,-10.05657855, 21.81699788,  2.77345201,  0.95566858,
  -4.77724693,  9.93060215,-12.02311245, 14.68960817, -0.4011624 ,
  14.23514949,  1.45095672, -0.5603135 , -0.15422099, 12.63097309,
  34.32159731, -1.7489471 ]

qfrc_actuator:
[ 4.50398487e-04,-5.31664275e-04,-1.78484404e-04, 1.21642046e-05,
 -7.15757993e-04,-7.13460455e-04,-2.48687355e-04,-2.78957087e-05,
 -4.87695969e-04,-5.70294011e-04,-1.92204388e-04, 6.40764090e-05,
  2.10000000e-01,-5.23057994e-04, 9.00000000e-02,-9.75223132e-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: -0.0005364507576318857
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.15688152e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.15688152e-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([ 0.08300599, -0.06525074,  0.06197719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99209817e-05, 2.02812331e-05,-4.05924128e-05,-2.04427103e-05,
 -7.24869761e-06,-6.94108039e-06,-1.49954969e-05, 3.25575785e-05,
  1.63737528e-05,-1.72194572e-05,-1.43962412e-05, 1.27706402e-05,
  2.87369839e-01,-1.86149633e-04, 4.58111656e-04, 2.06081816e-04,
 -3.42175043e-05, 3.52270540e-05,-9.80996498e+00,-1.18009788e-02,
 -2.39812959e-02, 8.78696006e-05]


--- Step 288 ---
qpos:
[-1.35277912e-02, 1.35107557e-02, 1.00044056e-02, 1.47092845e-02,
 -1.89796323e-02,-9.04062992e-03,-1.73480684e-02, 1.63136896e-02,
 -1.20960354e-02,-6.69968807e-03,-1.43512845e-02, 1.50949483e-02,
  1.41862386e+00, 2.49178620e-02, 9.12159615e-02,-3.61047580e-03,
  9.49492263e-02,-7.02016664e-02, 1.04474966e-01, 9.99992522e-01,
  1.69274729e-03,-8.02907923e-05,-3.47621917e-03]

qacc:
[  5.13140886,  0.52038989, -2.30419303,  4.16292237, -3.68075852,
   2.31502991,-11.09223316, 23.80738514,  1.69959551,  0.51409243,
  -2.64633611,  5.46714592, -8.96876676, 15.19858335, -4.56941738,
  21.45444959,  1.16026568,  2.37856514, -0.61553508,-55.72805059,
  26.81647358,  3.16333794]

qfrc_actuator:
[ 4.80313903e-04,-5.39562002e-04,-1.85580106e-04, 1.73063222e-05,
 -7.37329217e-04,-6.99541903e-04,-2.57787163e-04, 8.73492044e-06,
 -4.78187892e-04,-5.73447993e-04,-1.97637488e-04, 7.15392017e-05,
  2.10000000e-01,-4.86897507e-04, 9.00000000e-02,-8.74526121e-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: -0.0005309092038890676
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.39314669e-07, -1.54089909e-06,  1.00000000e+00, -8.31029485e-13,
        1.00000000e+00,  1.54089909e-06, -1.00000000e+00,  0.00000000e+00,
       -5.39314669e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08447467, -0.0859329 ,  0.06197743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.04930047e-05,-5.76598080e-06,-8.59960164e-06, 4.21089026e-06,
 -2.17648176e-05, 8.39832551e-06,-1.12325124e-05, 3.64522748e-05,
  1.00302713e-05,-1.52108785e-05,-1.03242385e-05, 6.47385921e-06,
  2.89066605e-01,-1.18151796e-04, 1.81229562e-04, 1.59098776e-04,
 -9.11518061e-05, 7.05749370e-05,-9.80991612e+00,-1.17976858e-02,
 -2.39738257e-02, 8.99736442e-05]


--- Step 289 ---
qpos:
[-1.35287376e-02, 1.35106397e-02, 1.00048614e-02, 1.47103560e-02,
 -1.89817660e-02,-9.04085916e-03,-1.73486048e-02, 1.63147600e-02,
 -1.20957358e-02,-6.70153558e-03,-1.43515817e-02, 1.50967336e-02,
  1.41809886e+00, 2.49466293e-02, 9.29946122e-02,-3.63056563e-03,
  9.49728287e-02,-7.01970711e-02, 1.04473923e-01, 9.99992557e-01,
  1.63270542e-03, 2.02146397e-04,-3.48998872e-03]

qacc:
[ -2.80588622, -1.74688648,  5.71426404, -5.93274243,  0.9072916 ,
  -0.37127441,  1.15933749, -0.47901378, -2.02986805, -1.4552285 ,
   6.18009267,-11.55463906, -6.34109888, 12.19544509, -6.67599047,
  25.64384261,  1.22165902,  1.28214021, -0.14447335,-30.05441314,
  28.14736029,  1.50857659]

qfrc_actuator:
[ 4.62650621e-04,-5.44325495e-04,-1.54216181e-04, 1.99189238e-05,
 -7.31370616e-04,-6.91134067e-04,-2.45046491e-04, 1.21270036e-05,
 -4.90565953e-04,-5.74596051e-04,-1.82854738e-04, 5.73445931e-05,
  2.10000000e-01,-4.59053050e-04, 9.00000000e-02,-7.53359774e-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: -0.0005265377431440707
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31783410e-14, -1.29915264e-06,  1.00000000e+00, -1.71206764e-20,
        1.00000000e+00,  1.29915264e-06, -1.00000000e+00, -3.00926554e-36,
       -1.31783410e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08453233, -0.07764219,  0.06197761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67902519e-05,-9.55035116e-06, 2.92655841e-05, 2.15021440e-06,
  5.35031939e-06, 1.24198131e-05, 1.43802325e-05, 4.07862230e-06,
 -1.20321521e-05,-1.15193544e-05, 1.05883664e-05,-1.50792669e-05,
  2.90307299e-01,-7.75753904e-05, 7.27337778e-05, 1.46868716e-04,
 -1.25137590e-04, 8.28349679e-06,-9.80989151e+00,-1.17975103e-02,
 -2.39665247e-02, 8.28930658e-05]


--- Step 290 ---
qpos:
[-1.35302331e-02, 1.35106683e-02, 1.00053024e-02, 1.47110988e-02,
 -1.89834667e-02,-9.04108991e-03,-1.73492294e-02, 1.63158891e-02,
 -1.20955857e-02,-6.70329049e-03,-1.43517990e-02, 1.50983168e-02,
  1.41756250e+00, 2.49755526e-02, 9.47737084e-02,-3.64892131e-03,
  9.49893615e-02,-7.01915686e-02, 1.04474933e-01, 9.99992568e-01,
  1.56340046e-03, 3.99648152e-04,-3.50155966e-03]

qacc:
[ -4.76435528, -0.43522608,  3.23282467, -9.02159135,  3.75719628,
   0.35775786, -1.53880954,  2.70930921, -1.3037126 , -0.51432478,
   2.86874676, -6.5653992 , -4.07018375,  6.39728986, -4.51043073,
  16.96288112, -1.76741051,  0.22681176,  0.51324443, -4.48349771,
 -42.4817693 ,  1.16765231]

qfrc_actuator:
[ 4.34874168e-04,-5.29260465e-04,-1.53663475e-04, 3.28719681e-06,
 -7.09251655e-04,-7.03778234e-04,-2.55058995e-04, 1.36984474e-05,
 -4.97972414e-04,-5.56713874e-04,-1.74012418e-04, 4.82896453e-05,
  2.10000000e-01,-4.54138523e-04, 9.00000000e-02,-6.74235741e-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: -0.0005303216458027171
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.23372482e-14,  2.61686241e-14,  1.00000000e+00, -1.36959378e-27,
        1.00000000e+00, -2.61686241e-14, -1.00000000e+00,  0.00000000e+00,
        5.23372482e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361921, -0.07036539,  0.06197745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82687179e-05, 1.58905721e-05, 2.27119956e-06,-1.59834083e-05,
  2.22888578e-05,-2.47458775e-06,-5.50976921e-06, 2.68521515e-06,
 -7.68854889e-06, 1.29722238e-05, 7.24421365e-06,-9.47574787e-06,
  2.91174352e-01,-5.96944216e-05, 3.51890399e-05, 9.33301913e-05,
 -1.76106164e-04,-2.84975508e-05,-9.80982361e+00,-1.17999001e-02,
 -2.39557822e-02, 7.17859128e-05]


--- Step 291 ---
qpos:
[-1.35320505e-02, 1.35110874e-02, 1.00058977e-02, 1.47115928e-02,
 -1.89852337e-02,-9.04122296e-03,-1.73500058e-02, 1.63170202e-02,
 -1.20958695e-02,-6.70467249e-03,-1.43523280e-02, 1.50997699e-02,
  1.41701977e+00, 2.50041179e-02, 9.65530391e-02,-3.66612209e-03,
  9.49989343e-02,-7.01851764e-02, 1.04477369e-01, 9.99992601e-01,
  1.48477121e-03, 5.13882831e-04,-3.51122498e-03]

qacc:
[ -2.79281231, -0.42237828,  3.3148341 , -8.16610026, -0.58153452,
   0.55864027, -1.8116058 ,  2.01695159, -3.80323438,  1.1035169 ,
  -2.65720575,  0.61449985, -2.09786132, -1.05974553, -3.11980986,
  11.50929899, -1.73997549,  0.22240449,  0.35650001, -4.51672792,
 -41.64806835,  1.01607041]

qfrc_actuator:
[ 4.19136019e-04,-4.84814385e-04,-1.35746751e-04,-6.79178281e-06,
 -7.13312388e-04,-6.93518896e-04,-2.60763703e-04, 1.41545314e-05,
 -5.20139292e-04,-5.27585540e-04,-1.86420768e-04, 4.23445495e-05,
  2.10000000e-01,-4.80605373e-04, 9.00000000e-02,-6.20459535e-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: -0.0005327522249636216
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.60492348e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.60492348e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361836, -0.07036584,  0.06197735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65550072e-05, 5.31614252e-05, 2.09451391e-05,-9.62574482e-06,
 -3.40658228e-06, 7.92213772e-06,-6.78259212e-06, 2.14519711e-07,
 -2.23199361e-05, 3.74700434e-05,-9.16413895e-06,-5.32288420e-06,
  2.91736757e-01,-5.72097375e-05, 2.02895467e-05, 6.20699218e-05,
 -8.04626352e-05,-2.25844116e-05,-9.80990611e+00,-1.18018283e-02,
 -2.39478918e-02, 6.40383134e-05]


--- Step 292 ---
qpos:
[-1.35336983e-02, 1.35116951e-02, 1.00070351e-02, 1.47123059e-02,
 -1.89866904e-02,-9.04140229e-03,-1.73496869e-02, 1.63180793e-02,
 -1.20967607e-02,-6.70572619e-03,-1.43530173e-02, 1.51011355e-02,
  1.41647509e+00, 2.50319965e-02, 9.83324983e-02,-3.68251185e-03,
  9.50016396e-02,-7.01779083e-02, 1.04480687e-01, 9.99992683e-01,
  1.39676787e-03, 5.46232600e-04,-3.51922305e-03]

qacc:
[ 1.48459622e+00,-8.17608671e-01, 2.34674025e+00, 4.45241490e-01,
  2.72905645e+00,-3.27440582e+00, 1.18824611e+01,-1.48380127e+01,
 -5.31205636e+00, 7.11496091e-01,-1.51978723e+00,-4.63004721e-04,
 -3.83659673e-01,-6.39680081e+00,-2.27803697e+00, 8.22369735e+00,
 -1.71689570e+00, 2.18988049e-01, 2.20461886e-01,-4.54371555e+00,
 -4.09573843e+01, 8.92086641e-01]

qfrc_actuator:
[ 4.28365883e-04,-4.76301306e-04,-1.07574811e-04, 4.86516056e-06,
 -6.97249668e-04,-6.69616063e-04,-1.92774330e-04, 1.39744578e-05,
 -5.50818210e-04,-5.09779489e-04,-1.93467055e-04, 3.82743618e-05,
  2.10000000e-01,-5.25449457e-04, 9.00000000e-02,-5.82006437e-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: -0.0005322901012938808
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04287401e-13, -2.60718502e-14,  1.00000000e+00,  2.71896550e-27,
        1.00000000e+00,  2.60718502e-14, -1.00000000e+00,  0.00000000e+00,
        1.04287401e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361832, -0.07036628,  0.06197737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.74741135e-06, 4.22176065e-05, 4.14231445e-05, 1.44775259e-05,
  1.59791371e-05, 2.70041123e-05, 6.88184864e-05,-6.70277605e-08,
 -3.12515844e-05, 3.66454202e-05,-6.13729321e-07,-2.88356977e-06,
  2.92050465e-01,-4.73911100e-05, 1.60218785e-05, 4.44678348e-05,
 -2.26912748e-05,-1.20055437e-05,-9.80995767e+00,-1.18043634e-02,
 -2.39433131e-02, 5.79615951e-05]


--- Step 293 ---
qpos:
[-1.35352233e-02, 1.35123861e-02, 1.00082818e-02, 1.47138876e-02,
 -1.89875986e-02,-9.04140636e-03,-1.73485905e-02, 1.63187751e-02,
 -1.20980118e-02,-6.70665965e-03,-1.43536864e-02, 1.51021106e-02,
  1.41593384e+00, 2.50602194e-02, 1.00112004e-01,-3.69830272e-03,
  9.49975536e-02,-7.01697745e-02, 1.04484417e-01, 9.99992816e-01,
  1.29934631e-03, 4.97827946e-04,-3.52574881e-03]

qacc:
[  1.06647444,  1.59153695, -9.18598641, 23.9886741 ,  4.78455846,
  -2.69721846, 11.47173583,-19.11456535, -3.14383756, -0.69461269,
   4.36625641,-11.25488939,  1.06520634,  2.0696558 , -1.76007928,
   6.21773608, -1.69782921,  0.21642265,  0.10292648, -4.56741895,
 -40.39247498,  0.79006485]

qfrc_actuator:
[ 4.34461121e-04,-4.89302310e-04,-1.09204404e-04, 4.69479128e-05,
 -6.69462863e-04,-6.55174866e-04,-1.52765454e-04,-4.26660328e-06,
 -5.68504665e-04,-5.16623983e-04,-1.97323025e-04, 1.75859389e-05,
  2.10000000e-01,-5.09837432e-04, 9.00000000e-02,-5.52865291e-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: -0.0005295081212478916
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.24176580e-14, -2.62088290e-14,  1.00000000e+00,  1.37380544e-27,
        1.00000000e+00,  2.62088290e-14, -1.00000000e+00,  0.00000000e+00,
        5.24176580e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1036189 , -0.0703667 ,  0.06197749])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.32313220e-06, 1.98505116e-05, 1.27150148e-05, 4.56107813e-05,
  2.82539154e-05, 4.38121275e-05, 5.40782042e-05,-1.47011477e-05,
 -1.85254888e-05, 1.34224406e-05, 3.55121502e-06,-1.91920791e-05,
  2.92142538e-01, 3.93258950e-05, 1.71084724e-05, 3.47624064e-05,
 -6.58601714e-07, 3.04973063e-06,-9.80998007e+00,-1.18074607e-02,
 -2.39419949e-02, 5.35203038e-05]


--- Step 294 ---
qpos:
[-1.35376988e-02, 1.35134169e-02, 1.00088955e-02, 1.47156354e-02,
 -1.89881669e-02,-9.04086903e-03,-1.73482303e-02, 1.63189601e-02,
 -1.20994647e-02,-6.70752200e-03,-1.43543288e-02, 1.51021460e-02,
  1.41539849e+00, 2.50881163e-02, 1.01891658e-01,-3.71427917e-03,
  9.49867378e-02,-7.01607824e-02, 1.04488154e-01, 9.99992987e-01,
  1.19246381e-03, 3.69577378e-04,-3.53096263e-03]

qacc:
[-8.26472021e+00, 2.57698290e+00,-9.20965984e+00, 1.28149664e+01,
  2.91973537e+00, 1.71491910e+00,-2.92984032e+00,-5.12177111e+00,
 -1.76177921e+00,-1.91197554e+00, 1.09283427e+01,-2.72974232e+01,
  2.25029109e+00,-6.08534835e+00, 7.25176961e-01,-2.36593400e+00,
 -1.68243714e+00, 2.14590127e-01, 1.77061363e-03,-4.59002515e+00,
 -3.99385052e+01, 7.05545548e-01]

qfrc_actuator:
[ 3.85396754e-04,-4.79676684e-04,-1.46251761e-04, 5.32910435e-05,
 -6.52756627e-04,-6.46613670e-04,-2.00675744e-04,-3.30242479e-05,
 -5.78400070e-04,-5.20429437e-04,-1.99381006e-04,-3.04882431e-05,
  2.10000000e-01,-5.47471167e-04, 9.00000000e-02,-5.64928853e-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: -0.0005248971393808852
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.32195308e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.32195308e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361999, -0.07036712,  0.06197769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.89205636e-05, 2.53684808e-05,-2.97827047e-05, 8.52523894e-06,
  1.75191017e-05, 4.36437240e-05,-3.26983338e-05,-2.52940993e-05,
 -1.03812175e-05, 3.65376819e-06, 5.04658722e-07,-4.77459444e-05,
  2.91966405e-01, 2.12399469e-05, 2.23628679e-05,-5.52056760e-06,
 -1.27476575e-05, 2.24493832e-05,-9.80997471e+00,-1.18110860e-02,
 -2.39438942e-02, 5.06854370e-05]


--- Step 295 ---
qpos:
[-1.35400545e-02, 1.35148201e-02, 1.00090354e-02, 1.47170856e-02,
 -1.89888751e-02,-9.04027500e-03,-1.73480003e-02, 1.63191659e-02,
 -1.21010245e-02,-6.70814358e-03,-1.43548229e-02, 1.51019200e-02,
  1.41487117e+00, 2.51150940e-02, 1.03671475e-01,-3.73092825e-03,
  9.49692404e-02,-7.01509366e-02, 1.04491551e-01, 9.99993160e-01,
  1.07607599e-03, 1.62192878e-04,-3.53499731e-03]

qacc:
[  1.0169186 ,  1.20203431, -2.31846628, -2.34494548, -1.22107271,
   0.48387057, -1.70024677,  2.22191946, -0.93262341, -0.63227599,
   3.82303739, -8.76479145,  3.28402453,-13.29478692,  2.18457759,
  -7.53680779, -1.67039617,  0.21339089, -0.08499812, -4.61313938,
 -39.58276812,  0.63500133]

qfrc_actuator:
[ 3.93023808e-04,-4.56764803e-04,-1.68345834e-04, 3.85455801e-05,
 -6.60462184e-04,-6.59769355e-04,-2.11371671e-04,-3.22937346e-05,
 -5.83635105e-04,-4.86905179e-04,-1.82622296e-04,-4.10303702e-05,
  2.10000000e-01,-6.16519871e-04, 9.00000000e-02,-6.01170320e-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: -0.0005188751950578607
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.33729536e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.33729536e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10362147, -0.07036753,  0.06197794])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.17772713e-06, 3.13881391e-05,-2.01941160e-05,-1.45147512e-05,
 -7.20775280e-06, 3.43868595e-06,-6.57845799e-06, 9.77502362e-07,
 -5.49044845e-06, 3.36780230e-05, 1.59423198e-05,-1.12933602e-05,
  2.91665892e-01, 5.25284506e-06, 2.26023035e-05,-3.07478937e-05,
 -5.77743276e-05, 4.61099902e-05,-9.80994267e+00,-1.18152132e-02,
 -2.39489743e-02, 4.94336808e-05]


--- Step 296 ---
qpos:
[-1.35416123e-02, 1.35162775e-02, 1.00098422e-02, 1.47183093e-02,
 -1.89889809e-02,-9.03972106e-03,-1.73478532e-02, 1.63193883e-02,
 -1.21029794e-02,-6.70848432e-03,-1.43551713e-02, 1.51019089e-02,
  1.41435609e+00, 2.51425713e-02, 1.05451307e-01,-3.74787974e-03,
  9.49480887e-02,-7.01507769e-02, 1.04492573e-01, 9.99993172e-01,
  1.07466699e-03,-8.93679717e-05,-3.53463834e-03]

qacc:
[  6.93691636, -2.27278368,  9.14015157,-14.14103866,  5.23082   ,
   0.20226201, -0.88567428,  1.35318776, -3.44836155,  0.41329607,
  -1.83105635,  5.09934769,  4.13766104, -0.49679473,  0.86317169,
  -3.1915487 , -0.91358702, -2.42150475, -0.5936088 , 57.56682942,
 -21.88242249,  2.2296167 ]

qfrc_actuator:
[ 4.33975738e-04,-4.43802506e-04,-1.28116098e-04, 2.92967674e-05,
 -6.29212922e-04,-6.67934400e-04,-2.17803072e-04,-3.19502055e-05,
 -6.03840701e-04,-4.66686448e-04,-1.72458383e-04,-2.93557858e-05,
  2.10000000e-01,-5.97178054e-04, 9.00000000e-02,-6.15852002e-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: -0.0005170054038357991
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.36852718e-14,  3.35532949e-14,  1.00000000e+00,  1.80131775e-27,
        1.00000000e+00, -3.35532949e-14, -1.00000000e+00,  0.00000000e+00,
       -5.36852718e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09893274, -0.0515918 ,  0.06197802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.10868821e-05, 2.58136810e-05, 4.37531543e-05,-8.87939112e-06,
  3.10184569e-05,-7.53582363e-06,-6.48906540e-06, 2.84150848e-07,
 -2.03224477e-05, 4.19176303e-05, 1.87129768e-05, 1.34536092e-05,
  2.91259513e-01, 1.07325150e-04, 2.21419587e-05,-1.00589613e-05,
 -1.34920444e-04, 7.39898097e-05,-9.80988473e+00,-1.18198215e-02,
 -2.39572043e-02, 4.97467410e-05]


--- Step 297 ---
qpos:
[-1.35433578e-02, 1.35176205e-02, 1.00114919e-02, 1.47197669e-02,
 -1.89883667e-02,-9.03931817e-03,-1.73480087e-02, 1.63196430e-02,
 -1.21044711e-02,-6.70863628e-03,-1.43556211e-02, 1.51020669e-02,
  1.41385603e+00, 2.51714193e-02, 1.07230972e-01,-3.76354120e-03,
  9.49339776e-02,-7.01553164e-02, 1.04493669e-01, 9.99993068e-01,
  1.12708242e-03,-2.55576098e-04,-3.53959159e-03]

qacc:
[-1.59901786e+00,-2.02323850e+00, 6.01191280e+00,-3.23236886e+00,
  6.24463594e+00, 7.00537572e-01,-2.94558459e+00, 4.12441619e+00,
  4.03626398e+00, 8.72765776e-01,-3.47774752e+00, 6.44276096e+00,
  4.74398946e+00, 7.08703716e+00,-4.22322805e+00, 1.42296686e+01,
  1.76015101e+00,-1.17478911e+00, 1.84137293e-02, 2.67610086e+01,
  4.27683366e+01,-2.70456395e+00]

qfrc_actuator:
[ 4.23186024e-04,-4.54393199e-04,-8.69484136e-05, 4.11465372e-05,
 -5.93029979e-04,-6.90783582e-04,-2.39423703e-04,-3.18429532e-05,
 -5.79439801e-04,-4.72340059e-04,-1.84060690e-04,-2.24755724e-05,
  2.10000000e-01,-5.43605859e-04, 9.00000000e-02,-5.46688430e-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: -0.0005153857939961606
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.69269894e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.69269894e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08117353, -0.06126473,  0.06197809])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.66211033e-06, 1.25784478e-05, 5.16008230e-05, 1.42995506e-05,
  3.70512005e-05,-2.83766818e-05,-2.39667084e-05,-4.35748654e-07,
  2.38485983e-05, 2.22936939e-05,-1.48920028e-07, 9.59119718e-06,
  2.90642827e-01, 1.72658475e-04, 2.90967035e-05, 7.59799621e-05,
 -1.54763759e-04, 1.45925662e-06,-9.80987121e+00,-1.18201986e-02,
 -2.39670420e-02, 5.35973408e-05]


--- Step 298 ---
qpos:
[-1.35452203e-02, 1.35192091e-02, 1.00129584e-02, 1.47217256e-02,
 -1.89883579e-02,-9.03935927e-03,-1.73480134e-02, 1.63199038e-02,
 -1.21049690e-02,-6.70854564e-03,-1.43562181e-02, 1.51023030e-02,
  1.41337134e+00, 2.52009811e-02, 1.09010443e-01,-3.77623980e-03,
  9.49268018e-02,-7.01644938e-02, 1.04494270e-01, 9.99992883e-01,
  1.23247921e-03,-3.37951584e-04,-3.54988240e-03]

qacc:
[-1.02333396, 1.87181334,-8.31505693,17.09757624,-5.24442556,-0.98555857,
  2.65504754,-2.48426117, 8.66544935, 0.87563244,-3.01576965, 4.45486306,
  5.19504884,-0.12256612,-9.36775792,32.08825456, 1.73383841,-1.15949684,
 -0.12378368,26.34149679,42.00677785,-2.72292463]

qfrc_actuator:
[ 4.17523023e-04,-4.43463465e-04,-9.89188013e-05, 6.52856297e-05,
 -6.25255689e-04,-7.22316252e-04,-2.34399580e-04,-3.18999308e-05,
 -5.28975210e-04,-4.58032071e-04,-1.90781372e-04,-1.85121231e-05,
  2.10000000e-01,-5.41576697e-04, 9.00000000e-02,-3.93183936e-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: -0.0005179828467560266
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.33959917e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.33959917e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08117428, -0.06126515,  0.06197798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.01100230e-06, 2.93016172e-05,-2.49756924e-06, 2.67470684e-05,
 -3.11813655e-05,-5.23792872e-05,-3.81328745e-06,-2.11373575e-06,
  5.11655466e-05, 2.72181208e-05,-1.78514854e-06, 5.10271564e-06,
  2.89885967e-01, 1.42896641e-04, 4.51663837e-05, 1.66751535e-04,
 -5.64039002e-05,-1.94208634e-05,-9.80993992e+00,-1.18175207e-02,
 -2.39734781e-02, 5.92738629e-05]


--- Step 299 ---
qpos:
[-1.35471376e-02, 1.35209073e-02, 1.00140650e-02, 1.47239890e-02,
 -1.89887352e-02,-9.03968270e-03,-1.73480727e-02, 1.63211913e-02,
 -1.21052029e-02,-6.70810204e-03,-1.43569550e-02, 1.51025699e-02,
  1.41290226e+00, 2.52306508e-02, 1.10789873e-01,-3.78563978e-03,
  9.49264727e-02,-7.01782588e-02, 1.04493879e-01, 9.99992620e-01,
  1.39016838e-03,-3.37754973e-04,-3.56553543e-03]

qacc:
[ -0.48899608,  1.77885529, -7.41686964, 13.18153268, -3.3493123 ,
   1.89899597,-11.6370722 , 29.69149933,  2.29441384,  0.9162248 ,
  -2.72796618,  3.23363502,  5.58815255, -6.68161288,-10.18288126,
  35.20611784,  1.71165434, -1.14688463, -0.24788991, 25.99858248,
  41.37525326, -2.74094166]

qfrc_actuator:
[ 4.14940365e-04,-4.55441178e-04,-1.24330210e-04, 7.86848993e-05,
 -6.44231460e-04,-7.23200383e-04,-2.31473823e-04, 2.12158321e-05,
 -5.16846215e-04,-4.31876459e-04,-1.94486638e-04,-1.62752872e-05,
  2.10000000e-01,-5.70364885e-04, 9.00000000e-02,-2.26768989e-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: -0.0005177912919047956
  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([ 0.08117428, -0.06126507,  0.06197799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82573816e-06, 5.11053461e-06,-1.87152358e-05, 1.50944384e-05,
 -1.98905142e-05,-3.10639051e-05,-8.43507422e-06, 5.06993793e-05,
  1.36071143e-05, 4.12620883e-05, 1.87773981e-06, 3.43976225e-06,
  2.89112473e-01, 1.15164177e-04, 6.27476575e-05, 1.86799926e-04,
 -4.09606541e-06,-9.29606465e-06,-9.80996731e+00,-1.18132790e-02,
 -2.39761661e-02, 6.62799081e-05]


--- Step 300 ---
qpos:
[-1.35490725e-02, 1.35224374e-02, 1.00149906e-02, 1.47264196e-02,
 -1.89889924e-02,-9.04016726e-03,-1.73481501e-02, 1.63230865e-02,
 -1.21052893e-02,-6.70705907e-03,-1.43584398e-02, 1.51032171e-02,
  1.41244952e+00, 2.52603344e-02, 1.12569215e-01,-3.79058441e-03,
  9.49329165e-02,-7.01965707e-02, 1.04492065e-01, 9.99992256e-01,
  1.59959844e-03,-2.56016409e-04,-3.58657509e-03]

qacc:
[ -0.15417975,  0.62901726, -3.27037958,  6.57749896,  1.04523159,
   1.08604083, -6.75158991, 17.42274701,  1.25322788,  3.66229062,
 -13.51986796, 20.86415109,  5.91745987, -8.19095595,-13.77094697,
  47.62568116,  1.69324293, -1.13672248, -0.3558776 , 25.72404857,
  40.85915675, -2.75889468]

qfrc_actuator:
[ 4.14190675e-04,-4.81125365e-04,-1.39803857e-04, 8.56363767e-05,
 -6.37481718e-04,-7.23432092e-04,-2.29661818e-04, 5.19542775e-05,
 -5.09633721e-04,-3.98819681e-04,-2.31836360e-04, 2.69421927e-06,
  2.10000000e-01,-5.99570438e-04, 9.00000000e-02,-8.70773694e-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: -0.0005153555675753776
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07714275e-13,  1.68303554e-14,  1.00000000e+00,  1.81286953e-27,
        1.00000000e+00, -1.68303554e-14, -1.00000000e+00,  0.00000000e+00,
       -1.07714275e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08117367, -0.0612646 ,  0.06197809])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.08649529e-07,-2.59700853e-05,-1.61749680e-05, 6.82203916e-06,
  6.17408659e-06,-1.71655012e-05,-3.88375713e-06, 3.01037799e-05,
  7.60839807e-06, 5.66783387e-05,-2.84739772e-05, 2.08695613e-05,
  2.88326942e-01, 1.17329160e-04, 7.25894617e-05, 2.49548178e-04,
  4.47737008e-06, 3.05178236e-05,-9.80995541e+00,-1.18074923e-02,
 -2.39751616e-02, 7.45760331e-05]


--- Step 301 ---
qpos:
[-1.35510027e-02, 1.35238290e-02, 1.00154623e-02, 1.47285851e-02,
 -1.89895116e-02,-9.04057295e-03,-1.73484723e-02, 1.63232482e-02,
 -1.21052888e-02,-6.70557215e-03,-1.43603407e-02, 1.51040837e-02,
  1.41201379e+00, 2.52900279e-02, 1.14348839e-01,-3.79306544e-03,
  9.49443735e-02,-7.02150515e-02, 1.04490998e-01, 9.99991842e-01,
  1.81064691e-03,-1.15731901e-04,-3.60890900e-03]

qacc:
[ 2.81731253e-02, 5.39671362e-01,-1.07106711e+00,-2.68848677e+00,
 -2.28526710e+00,-2.77442721e+00, 1.73723185e+01,-4.70532916e+01,
  7.38070030e-01, 2.19927207e+00,-7.91920622e+00, 1.20568905e+01,
  6.16300097e+00,-8.60130094e+00,-7.19093987e+00, 2.53885757e+01,
  1.25327642e+00,-4.22197228e-02, 1.86784024e-01, 7.04081080e-01,
  2.92746061e+01,-6.94242604e-01]

qfrc_actuator:
[ 4.14525286e-04,-4.97047166e-04,-1.67102253e-04, 7.09820603e-05,
 -6.51153665e-04,-7.23280614e-04,-2.46285491e-04,-3.72412025e-05,
 -5.05360099e-04,-3.79762421e-04,-2.53203518e-04, 1.35887744e-05,
  2.10000000e-01,-6.28975455e-04, 9.00000000e-02, 1.16220160e-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: -0.0005132799400400026
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.70374638e-14, -1.08149855e-13,  1.00000000e+00,  2.92409780e-27,
        1.00000000e+00,  1.08149855e-13, -1.00000000e+00,  0.00000000e+00,
        2.70374638e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08459288, -0.06872239,  0.06197818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.28161161e-07,-3.34174184e-05,-3.43935362e-05,-1.61888286e-05,
 -1.34870081e-05,-8.94811395e-06,-1.96031852e-05,-8.94792560e-05,
  4.48976922e-06, 4.57684993e-05,-1.24440748e-05, 1.27440353e-05,
  2.87505086e-01, 1.24016607e-04, 8.47944739e-05, 1.45656909e-04,
 -2.88774011e-05, 9.90217046e-05,-9.80990572e+00,-1.18001760e-02,
 -2.39705057e-02, 8.41328456e-05]


--- Step 302 ---
qpos:
[-1.35525702e-02, 1.35248841e-02, 1.00156882e-02, 1.47302245e-02,
 -1.89901904e-02,-9.04067458e-03,-1.73491619e-02, 1.63226650e-02,
 -1.21055822e-02,-6.70429443e-03,-1.43613557e-02, 1.51047225e-02,
  1.41159635e+00, 2.53203315e-02, 1.16128845e-01,-3.79471831e-03,
  9.49604887e-02,-7.02224178e-02, 1.04487580e-01, 9.99991640e-01,
  1.89146138e-03, 7.92829094e-05,-3.62448423e-03]

qacc:
[  3.14252005, -0.847685  ,  4.5880544 ,-13.04259661, -1.40318187,
  -0.10234538,  4.09851471,-16.6345301 , -2.53396155, -3.215756  ,
  12.03571063,-17.25053398,  6.31407042, -3.09455939, -2.0733743 ,
   7.73181206,  1.1645777 ,  2.7786076 , -0.58773586,-65.21503042,
  27.13605797,  3.33768405]

qfrc_actuator:
[ 4.33248000e-04,-5.24826310e-04,-1.83397634e-04, 4.37296421e-05,
 -6.58991949e-04,-6.87569515e-04,-2.55983869e-04,-7.20304260e-05,
 -5.20600890e-04,-4.04694466e-04,-2.11755874e-04, 1.89465909e-06,
  2.10000000e-01,-6.22996680e-04, 9.00000000e-02, 1.50483716e-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: -0.0005158026189300072
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.38104589e-14, -8.07156883e-14,  1.00000000e+00,  4.34334823e-27,
        1.00000000e+00,  8.07156883e-14, -1.00000000e+00,  0.00000000e+00,
        5.38104589e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08444393, -0.08878195,  0.06197807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.86590602e-05,-5.41895642e-05,-2.79698305e-05,-3.01845263e-05,
 -8.20699017e-06, 2.28380139e-05,-1.70512191e-05,-3.75907481e-05,
 -1.51297906e-05,-1.36395574e-06, 4.98096539e-05,-9.91569904e-06,
  2.86649000e-01, 1.66288457e-04, 7.84994656e-05, 5.85293559e-05,
 -7.51070771e-05, 1.33320900e-04,-9.80987681e+00,-1.17926100e-02,
 -2.39646449e-02, 9.19707324e-05]


--- Step 303 ---
qpos:
[-1.35535572e-02, 1.35255935e-02, 1.00162565e-02, 1.47314849e-02,
 -1.89909576e-02,-9.04068904e-03,-1.73499905e-02, 1.63227166e-02,
 -1.21064016e-02,-6.70319169e-03,-1.43618104e-02, 1.51052347e-02,
  1.41119681e+00, 2.53508654e-02, 1.17909233e-01,-3.79654125e-03,
  9.49811901e-02,-7.02188518e-02, 1.04481220e-01, 9.99991642e-01,
  1.84424724e-03, 3.28441368e-04,-3.63398621e-03]

qacc:
[  5.04849735, -2.20459402,  8.78090949,-15.61619155, -0.77316388,
   1.8114399 , -8.9705343 , 20.11571448, -4.56989369, -2.04846574,
   7.51896214,-10.49521975,  6.37448692, -6.91817149,  0.94136252,
  -2.84277784,  1.14654168,  2.73308146, -0.73548582,-64.1123239 ,
  26.84531489,  2.98068998]

qfrc_actuator:
[ 4.62643602e-04,-5.23961346e-04,-1.57612555e-04, 2.70381011e-05,
 -6.63327618e-04,-6.84037268e-04,-2.61306649e-04,-3.89657885e-05,
 -5.47204301e-04,-4.20039268e-04,-1.87012881e-04,-5.24067005e-06,
  2.10000000e-01,-6.49649462e-04, 9.00000000e-02, 1.35700836e-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: -0.0005181547834335609
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.67830931e-14,  8.03492793e-14,  1.00000000e+00,  2.15200223e-27,
        1.00000000e+00, -8.03492793e-14, -1.00000000e+00,  0.00000000e+00,
       -2.67830931e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08444333, -0.08878107,  0.06197797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.98727499e-05,-3.64423850e-05, 1.01210034e-05,-2.05656993e-05,
 -4.54860997e-06, 1.11921703e-05,-3.99849841e-06, 3.27235166e-05,
 -2.70746686e-05,-6.24167899e-06, 3.02573563e-05,-5.66203733e-06,
  2.85729621e-01, 1.45935568e-04, 6.72856989e-05, 4.13106202e-06,
 -1.09695757e-04, 5.30577158e-05,-9.80990859e+00,-1.17892748e-02,
 -2.39592461e-02, 8.99709748e-05]


--- Step 304 ---
qpos:
[-1.35545297e-02, 1.35264184e-02, 1.00163555e-02, 1.47325316e-02,
 -1.89917705e-02,-9.04089786e-03,-1.73510439e-02, 1.63235518e-02,
 -1.21075341e-02,-6.70231580e-03,-1.43621866e-02, 1.51060434e-02,
  1.41081472e+00, 2.53812530e-02, 1.19690039e-01,-3.79980274e-03,
  9.49946914e-02,-7.02143795e-02, 1.04477743e-01, 9.99991652e-01,
  1.78749864e-03, 4.90947941e-04,-3.64133540e-03]

qacc:
[  0.10862828,  1.02434707, -2.52931738, -0.50234763, -0.39948103,
   1.98404545,-10.75455689, 24.81698128, -2.7274983 ,  0.09707439,
  -2.02437683,  7.18991551,  6.41112882,-10.63788672,  4.82656299,
 -16.3875126 , -1.80003215,  0.22657053,  0.72061362, -4.61010508,
 -43.34092187,  1.15473379]

qfrc_actuator:
[ 4.62574851e-04,-5.05766111e-04,-1.78079459e-04, 1.67464657e-05,
 -6.65569082e-04,-7.17469707e-04,-2.81838107e-04,-1.77597990e-06,
 -5.62523063e-04,-4.47334888e-04,-1.90074018e-04, 8.10189267e-06,
  2.10000000e-01,-6.95745454e-04, 9.00000000e-02, 5.66517898e-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: -0.0005253048388950479
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.64185417e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.64185417e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361804, -0.07037179,  0.06197767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.45370116e-07,-9.25100498e-07,-2.74478816e-05,-1.19018887e-05,
 -2.35955731e-06,-2.65711484e-05,-1.75706745e-05, 3.81698215e-05,
 -1.61331710e-05,-2.47616341e-05,-8.09305872e-07, 1.40146516e-05,
  2.84829673e-01, 1.25132706e-04, 5.60016136e-05,-6.46237564e-05,
 -1.38211899e-04,-2.07876526e-05,-9.80986513e+00,-1.17906809e-02,
 -2.39504353e-02, 7.93430760e-05]


--- Step 305 ---
qpos:
[-1.35551510e-02, 1.35271934e-02, 1.00162364e-02, 1.47334507e-02,
 -1.89922588e-02,-9.04130510e-03,-1.73520513e-02, 1.63251537e-02,
 -1.21084975e-02,-6.70160012e-03,-1.43623189e-02, 1.51069861e-02,
  1.41045007e+00, 2.54115391e-02, 1.21470916e-01,-3.80293136e-03,
  9.50011180e-02,-7.02090196e-02, 1.04476413e-01, 9.99991707e-01,
  1.72122298e-03, 5.68697220e-04,-3.64678541e-03]

qacc:
[  3.03925321,  0.27461827, -0.54592775, -1.26779289,  2.82372488,
   1.1819428 , -7.84258897, 21.19799188,  1.48685199, -0.62102028,
   1.33687655,  0.71315627,  6.41941549,-10.38801798, -0.4516144 ,
   1.32784169, -1.76866933,  0.22189553,  0.53685606, -4.60967931,
 -42.39395264,  1.0230836 ]

qfrc_actuator:
[ 4.80666583e-04,-5.13000813e-04,-1.90117625e-04, 1.02809574e-05,
 -6.48808806e-04,-7.19576391e-04,-2.75848136e-04, 3.74864036e-05,
 -5.53320719e-04,-4.46173873e-04,-1.74054585e-04, 1.56059619e-05,
  2.10000000e-01,-7.35470397e-04, 9.00000000e-02, 6.46479911e-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: -0.0005316123745870427
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.6105088e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.6105088e-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([ 0.10361621, -0.07037203,  0.0619774 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.80811954e-05,-1.38935323e-05,-1.60093143e-05,-7.68401314e-06,
  1.67002966e-05,-1.89301060e-05,-3.32351327e-07, 3.82605033e-05,
  8.70195930e-06,-1.22194839e-05, 1.13032339e-05, 6.69066861e-06,
  2.83952546e-01, 1.29525462e-04, 4.29261606e-05, 1.70869999e-05,
 -5.41748094e-05,-1.59843275e-05,-9.80993722e+00,-1.17923286e-02,
 -2.39439360e-02, 7.29665289e-05]


--- Step 306 ---
qpos:
[-1.35552063e-02, 1.35277353e-02, 1.00165970e-02, 1.47342600e-02,
 -1.89928870e-02,-9.04166846e-03,-1.73530828e-02, 1.63271869e-02,
 -1.21096890e-02,-6.70056948e-03,-1.43627454e-02, 1.51079870e-02,
  1.41010322e+00, 2.54420897e-02, 1.23251778e-01,-3.80491361e-03,
  9.50005764e-02,-7.02027871e-02, 1.04476588e-01, 9.99991824e-01,
  1.64542848e-03, 5.63267732e-04,-3.65054225e-03]

qacc:
[  4.92560798, -1.88428599,  6.71784683, -9.19325275, -1.21608608,
   1.0148247 , -5.35151976, 12.81805181, -2.00541574,  1.3625858 ,
  -4.49413313,  5.73552227,  6.37504192, -6.99343298, -3.64051957,
  12.32342194, -1.74204771,  0.21817078,  0.37621618, -4.6082496 ,
 -41.60495555,  0.91556346]

qfrc_actuator:
[ 5.09312003e-04,-5.17621700e-04,-1.61656836e-04, 6.11064294e-06,
 -6.56504681e-04,-7.02805819e-04,-2.71878711e-04, 5.99429972e-05,
 -5.65268072e-04,-4.10162139e-04,-1.82289116e-04, 1.96510327e-05,
  2.10000000e-01,-7.53606278e-04, 9.00000000e-02, 1.23875330e-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: -0.0005342832870051384
  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([ 0.10361538, -0.07037229,  0.06197729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.91342849e-05,-1.59952718e-05, 2.33604887e-05,-5.46825484e-06,
 -7.20023085e-06, 7.77937012e-06, 1.34744921e-06, 2.23789190e-05,
 -1.17295319e-05, 3.18356713e-05,-9.12456012e-06, 4.04427838e-06,
  2.83075122e-01, 1.53270774e-04, 4.71756548e-05, 7.14539974e-05,
 -9.29163166e-06,-6.32959280e-06,-9.80997736e+00,-1.17945834e-02,
 -2.39408049e-02, 6.82955911e-05]


--- Step 307 ---
qpos:
[-1.35552632e-02, 1.35285516e-02, 1.00168245e-02, 1.47346444e-02,
 -1.89932574e-02,-9.04169635e-03,-1.73544792e-02, 1.63294591e-02,
 -1.21113597e-02,-6.69956159e-03,-1.43631877e-02, 1.51097434e-02,
  1.40977427e+00, 2.54732016e-02, 1.25032522e-01,-3.80413620e-03,
  9.49931555e-02,-7.01956934e-02, 1.04477709e-01, 9.99991998e-01,
  1.56012025e-03, 4.75959194e-04,-3.65277401e-03]

qacc:
[-2.34655063e-02,-1.40948577e-01, 2.82325445e+00,-1.01692796e+01,
  2.22211846e+00, 1.95028675e+00,-7.32816060e+00, 1.18115242e+01,
 -4.18206142e+00, 1.57692950e+00,-8.84205892e+00, 2.19437650e+01,
  6.26830000e+00,-4.20484994e+00,-8.67537563e+00, 2.97355854e+01,
 -1.71983576e+00, 2.15275094e-01, 2.36504911e-01,-4.60785305e+00,
 -4.09553172e+01, 8.27324266e-01]

qfrc_actuator:
[ 5.08429128e-04,-4.84965927e-04,-1.62764935e-04,-1.44021297e-05,
 -6.43034358e-04,-6.74871834e-04,-2.86822701e-04, 7.23449261e-05,
 -5.89575653e-04,-4.24661605e-04,-1.86882610e-04, 5.71479558e-05,
  2.10000000e-01,-7.59114096e-04, 9.00000000e-02, 2.66032611e-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: -0.0005339908233826796
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03955253e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.03955253e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361534, -0.07037258,  0.0619773 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.46191067e-08, 2.83166660e-05,-1.72360246e-06,-2.04970773e-05,
  1.32855344e-05, 3.35417993e-05,-1.23890842e-05, 1.32191646e-05,
 -2.46667714e-05, 1.62765191e-06, 1.01196735e-06, 3.86269512e-05,
  2.82179796e-01, 1.71342007e-04, 5.57080018e-05, 1.58075792e-04,
 -1.14981196e-06, 7.94143840e-06,-9.80998756e+00,-1.17974032e-02,
 -2.39409832e-02, 6.52904307e-05]


--- Step 308 ---
qpos:
[-1.35546410e-02, 1.35295739e-02, 1.00167573e-02, 1.47347999e-02,
 -1.89931184e-02,-9.04139691e-03,-1.73560349e-02, 1.63311582e-02,
 -1.21129647e-02,-6.69874114e-03,-1.43629855e-02, 1.51112202e-02,
  1.40946215e+00, 2.55045114e-02, 1.26812877e-01,-3.79693530e-03,
  9.49789278e-02,-7.01877474e-02, 1.04479291e-01, 9.99992205e-01,
  1.46529758e-03, 3.07825029e-04,-3.65361841e-03]

qacc:
[  5.87526728,  0.61327534, -0.84510866, -2.7752246 ,  4.41225048,
  -0.31059175,  4.14043913,-14.0306779 ,  0.59701718, -2.62509554,
  10.17932131,-15.90870132,  6.13001168, -7.66332842,-20.19407646,
  69.41891478, -1.70168486,  0.21310287,  0.11551283, -4.60991474,
 -40.42879302,  0.75451902]

qfrc_actuator:
[ 5.43428442e-04,-4.83616198e-04,-1.81193606e-04,-2.66085076e-05,
 -6.17206080e-04,-6.58301565e-04,-2.95011548e-04, 4.32284732e-05,
 -5.85451782e-04,-4.33750779e-04,-1.53947091e-04, 4.29850742e-05,
  2.10000000e-01,-7.92952889e-04, 9.00000000e-02, 5.97897055e-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: -0.000531315978865847
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.22393015e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.22393015e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361594, -0.07037288,  0.06197741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.49748952e-05, 1.59551930e-05,-1.34990803e-05,-1.14510602e-05,
  2.62347257e-05, 3.33523032e-05,-2.32559203e-06,-2.78502840e-05,
  3.38106034e-06,-6.26590768e-06, 3.47526293e-05,-1.33020576e-05,
  2.81280342e-01, 1.46246716e-04, 6.94342711e-05, 3.53739937e-04,
 -2.79170767e-05, 2.66602959e-05,-9.80996939e+00,-1.18007560e-02,
 -2.39444202e-02, 6.39184089e-05]


--- Step 309 ---
qpos:
[-1.35532597e-02, 1.35305070e-02, 1.00165507e-02, 1.47355261e-02,
 -1.89930155e-02,-9.04089718e-03,-1.73573276e-02, 1.63317916e-02,
 -1.21134741e-02,-6.69792258e-03,-1.43626709e-02, 1.51118384e-02,
  1.40916719e+00, 2.55365029e-02, 1.28593121e-01,-3.78309305e-03,
  9.49579512e-02,-7.01789550e-02, 1.04480919e-01, 9.99992399e-01,
  1.36095214e-03, 5.97005317e-05,-3.65318883e-03]

qacc:
[ 6.57783520e+00, 1.43483740e+00,-7.71892490e+00, 1.79109490e+01,
 -3.08950970e-01,-2.66248889e+00, 1.43795794e+01,-3.33963939e+01,
  9.56519002e+00,-2.10224582e+00, 1.10853664e+01,-2.60895418e+01,
  5.98273083e+00,-3.01664103e+00,-2.04230103e+01, 7.08633370e+01,
 -1.68725030e+00, 2.11562838e-01, 1.11039851e-02,-4.61541219e+00,
 -4.00113165e+01, 6.94097246e-01]

qfrc_actuator:
[ 5.81524244e-04,-5.01091500e-04,-1.92047113e-04, 1.64805878e-06,
 -6.19822927e-04,-6.48675576e-04,-2.81454387e-04,-1.00824446e-05,
 -5.29117032e-04,-4.39420004e-04,-1.52406028e-04,-1.44091531e-06,
  2.10000000e-01,-7.90393628e-04, 9.00000000e-02, 9.32302331e-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: -0.0005267570870201507
  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([ 0.10361705, -0.0703732 ,  0.06197761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.90744157e-05,-1.18393341e-05,-9.62424597e-06, 2.82477149e-05,
 -1.84512406e-06, 2.66067980e-05, 1.91932591e-05,-5.25055983e-05,
  5.63932497e-05,-2.50854163e-06, 4.08462993e-06,-4.37478501e-05,
  2.80433061e-01, 1.75731752e-04, 9.66800171e-05, 3.68754771e-04,
 -8.82464295e-05, 4.97146956e-05,-9.80992405e+00,-1.18046170e-02,
 -2.39510728e-02, 6.41532087e-05]


--- Step 310 ---
qpos:
[-1.35521224e-02, 1.35313129e-02, 1.00167995e-02, 1.47365488e-02,
 -1.89932895e-02,-9.04016865e-03,-1.73582094e-02, 1.63321123e-02,
 -1.21126150e-02,-6.69721509e-03,-1.43625641e-02, 1.51119565e-02,
  1.40888914e+00, 2.55693455e-02, 1.30373783e-01,-3.76559911e-03,
  9.49302697e-02,-7.01693204e-02, 1.04482231e-01, 9.99992520e-01,
  1.24706673e-03,-2.67772868e-04,-3.65157912e-03]

qacc:
[ -2.09923133, -0.82703833,  1.46037561,  3.02697735, -3.26416696,
  -1.48240557,  7.05627302,-13.30618259, 11.93934351, -0.61927023,
   4.06684049,-12.26709148,  5.78267031, -1.12893051,-10.56874244,
  37.55319434, -1.67620366,  0.21057648, -0.07873056, -4.62499662,
 -39.69077179,  0.64364106]

qfrc_actuator:
[ 5.67868510e-04,-4.94143863e-04,-1.62887692e-04, 1.79690082e-05,
 -6.39165196e-04,-6.25467417e-04,-2.55208183e-04,-2.39302539e-05,
 -4.60264482e-04,-4.60900463e-04,-1.69427235e-04,-2.78286726e-05,
  2.10000000e-01,-7.84311056e-04, 9.00000000e-02, 1.10567115e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005207389872587953
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33250901e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.33250901e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361855, -0.07037354,  0.06197786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.25668519e-05,-4.84086724e-07, 2.64889769e-05, 1.60259003e-05,
 -1.93891085e-05, 3.97966664e-05, 3.22881725e-05,-1.30654907e-05,
  7.04339570e-05,-2.38791261e-05,-1.85476612e-05,-2.72068791e-05,
  2.79570417e-01, 1.84574483e-04, 1.09950168e-04, 2.11843508e-04,
 -1.81199587e-04, 7.70401304e-05,-9.80985248e+00,-1.18089664e-02,
 -2.39609044e-02, 6.59740729e-05]


--- Step 311 ---
qpos:
[-1.35518479e-02, 1.35322819e-02, 1.00173050e-02, 1.47373894e-02,
 -1.89941383e-02,-9.03939465e-03,-1.73583793e-02, 1.63319214e-02,
 -1.21116271e-02,-6.69669418e-03,-1.43626359e-02, 1.51117655e-02,
  1.40862589e+00, 2.56020131e-02, 1.32154996e-01,-3.74636848e-03,
  9.49097744e-02,-7.01644922e-02, 1.04484468e-01, 9.99992482e-01,
  1.18844874e-03,-5.08372179e-04,-3.65583794e-03]

qacc:
[ -7.47364321, -0.86201143,  4.18000458, -7.88767151, -4.97057722,
  -2.97172832, 12.86111045,-22.90700539,  1.12250776, -0.38560268,
   2.31823151, -7.24010811,  5.58542075,-10.39185034, -4.59285945,
  16.87053816,  1.7965398 , -1.20159152,  0.23103549, 27.47420837,
  43.53394801, -2.99610326]

qfrc_actuator:
[ 5.23861335e-04,-4.72468570e-04,-1.45764834e-04, 9.42208201e-06,
 -6.68187470e-04,-6.29723843e-04,-2.21601591e-04,-4.99322253e-05,
 -4.55622912e-04,-4.74005093e-04,-1.79558060e-04,-4.34084386e-05,
  2.10000000e-01,-8.47567109e-04, 9.00000000e-02, 1.18275122e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005276127724209087
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05211917e-13, -6.57574481e-15,  1.00000000e+00, -6.91846718e-28,
        1.00000000e+00,  6.57574481e-15, -1.00000000e+00,  0.00000000e+00,
       -1.05211917e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08117598, -0.06126746,  0.06197757])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.44059097e-05, 2.75205636e-05, 2.08284784e-05,-7.34081696e-06,
 -2.95841798e-05, 2.41102866e-05, 4.53560081e-05,-2.34321378e-05,
  6.62543739e-06,-3.14637781e-05,-1.83031420e-05,-1.77793910e-05,
  2.78719363e-01, 1.15627986e-04, 9.68702316e-05, 1.08129118e-04,
 -3.06185694e-04, 1.08613165e-04,-9.80975534e+00,-1.18137887e-02,
 -2.39738841e-02, 6.93651448e-05]


--- Step 312 ---
qpos:
[-1.35524489e-02, 1.35336911e-02, 1.00176107e-02, 1.47381168e-02,
 -1.89953289e-02,-9.03870548e-03,-1.73580144e-02, 1.63311045e-02,
 -1.21109357e-02,-6.69645426e-03,-1.43625451e-02, 1.51117229e-02,
  1.40837776e+00, 2.56350020e-02, 1.33936629e-01,-3.72625353e-03,
  9.48963319e-02,-7.01643888e-02, 1.04486934e-01, 9.99992359e-01,
  1.18397320e-03,-6.63907717e-04,-3.66587997e-03]

qacc:
[ -7.60464544,  0.92205706, -1.9396617 , -0.05220989, -2.951003  ,
  -2.88837678, 12.7899937 ,-24.42860995, -2.57867879, -0.51534158,
   0.68084668,  1.82479401,  5.4260689 , -5.60638321, -2.18636309,
   8.21558325,  1.76320726, -1.18122592,  0.05741845, 26.91410911,
  42.62707697, -2.95604756]

qfrc_actuator:
[ 4.80112184e-04,-4.42196260e-04,-1.53599897e-04, 4.06687123e-06,
 -6.84916443e-04,-6.50367219e-04,-2.01796864e-04,-8.29027098e-05,
 -4.71063126e-04,-4.81964289e-04,-1.67747977e-04,-3.47418615e-05,
  2.10000000e-01,-8.62977487e-04, 9.00000000e-02, 1.22026500e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00053311474077819
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.60315214e-14, -1.30157607e-14,  1.00000000e+00,  3.38820054e-28,
        1.00000000e+00,  1.30157607e-14, -1.00000000e+00,  0.00000000e+00,
        2.60315214e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08117732, -0.06126846,  0.06197734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.50635760e-05, 4.96282979e-05, 1.61454093e-07,-3.59633867e-06,
 -1.75987979e-05, 1.22385799e-06, 2.95722641e-05,-3.08206834e-05,
 -1.52775664e-05,-3.01312890e-05, 2.42894845e-06, 6.33637144e-06,
  2.77974328e-01, 1.45859823e-04, 7.70314060e-05, 6.05926805e-05,
 -1.58838193e-04, 3.69539652e-05,-9.80987603e+00,-1.18150841e-02,
 -2.39838271e-02, 7.02685115e-05]


--- Step 313 ---
qpos:
[-1.35535712e-02, 1.35353496e-02, 1.00179251e-02, 1.47380940e-02,
 -1.89967117e-02,-9.03784907e-03,-1.73580777e-02, 1.63306247e-02,
 -1.21107798e-02,-6.69647953e-03,-1.43620380e-02, 1.51117643e-02,
  1.40814547e+00, 2.56691539e-02, 1.35718531e-01,-3.70543020e-03,
  9.48898288e-02,-7.01689416e-02, 1.04489023e-01, 9.99992192e-01,
  1.23270234e-03,-7.35900593e-04,-3.68163646e-03]

qacc:
[ -4.52259953, -1.23139397,  8.05159862,-21.2516449 , -1.68483371,
   2.11419193, -8.63586239, 15.02636263, -4.65649265, -1.33137879,
   3.90001979, -2.93433438,  5.20121303,  2.40133244, -1.84055283,
   6.76745367,  1.73486359, -1.16403417, -0.09416866, 26.44714014,
  41.86513602, -2.92440736]

qfrc_actuator:
[ 4.54628496e-04,-4.42613347e-04,-1.58303367e-04,-3.48745614e-05,
 -6.94272462e-04,-6.45225377e-04,-2.25886187e-04,-6.64774197e-05,
 -4.98178488e-04,-4.86667176e-04,-1.43043233e-04,-2.96139189e-05,
  2.10000000e-01,-8.32354198e-04, 9.00000000e-02, 1.25194932e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005350481952993494
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.29687269e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.29687269e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08117774, -0.06126882,  0.06197726])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.68220014e-05, 2.72257113e-05, 5.45432902e-06,-3.68754168e-05,
 -9.88961787e-06, 1.06508595e-05,-2.12455182e-05, 1.69046385e-05,
 -2.75735156e-05,-2.08102844e-05, 1.89915759e-05, 4.04315603e-06,
  2.77212742e-01, 1.97308755e-04, 6.38369862e-05, 4.98434436e-05,
 -6.02389364e-05,-1.16431276e-06,-9.80995263e+00,-1.18148441e-02,
 -2.39899236e-02, 7.25867651e-05]


--- Step 314 ---
qpos:
[-1.35543019e-02, 1.35367685e-02, 1.00187049e-02, 1.47372913e-02,
 -1.89978518e-02,-9.03692996e-03,-1.73584383e-02, 1.63310407e-02,
 -1.21106056e-02,-6.69659099e-03,-1.43615943e-02, 1.51122222e-02,
  1.40792714e+00, 2.57037316e-02, 1.37500814e-01,-3.68498615e-03,
  9.48901701e-02,-7.01780934e-02, 1.04490209e-01, 9.99991991e-01,
  1.33386452e-03,-7.25614296e-04,-3.70305233e-03]

qacc:
[  3.41215214, -3.23105642, 14.34163889,-28.39428109,  2.09824622,
   2.75247582,-13.48457576, 29.42776646,  0.15974101,  0.92001169,
  -5.20489199, 12.57895548,  4.94095241, -4.01075894,  1.60386166,
  -5.08431307,  1.71107273, -1.14975172, -0.2259662 , 26.06278884,
  41.23228423, -2.89973301]

qfrc_actuator:
[ 4.75605158e-04,-4.79181832e-04,-1.43503769e-04,-7.55327355e-05,
 -6.81465014e-04,-6.42583185e-04,-2.40057492e-04,-2.11273134e-05,
 -4.96436112e-04,-4.89319683e-04,-1.46425544e-04,-8.85144840e-06,
  2.10000000e-01,-8.63844016e-04, 9.00000000e-02, 1.22670029e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005340853706603602
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.29921063e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.29921063e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08117742, -0.06126865,  0.0619773 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01503411e-05,-2.17603150e-05, 1.98356057e-05,-4.00163937e-05,
  1.24973406e-05, 4.98100376e-06,-1.39868657e-05, 4.54038326e-05,
  9.39269594e-07,-1.02092346e-05,-5.20273575e-06, 2.06072724e-05,
  2.76415785e-01, 1.44558411e-04, 5.80926503e-05,-9.04019555e-06,
 -7.46302480e-06,-7.66322534e-06,-9.80998791e+00,-1.18130778e-02,
 -2.39922586e-02, 7.62603509e-05]


--- Step 315 ---
qpos:
[-1.35547769e-02, 1.35380465e-02, 1.00196341e-02, 1.47363627e-02,
 -1.89984852e-02,-9.03624987e-03,-1.73582376e-02, 1.63312854e-02,
 -1.21104123e-02,-6.69667189e-03,-1.43615011e-02, 1.51125850e-02,
  1.40772145e+00, 2.57382512e-02, 1.39283546e-01,-3.66627205e-03,
  9.48972769e-02,-7.01917977e-02, 1.04490034e-01, 9.99991737e-01,
  1.48683550e-03,-6.34082792e-04,-3.73008363e-03]

qacc:
[  2.22353862, -0.86749252,  3.34697633, -5.65332794,  4.42128889,
  -2.24481191,  8.25487193,-11.92640917,  0.15578433,  0.82350381,
  -2.47699778,  1.37034435,  4.74100766, -8.13668248,  5.78479013,
 -19.59396287,  1.6914045 , -1.13811277, -0.34019886, 25.7517644 ,
  40.71443904, -2.88077315]

qfrc_actuator:
[ 4.88248536e-04,-4.83794070e-04,-1.35215218e-04,-8.13860502e-05,
 -6.55717534e-04,-6.59155760e-04,-2.12732420e-04,-3.01264220e-05,
 -4.95471364e-04,-4.90814897e-04,-1.66347050e-04,-1.45796256e-05,
  2.10000000e-01,-9.14577156e-04, 9.00000000e-02, 1.13259030e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005308040524654792
  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([ 0.0811765 , -0.06126808,  0.06197744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31591044e-05,-1.43596300e-05, 4.86185122e-06,-6.87718255e-06,
  2.60776093e-05,-1.46847905e-05, 2.82149955e-05,-8.38398982e-06,
  9.85262219e-07,-7.40198818e-06,-2.19605815e-05,-5.94522519e-06,
  2.75712593e-01, 1.09428110e-04, 4.67348882e-05,-8.24061700e-05,
  1.80835056e-06, 1.59563381e-05,-9.80998398e+00,-1.18097941e-02,
 -2.39908982e-02, 8.12427747e-05]


--- Step 316 ---
qpos:
[-1.35557874e-02, 1.35394573e-02, 1.00202580e-02, 1.47353673e-02,
 -1.89991503e-02,-9.03571423e-03,-1.73576729e-02, 1.63307315e-02,
 -1.21108986e-02,-6.69675284e-03,-1.43616362e-02, 1.51125267e-02,
  1.40752787e+00, 2.57726932e-02, 1.41066504e-01,-3.64877270e-03,
  9.49110856e-02,-7.02100173e-02, 1.04488103e-01, 9.99991384e-01,
  1.69112212e-03,-4.62135241e-04,-3.76269539e-03]

qacc:
[ -4.65342193,  0.90055867, -2.65858291,  1.87617758, -0.26234249,
  -2.85047644, 13.26080825,-27.56225463, -5.93972983, -0.21705485,
   2.57185515, -9.51638596,  4.56890401, -8.12267023,  3.89761683,
 -13.46162527,  1.67545031, -1.1288617 , -0.43899423, 25.50593428,
  40.29921829, -2.86644818]

qfrc_actuator:
[ 4.60365900e-04,-4.69235459e-04,-1.48456007e-04,-8.44510551e-05,
 -6.58072308e-04,-6.69227931e-04,-1.96754419e-04,-7.10262278e-05,
 -5.30486627e-04,-4.91697999e-04,-1.78127018e-04,-3.58572588e-05,
  2.10000000e-01,-9.58789995e-04, 9.00000000e-02, 1.06967663e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005256978499551257
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.64992445e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.64992445e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08117512, -0.06126717,  0.06197765])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75630984e-05, 7.26475818e-06,-1.58390750e-05,-3.64521057e-06,
 -1.63753981e-06,-1.27831199e-05, 1.61367431e-05,-4.07155481e-05,
 -3.49874684e-05,-9.81974878e-06,-1.62221276e-05,-2.24709984e-05,
  2.75075176e-01, 1.05019331e-04, 3.20396729e-05,-5.70500733e-05,
 -3.06138902e-05, 6.85438529e-05,-9.80994240e+00,-1.18050004e-02,
 -2.39858928e-02, 8.74985429e-05]


--- Step 317 ---
qpos:
[-1.35567803e-02, 1.35408257e-02, 1.00207699e-02, 1.47343522e-02,
 -1.90005285e-02,-9.03509032e-03,-1.73573278e-02, 1.63303931e-02,
 -1.21114557e-02,-6.69696278e-03,-1.43621741e-02, 1.51125883e-02,
  1.40734682e+00, 2.58076475e-02, 1.42849674e-01,-3.63280316e-03,
  9.49299176e-02,-7.02229719e-02, 1.04486598e-01, 9.99991104e-01,
  1.83403903e-03,-2.33192496e-04,-3.79140973e-03]

qacc:
[  0.14937961,  0.2159406 , -0.76822065,  0.63646415, -6.20066879,
   1.18573407, -4.94853748,  8.94489541, -0.62830997,  1.20289913,
  -5.04034673,  7.8509463 ,  4.37813452, -2.52434771,  4.85539067,
 -16.78247894,  1.25581624,  1.31628465,  0.10666946,-30.79097563,
  28.38520619,  1.91482244]

qfrc_actuator:
[ 4.62114397e-04,-4.78896926e-04,-1.56466879e-04,-8.58518488e-05,
 -6.94705333e-04,-6.57646186e-04,-2.05364493e-04,-5.93600499e-05,
 -5.33140830e-04,-5.09948080e-04,-2.02756559e-04,-3.05952707e-05,
  2.10000000e-01,-9.63542635e-04, 9.00000000e-02, 9.90152272e-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: -0.0005213598515790936
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33092218e-14, -1.27736547e-06,  1.00000000e+00,  1.70007404e-20,
        1.00000000e+00,  1.27736547e-06, -1.00000000e+00,  0.00000000e+00,
        1.33092218e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08452143, -0.07764545,  0.06197784])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.00821962e-07,-8.99513050e-06,-8.57240147e-06,-1.70487800e-06,
 -3.67084143e-05, 6.04541058e-06,-1.06637262e-05, 1.08859521e-05,
 -3.65354262e-06,-2.80492184e-05,-2.94263847e-05, 3.84510654e-06,
  2.74464781e-01, 1.41038674e-04, 2.83931768e-05,-7.40696461e-05,
 -1.03344763e-04, 1.49241026e-04,-9.80986426e+00,-1.17987030e-02,
 -2.39772781e-02, 9.50014579e-05]


--- Step 318 ---
qpos:
[-1.35574009e-02, 1.35418666e-02, 1.00215707e-02, 1.47336826e-02,
 -1.90023357e-02,-9.03432080e-03,-1.73574305e-02, 1.63305509e-02,
 -1.21116954e-02,-6.69737669e-03,-1.43630050e-02, 1.51130600e-02,
  1.40717847e+00, 2.58436305e-02, 1.44632834e-01,-3.61688021e-03,
  9.49533550e-02,-7.02249689e-02, 1.04482188e-01, 9.99991021e-01,
  1.84899632e-03, 4.90948081e-05,-3.81272214e-03]

qacc:
[ 3.24265720e+00,-5.35167214e-01,-1.89908780e-01, 5.96199829e+00,
 -3.74134605e+00, 2.47158715e+00,-1.06163141e+01, 1.97991001e+01,
  2.76478529e+00, 1.38819768e+00,-7.08255475e+00, 1.48116867e+01,
  4.13432380e+00, 2.38330698e+00, 5.40313523e-02,-4.06100516e-01,
  1.15136761e+00, 2.73939628e+00,-7.26535533e-01,-6.40796904e+01,
  2.64362801e+01, 3.66730944e+00]

qfrc_actuator:
[ 4.81302763e-04,-5.02968333e-04,-1.43658346e-04,-6.85217566e-05,
 -7.15706015e-04,-6.50999669e-04,-2.28289493e-04,-3.46017698e-05,
 -5.16715396e-04,-5.20736761e-04,-2.17077422e-04,-9.78195287e-06,
  2.10000000e-01,-9.45178112e-04, 9.00000000e-02, 9.90225630e-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: -0.0005235484052525247
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.95215170e-14, -3.97607585e-14,  1.00000000e+00,  3.16183584e-27,
        1.00000000e+00,  3.97607585e-14, -1.00000000e+00,  0.00000000e+00,
        7.95215170e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08443399, -0.0887808 ,  0.06197774])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.91584085e-05,-3.09045009e-05, 9.84887858e-06, 1.66171666e-05,
 -2.20813123e-05, 8.32823696e-06,-2.25955552e-05, 2.48648020e-05,
  1.63257953e-05,-3.23671883e-05,-2.35989184e-05, 1.86694391e-05,
  2.73832243e-01, 1.70658766e-04, 2.54835288e-05, 4.25882937e-06,
 -1.60815607e-04, 1.19321286e-04,-9.80985368e+00,-1.17935406e-02,
 -2.39698438e-02, 9.61568476e-05]


--- Step 319 ---
qpos:
[-1.35581322e-02, 1.35425480e-02, 1.00222930e-02, 1.47332559e-02,
 -1.90036917e-02,-9.03363786e-03,-1.73577407e-02, 1.63313629e-02,
 -1.21120809e-02,-6.69805217e-03,-1.43637133e-02, 1.51137559e-02,
  1.40702177e+00, 2.58804447e-02, 1.46416068e-01,-3.60072418e-03,
  9.49813344e-02,-7.02161707e-02, 1.04474344e-01, 9.99991091e-01,
  1.73785305e-03, 3.84393378e-04,-3.82748903e-03]

qacc:
[ -0.95648423,  0.24681914, -2.59133409,  7.18148341,  3.9140502 ,
   1.80360339, -9.37342736, 21.10810323, -1.26349391, -0.22486494,
  -0.64164218,  4.51153358,  3.87023766,  0.95324616, -0.66933391,
   2.30492936,  1.13551128,  2.6987929 , -0.85821586,-63.15107663,
  26.27105087,  3.22091368]

qfrc_actuator:
[ 4.75087963e-04,-5.35383647e-04,-1.54219537e-04,-5.80632021e-05,
 -6.91820903e-04,-6.65159566e-04,-2.41734668e-04,-2.35493818e-06,
 -5.24707311e-04,-5.26922022e-04,-2.07409105e-04, 2.27120741e-06,
  2.10000000e-01,-9.49169762e-04, 9.00000000e-02, 1.00168104e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005225775492322671
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.96692538e-14,  1.32782090e-14,  1.00000000e+00, -1.05786500e-27,
        1.00000000e+00, -1.32782090e-14, -1.00000000e+00,  0.00000000e+00,
        7.96692538e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0844325 , -0.08878139,  0.06197778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.71967989e-06,-4.69177176e-05,-1.51487836e-05, 9.79920450e-06,
  2.32251389e-05,-1.30464670e-05,-1.36258563e-05, 3.23106897e-05,
 -7.51175146e-06,-2.83430736e-05, 7.25073222e-07, 1.02128872e-05,
  2.73192164e-01, 1.52096483e-04, 3.36485423e-05, 1.98074157e-05,
 -1.99769439e-04, 2.38084812e-05,-9.80983082e+00,-1.17925176e-02,
 -2.39610933e-02, 8.76269802e-05]


--- Step 320 ---
qpos:
[-1.35589330e-02, 1.35430444e-02, 1.00228395e-02, 1.47325972e-02,
 -1.90047513e-02,-9.03330808e-03,-1.73578009e-02, 1.63325580e-02,
 -1.21129033e-02,-6.69886793e-03,-1.43643138e-02, 1.51138852e-02,
  1.40687565e+00, 2.59178253e-02, 1.48199595e-01,-3.58552481e-03,
  9.50020078e-02,-7.02064268e-02, 1.04470050e-01, 9.99991121e-01,
  1.61729708e-03, 6.31619309e-04,-3.83976514e-03]

qacc:
[ -0.60415196, -0.23012286,  1.44689844, -5.04637586,  2.58755603,
  -0.38164541, -0.94248717,  7.44175776, -3.80895149, -1.64493528,
   8.00136061,-17.89014194,  3.63555751, -1.04501675,  3.25593062,
 -10.96533573, -1.82652152,  0.23640701,  0.88733455, -4.53819857,
 -44.05177076,  1.32002056]

qfrc_actuator:
[ 4.71718080e-04,-5.37137159e-04,-1.60797973e-04,-6.95157246e-05,
 -6.77218198e-04,-6.91629363e-04,-2.31800646e-04, 1.62757843e-05,
 -5.47013478e-04,-5.30206046e-04,-2.01398463e-04,-2.64149314e-05,
  2.10000000e-01,-9.66789187e-04, 9.00000000e-02, 9.48694135e-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: -0.0005331369882194958
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.60304352e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.60304352e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361144, -0.07038125,  0.06197734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.58312968e-06,-3.06723809e-05,-1.77867832e-05,-1.37945029e-05,
  1.52430226e-05,-3.51378384e-05, 6.69380476e-06, 1.82310361e-05,
 -2.25004779e-05,-1.85320184e-05, 6.04980538e-07,-2.96755437e-05,
  2.72604526e-01, 1.29773175e-04, 3.75796541e-05,-4.30705529e-05,
 -2.32759370e-04,-6.50466531e-05,-9.80973603e+00,-1.17961991e-02,
 -2.39489313e-02, 7.06488297e-05]


--- Step 321 ---
qpos:
[-1.35594237e-02, 1.35435448e-02, 1.00231706e-02, 1.47321299e-02,
 -1.90059725e-02,-9.03324925e-03,-1.73577050e-02, 1.63332726e-02,
 -1.21143312e-02,-6.69954891e-03,-1.43652498e-02, 1.51136651e-02,
  1.40673921e+00, 2.59555835e-02, 1.49983199e-01,-3.57002471e-03,
  9.50155218e-02,-7.01957581e-02, 1.04468471e-01, 9.99991169e-01,
  1.48724773e-03, 7.92955455e-04,-3.84992903e-03]

qacc:
[  2.68043639,  0.99652618, -4.36248146,  8.02581588, -1.3947222 ,
  -1.77989197,  7.86087489,-16.23321903, -5.29693742,  0.40649227,
   0.30230976, -5.93219362,  3.43048365, -2.4955975 , -0.87531032,
   3.02013755, -1.7898334 ,  0.23121817,  0.67874637, -4.58243462,
 -42.96103582,  1.12259601]

qfrc_actuator:
[ 4.87810724e-04,-5.20524154e-04,-1.64858265e-04,-5.82319872e-05,
 -6.85963175e-04,-7.07431256e-04,-2.25966109e-04,-8.75888066e-06,
 -5.77558618e-04,-5.14013350e-04,-2.15369106e-04,-4.33384320e-05,
  2.10000000e-01,-9.92652847e-04, 9.00000000e-02, 9.64654141e-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: -0.0005417195449169895
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.12360609e-14,  2.56180305e-14,  1.00000000e+00, -1.31256697e-27,
        1.00000000e+00, -2.56180305e-14, -1.00000000e+00,  0.00000000e+00,
        5.12360609e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10360903, -0.07038162,  0.06197697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.59570442e-05,-4.77485905e-06,-1.30538687e-05, 9.08741757e-06,
 -8.33336163e-06,-3.32431808e-05, 4.39845384e-08,-2.59522106e-05,
 -3.11585912e-05, 4.70797135e-06,-1.87389932e-05,-1.82712255e-05,
  2.72069352e-01, 1.12449798e-04, 3.06353917e-05, 2.24825847e-05,
 -1.16182819e-04,-4.84182508e-05,-9.80983868e+00,-1.18000309e-02,
 -2.39389735e-02, 5.96278858e-05]


--- Step 322 ---
qpos:
[-1.35597184e-02, 1.35443161e-02, 1.00229978e-02, 1.47321317e-02,
 -1.90069442e-02,-9.03358525e-03,-1.73574934e-02, 1.63340461e-02,
 -1.21161135e-02,-6.70005228e-03,-1.43667058e-02, 1.51135964e-02,
  1.40661251e+00, 2.59941229e-02, 1.51766451e-01,-3.55040500e-03,
  9.50220022e-02,-7.01841806e-02, 1.04468877e-01, 9.99991270e-01,
  1.34764001e-03, 8.70234252e-04,-3.85829097e-03]

qacc:
[  1.67992805,  2.73009288,-11.20082274, 19.93331444,  2.17835386,
  -0.728071  ,  1.58264325, -0.44874053, -3.11367662,  2.00558895,
  -7.43976196, 10.75078024,  3.23459666,  1.18462298,-13.07265818,
  44.80325464, -1.75841524,  0.22720585,  0.4962063 , -4.6180869 ,
 -42.04538474,  0.95978574]

qfrc_actuator:
[ 4.97476639e-04,-4.93006217e-04,-1.85050227e-04,-3.36370003e-05,
 -6.72872030e-04,-7.34525980e-04,-2.22597358e-04,-6.02458192e-06,
 -5.94951332e-04,-5.04106221e-04,-2.40928465e-04,-3.54422220e-05,
  2.10000000e-01,-9.87995669e-04, 9.00000000e-02, 1.18088124e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000546073097529548
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.08275829e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.08275829e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10360777, -0.07038199,  0.06197679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01036703e-05, 2.25658654e-05,-2.24658240e-05, 2.41160364e-05,
  1.28358918e-05,-4.67457690e-05,-4.37570899e-06, 8.09279019e-07,
 -1.82459096e-05, 7.93016392e-06,-2.75077855e-05, 7.09876139e-06,
  2.71579895e-01, 1.35076796e-04, 3.43755220e-05, 2.25430039e-04,
 -4.08881310e-05,-2.70778422e-05,-9.80990736e+00,-1.18045292e-02,
 -2.39324449e-02, 5.03265822e-05]


--- Step 323 ---
qpos:
[-1.35595505e-02, 1.35451707e-02, 1.00231633e-02, 1.47327387e-02,
 -1.90077512e-02,-9.03426416e-03,-1.73572494e-02, 1.63348456e-02,
 -1.21177452e-02,-6.70053663e-03,-1.43681663e-02, 1.51139527e-02,
  1.40649502e+00, 2.60335672e-02, 1.53548907e-01,-3.52061989e-03,
  9.50215549e-02,-7.01717062e-02, 1.04470632e-01, 9.99991438e-01,
  1.19841709e-03, 8.64979268e-04,-3.86510713e-03]

qacc:
[  4.02008085,  0.40280613, -3.84526632, 13.7317879 ,  1.43557896,
  -0.49256036,  0.98426023, -0.32884643,  1.31531415,  0.90955714,
  -5.00548579, 12.35858424,  3.02019897,  2.3193312 ,-32.04941487,
 110.24767756, -1.73190612,  0.22421072,  0.33737733, -4.64905813,
 -41.28406669,  0.8244396 ]

qfrc_actuator:
[ 5.21029040e-04,-4.76966602e-04,-1.61288694e-04,-1.40960266e-06,
 -6.64778489e-04,-7.50411524e-04,-2.20730271e-04,-4.72880311e-06,
 -5.86708653e-04,-4.98067150e-04,-2.37616980e-04,-1.30152663e-05,
  2.10000000e-01,-9.83333241e-04, 9.00000000e-02, 1.70860839e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005469662573264478
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.0148917e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.0148917e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10360742, -0.07038237,  0.06197675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.38256630e-05, 2.50678418e-05, 2.64939536e-05, 3.28867438e-05,
  8.45492492e-06,-4.28549993e-05,-8.28852898e-06,-8.41407358e-07,
  7.75909269e-06, 5.15714324e-06, 1.83032700e-06, 2.19581899e-05,
  2.71087584e-01, 1.37530629e-04, 5.96516292e-05, 5.48936797e-04,
 -3.93496014e-06,-1.24438880e-06,-9.80994452e+00,-1.18096318e-02,
 -2.39292763e-02, 4.26994159e-05]


--- Step 324 ---
qpos:
[-1.35591020e-02, 1.35460186e-02, 1.00236762e-02, 1.47337377e-02,
 -1.90084550e-02,-9.03478452e-03,-1.73569008e-02, 1.63348936e-02,
 -1.21192648e-02,-6.70128402e-03,-1.43688922e-02, 1.51145596e-02,
  1.40638516e+00, 2.60734351e-02, 1.55330039e-01,-3.47163319e-03,
  9.50142680e-02,-7.01583435e-02, 1.04473187e-01, 9.99991666e-01,
  1.03952472e-03, 7.78441763e-04,-3.87059078e-03]

qacc:
[ 2.44306168e+00,-1.77030301e-01,-1.04473737e+00, 7.28788541e+00,
  8.97725219e-01,-1.63112619e+00, 9.29092537e+00,-2.25805528e+01,
  1.00606958e+00,-1.88601060e+00, 5.15889967e+00,-1.79830919e+00,
  2.83034921e+00,-2.00896339e+00,-6.02453162e+01, 2.07690797e+02,
 -1.70991610e+00, 2.22095642e-01, 1.99837685e-01,-4.67820698e+00,
 -4.06588271e+01, 7.10891652e-01]

qfrc_actuator:
[ 5.34815710e-04,-4.85487190e-04,-1.47300968e-04, 1.73209647e-05,
 -6.59698242e-04,-7.06207647e-04,-2.01974331e-04,-3.97919877e-05,
 -5.81200814e-04,-5.12014020e-04,-1.99538004e-04, 4.34310976e-08,
  2.10000000e-01,-1.01460903e-03, 9.00000000e-02, 2.69958403e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005450635566355902
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54608617e-14, -2.54608617e-14,  1.00000000e+00, -6.48255476e-28,
        1.00000000e+00,  2.54608617e-14, -1.00000000e+00,  0.00000000e+00,
       -2.54608617e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10360782, -0.07038275,  0.06197683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44458612e-05, 1.23849054e-05, 2.35653374e-05, 2.13605285e-05,
  5.32911176e-06, 1.85236784e-05, 8.86309642e-06,-3.72013561e-05,
  5.76476757e-06,-9.67923199e-06, 4.01501966e-05, 1.37740042e-05,
  2.70621246e-01, 9.78858683e-05, 1.07062046e-04, 1.03340911e-03,
 -3.05167380e-06, 2.89321339e-05,-9.80995214e+00,-1.18152916e-02,
 -2.39294084e-02, 3.67085717e-05]


--- Step 325 ---
qpos:
[-1.35588372e-02, 1.35471798e-02, 1.00237154e-02, 1.47346243e-02,
 -1.90090922e-02,-9.03487850e-03,-1.73565202e-02, 1.63348357e-02,
 -1.21200161e-02,-6.70215530e-03,-1.43691230e-02, 1.51146264e-02,
  1.40628168e+00, 2.61132404e-02, 1.57110389e-01,-3.40067733e-03,
  9.50014343e-02,-7.01490894e-02, 1.04476392e-01, 9.99991877e-01,
  9.29547572e-04, 6.25739674e-04,-3.87161861e-03]

qacc:
[-1.61264454e+00, 1.51002771e+00,-4.30341695e+00, 2.87968524e+00,
  5.71308965e-01, 2.54792967e-01, 3.54239780e-01,-2.54949362e+00,
  6.72279802e+00,-2.67205855e+00, 1.15485857e+01,-2.15752136e+01,
  2.70514193e+00,-6.17045296e+00,-6.78484891e+01, 2.35409520e+02,
 -1.38670096e+00,-1.02716514e+00, 1.62766013e-01, 2.45837229e+01,
 -3.29850291e+01, 2.28128497e+00]

qfrc_actuator:
[ 5.24987360e-04,-4.73182145e-04,-1.74827124e-04, 1.01718972e-05,
 -6.56430618e-04,-6.61819665e-04,-1.90923000e-04,-4.26455197e-05,
 -5.41850286e-04,-5.19925360e-04,-1.76840985e-04,-2.80197601e-05,
  2.10000000e-01,-1.06732851e-03, 9.00000000e-02, 3.81338537e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005412353753700469
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.28204737e-14,  4.25233550e-06,  1.00000000e+00,  5.45169556e-20,
        1.00000000e+00, -4.25233550e-06, -1.00000000e+00,  0.00000000e+00,
       -1.28204737e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10153932, -0.0620735 ,  0.06197699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.44820253e-06, 2.50062109e-05,-2.13304536e-05,-5.38835799e-06,
  3.44342516e-06, 5.50103389e-05, 1.46899587e-05,-2.47570562e-06,
  3.95443223e-05,-4.38039801e-06, 2.61389721e-05,-2.68172258e-05,
  2.70234019e-01, 6.09149599e-05, 1.80955480e-04, 1.18891109e-03,
 -3.65234271e-05, 6.33595052e-05,-9.80993172e+00,-1.18214721e-02,
 -2.39327909e-02, 3.23230295e-05]


--- Step 326 ---
qpos:
[-1.35590379e-02, 1.35486853e-02, 1.00233618e-02, 1.47357544e-02,
 -1.90100300e-02,-9.03469580e-03,-1.73559848e-02, 1.63350995e-02,
 -1.21199443e-02,-6.70302257e-03,-1.43693839e-02, 1.51143767e-02,
  1.40618437e+00, 2.61528678e-02, 1.58891527e-01,-3.31605478e-03,
  9.49849345e-02,-7.01496076e-02, 1.04477603e-01, 9.99991989e-01,
  9.35608486e-04, 4.28480008e-04,-3.86816480e-03]

qacc:
[ -4.05297286,  2.0624919 , -7.70794478, 12.28208865, -2.60986223,
   0.60042898, -2.9599541 ,  8.06752319,  7.18284776, -0.57597139,
   3.37296029, -8.77733126,  2.61635196, -6.6631579 ,-40.35137472,
 142.60725365, -0.91651344, -2.44307377, -0.49862517, 58.10346166,
 -22.05186551,  2.2976224 ]

qfrc_actuator:
[ 5.01342031e-04,-4.48698925e-04,-1.91074300e-04, 2.33478518e-05,
 -6.72007697e-04,-6.53157747e-04,-1.84463713e-04,-2.65183309e-05,
 -5.00647777e-04,-5.24249314e-04,-1.81180112e-04,-4.45602324e-05,
  2.10000000e-01,-1.11484472e-03, 9.00000000e-02, 4.47560760e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005413324533099576
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12726984e-14,  6.40908730e-15,  1.00000000e+00,  3.28611200e-28,
        1.00000000e+00, -6.40908730e-15, -1.00000000e+00,  0.00000000e+00,
       -5.12726984e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0989346 , -0.05161395,  0.06197699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.39524929e-05, 3.38208313e-05,-1.38966959e-05, 1.34048134e-05,
 -1.54601494e-05, 4.23760685e-05, 1.95530914e-05, 1.89459441e-05,
  4.23678559e-05,-2.47948126e-06,-2.94380464e-06,-1.63453543e-05,
  2.69909346e-01, 5.35458052e-05, 2.27700260e-04, 7.54468287e-04,
 -7.72293741e-05, 5.55552552e-05,-9.80992775e+00,-1.18260400e-02,
 -2.39385218e-02, 3.09859856e-05]


--- Step 327 ---
qpos:
[-1.35591765e-02, 1.35500809e-02, 1.00232708e-02, 1.47370465e-02,
 -1.90108024e-02,-9.03435957e-03,-1.73555521e-02, 1.63352433e-02,
 -1.21193782e-02,-6.70376726e-03,-1.43697718e-02, 1.51142677e-02,
  1.40609404e+00, 2.61928572e-02, 1.60673859e-01,-3.22418465e-03,
  9.49648054e-02,-7.01597752e-02, 1.04476320e-01, 9.99991973e-01,
  1.05599521e-03, 1.87187723e-04,-3.86048595e-03]

qacc:
[ 5.48217716e-01,-5.46367334e-01, 1.05176843e+00, 1.41481384e+00,
  1.42971594e+00, 2.39999989e-01,-5.96695237e-02,-1.96024131e+00,
  4.30821827e+00, 7.97791268e-01,-3.21788409e+00, 5.78011999e+00,
  2.50469077e+00,-1.56450010e+00,-2.02660069e+01, 7.32869807e+01,
 -9.07340246e-01,-2.41235544e+00,-6.23728582e-01, 5.72467652e+01,
 -2.17930147e+01, 2.15735135e+00]

qfrc_actuator:
[ 5.05267022e-04,-4.70322991e-04,-1.82692926e-04, 3.06552898e-05,
 -6.63045860e-04,-6.65952321e-04,-1.98647749e-04,-3.48931705e-05,
 -4.76448840e-04,-5.08746557e-04,-1.83661220e-04,-3.64422198e-05,
  2.10000000e-01,-1.12359340e-03, 9.00000000e-02, 4.81313927e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000538338282144106
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.15578708e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.15578708e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09893516, -0.05161288,  0.06197712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.19312663e-06,-5.00378510e-06, 1.41245847e-05, 8.53868108e-06,
  8.51647956e-06, 1.57813183e-05,-2.35523148e-06,-5.51083589e-06,
  2.54474465e-05, 1.28229724e-05,-3.92284519e-06, 7.59012594e-06,
  2.69594996e-01, 9.07826686e-05, 1.95903767e-04, 4.10466881e-04,
 -9.34232077e-05,-1.18191567e-06,-9.80991984e+00,-1.18261175e-02,
 -2.39464195e-02, 3.44084615e-05]


--- Step 328 ---
qpos:
[-1.35596128e-02, 1.35510365e-02, 1.00234930e-02, 1.47381104e-02,
 -1.90114617e-02,-9.03414989e-03,-1.73551462e-02, 1.63353175e-02,
 -1.21188706e-02,-6.70405030e-03,-1.43703443e-02, 1.51138710e-02,
  1.40601086e+00, 2.62334587e-02, 1.62457435e-01,-3.13037731e-03,
  9.49410752e-02,-7.01794910e-02, 1.04472106e-01, 9.99991757e-01,
  1.28932001e-03,-9.77264222e-05,-3.84881751e-03]

qacc:
[ -2.56336373, -1.92254582,  6.98264876,-11.11725276,  0.98405555,
  -0.23751213,  0.89486926, -1.96025636, -0.52426237,  0.53501399,
   0.19366602, -5.21756702,  2.33994358,  1.04479254, -4.07544046,
  16.80658668, -0.90025758, -2.38704989, -0.73240945, 56.55252019,
 -21.59063364,  2.0279925 ]

qfrc_actuator:
[ 4.89887585e-04,-5.19295072e-04,-1.77785150e-04, 1.66731131e-05,
 -6.57458955e-04,-6.91608301e-04,-2.07269646e-04,-3.99036269e-05,
 -4.80205110e-04,-4.63715303e-04,-1.84918538e-04,-4.93647828e-05,
  2.10000000e-01,-1.12730294e-03, 9.00000000e-02, 4.88579851e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005331936117523514
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.20553416e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.20553416e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.098936  , -0.05161096,  0.06197733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53423599e-05,-4.84759474e-05, 5.91238504e-06,-1.35410063e-05,
  5.82031844e-06,-1.75226946e-05,-5.83432376e-06,-4.52156940e-06,
 -2.99132318e-06, 5.17079867e-05, 1.16432150e-06,-1.23631781e-05,
  2.69239559e-01, 1.06109015e-04, 1.43896267e-04, 1.22555249e-04,
 -1.08775546e-04,-4.90809572e-05,-9.80984761e+00,-1.18217379e-02,
 -2.39565069e-02, 4.34765125e-05]


--- Step 329 ---
qpos:
[-1.35602310e-02, 1.35518352e-02, 1.00236708e-02, 1.47393329e-02,
 -1.90120492e-02,-9.03406258e-03,-1.73545740e-02, 1.63356628e-02,
 -1.21187563e-02,-6.70388081e-03,-1.43709672e-02, 1.51133139e-02,
  1.40593418e+00, 2.62745456e-02, 1.64242040e-01,-3.03787688e-03,
  9.49244726e-02,-7.02039776e-02, 1.04468534e-01, 9.99991327e-01,
  1.57777066e-03,-2.95800691e-04,-3.84296299e-03]

qacc:
[ -1.57560482,  0.24650832, -1.84379446,  4.76837892,  0.63177596,
  -0.06956573, -1.13351765,  5.65243693, -3.44191978,  0.41523615,
   0.07653027, -3.1194866 ,  2.16191956,  0.35117172,  5.4433421 ,
 -16.94416267,  1.78190556, -1.19267324,  0.1602088 , 27.39543621,
  43.52190769, -2.96602443]

qfrc_actuator:
[ 4.81013033e-04,-5.13291250e-04,-1.75117368e-04, 2.57477180e-05,
 -6.53910992e-04,-6.89257203e-04,-1.94836444e-04,-2.51451865e-05,
 -5.00379451e-04,-4.36860335e-04,-1.85333139e-04,-5.67871268e-05,
  2.10000000e-01,-1.14613655e-03, 9.00000000e-02, 4.80194563e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000532239758912964
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04297265e-13, -3.25928953e-15,  1.00000000e+00, -3.39934985e-28,
        1.00000000e+00,  3.25928953e-15, -1.00000000e+00,  0.00000000e+00,
       -1.04297265e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08117697, -0.06126933,  0.06197737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.37315605e-06,-2.04494540e-05,-7.07899783e-06, 6.94035805e-06,
  3.69730324e-06,-8.82040680e-06, 7.94617239e-06, 1.37188963e-05,
 -2.02237045e-05, 5.54629513e-05, 9.97679980e-06,-5.40762637e-06,
  2.68876910e-01, 9.38295742e-05, 8.93600510e-05,-5.63483141e-05,
 -1.23331592e-04,-8.88595102e-05,-9.80971364e+00,-1.18129360e-02,
 -2.39686993e-02, 5.81395241e-05]


--- Step 330 ---
qpos:
[-1.35602620e-02, 1.35526362e-02, 1.00235149e-02, 1.47406539e-02,
 -1.90129344e-02,-9.03407420e-03,-1.73540974e-02, 1.63355067e-02,
 -1.21185396e-02,-6.70350502e-03,-1.43715092e-02, 1.51130401e-02,
  1.40586332e+00, 2.63159568e-02, 1.66027259e-01,-2.94727778e-03,
  9.49130488e-02,-7.02286368e-02, 1.04467413e-01, 9.99990794e-01,
  1.86806372e-03,-4.31626233e-04,-3.83864021e-03]

qacc:
[  5.07937296,  1.1288682 , -4.45356232,  6.70872232, -2.58837458,
  -0.89027943,  5.11101089,-13.57415287,  0.89289704,  0.62761563,
  -3.04149406,  7.66687038,  2.00359566, -0.76855186,  6.62805567,
 -21.98426531,  1.29466184, -0.04318136,  0.61299946,  0.80143664,
  31.12641078, -0.81543808]

qfrc_actuator:
[ 5.11549990e-04,-5.09914276e-04,-1.91313759e-04, 3.06083726e-05,
 -6.69343021e-04,-7.05560679e-04,-2.05457812e-04,-5.20961712e-05,
 -4.94541190e-04,-4.38839293e-04,-1.85302453e-04,-4.31687496e-05,
  2.10000000e-01,-1.17416271e-03, 9.00000000e-02, 4.69766526e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005376957627829734
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.16194799e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.16194799e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08459268, -0.06872649,  0.06197714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.02258069e-05,-9.20137747e-06,-2.10435116e-05, 3.87665240e-06,
 -1.53402009e-05,-1.89839909e-05,-1.09829151e-05,-2.67858255e-05,
  5.28053991e-06, 3.08540233e-05, 1.25288305e-05, 1.62358662e-05,
  2.68545230e-01, 7.87034786e-05, 4.55492171e-05,-9.34738364e-05,
 -2.99659299e-05,-3.60927684e-05,-9.80974555e+00,-1.18002664e-02,
 -2.39756726e-02, 7.74948182e-05]


--- Step 331 ---
qpos:
[-1.35602723e-02, 1.35533527e-02, 1.00234586e-02, 1.47420038e-02,
 -1.90146874e-02,-9.03429514e-03,-1.73539591e-02, 1.63347154e-02,
 -1.21182548e-02,-6.70300566e-03,-1.43719850e-02, 1.51129436e-02,
  1.40579768e+00, 2.63575571e-02, 1.67812958e-01,-2.85954274e-03,
  9.49064275e-02,-7.02416560e-02, 1.04465789e-01, 9.99990493e-01,
  2.02142490e-03,-5.08235648e-04,-3.83011821e-03]

qacc:
[  0.1849892 , -0.3309331 ,  0.89527   , -0.49119239, -7.54266658,
  -0.62393636,  4.53085299,-14.85708015,  0.59403728,  0.34251859,
  -1.7351497 ,  4.61022082,  1.86805628, -1.66541538,  9.34864645,
 -31.7883262 ,  1.20065508,  2.91000248, -0.12591882,-68.57826867,
  29.34894829,  2.0742763 ]

qfrc_actuator:
[ 5.11779677e-04,-5.08209847e-04,-1.83016393e-04, 3.29372725e-05,
 -7.13574669e-04,-7.33031391e-04,-2.29716496e-04,-8.56560866e-05,
 -4.91186355e-04,-4.40300761e-04,-1.85115876e-04,-3.50581615e-05,
  2.10000000e-01,-1.20773739e-03, 9.00000000e-02, 4.54674028e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005481830882059155
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.53159722e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.53159722e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08443649, -0.08877219,  0.0619767 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06875309e-06,-7.60756086e-06, 3.93895944e-06, 1.28108292e-06,
 -4.46831312e-05,-4.14760729e-05,-3.04487216e-05,-3.52721637e-05,
  3.50900811e-06, 1.90691989e-05, 8.66230550e-06, 1.01816625e-05,
  2.68248778e-01, 6.60829357e-05, 2.25155124e-05,-1.47526932e-04,
  2.43394517e-07, 7.02557386e-06,-9.80978732e+00,-1.17884401e-02,
 -2.39806995e-02, 9.61876808e-05]


--- Step 332 ---
qpos:
[-1.35599353e-02, 1.35541126e-02, 1.00237189e-02, 1.47433390e-02,
 -1.90166123e-02,-9.03449945e-03,-1.73542585e-02, 1.63338516e-02,
 -1.21175873e-02,-6.70243149e-03,-1.43724150e-02, 1.51129530e-02,
  1.40573679e+00, 2.63992572e-02, 1.69598989e-01,-2.77490321e-03,
  9.49045017e-02,-7.02432988e-02, 1.04462794e-01, 9.99990492e-01,
  2.04117599e-03,-5.27151627e-04,-3.81733318e-03]

qacc:
[  3.01916132, -0.86399828,  3.21577572, -3.99756902, -1.50707368,
   1.09829011, -3.57290155,  2.99912651,  3.34080604,  0.18234182,
  -0.96540026,  2.68322251,  1.75006602, -2.22501301,  9.82894722,
 -33.78912448,  1.17388224,  2.84411079, -0.34269748,-66.91412024,
  28.59495727,  2.10771011]

qfrc_actuator:
[ 5.29661728e-04,-4.89670496e-04,-1.60322601e-04, 3.37773006e-05,
 -7.21139215e-04,-7.13794579e-04,-2.44124087e-04,-8.73418248e-05,
 -4.71575560e-04,-4.41451535e-04,-1.84853240e-04,-3.02596091e-05,
  2.10000000e-01,-1.24463582e-03, 9.00000000e-02, 4.38730447e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005571852961363463
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.47208581e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.47208581e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08443828, -0.08876859,  0.06197632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.78817140e-05, 1.51569061e-05, 2.16528100e-05, 6.75617990e-07,
 -8.85445732e-06,-1.17091520e-05,-2.79236410e-05,-5.19742565e-06,
  1.97048756e-05, 1.17281430e-05, 5.61739347e-06, 6.11284776e-06,
  2.67981417e-01, 5.68806935e-05, 6.12156819e-06,-1.61956672e-04,
 -2.90858019e-06, 1.20544549e-06,-9.80993625e+00,-1.17825019e-02,
 -2.39841061e-02, 1.07805478e-04]


--- Step 333 ---
qpos:
[-1.35593870e-02, 1.35547621e-02, 1.00240512e-02, 1.47447105e-02,
 -1.90179235e-02,-9.03482778e-03,-1.73542051e-02, 1.63336273e-02,
 -1.21163450e-02,-6.70214212e-03,-1.43726786e-02, 1.51134037e-02,
  1.40567980e+00, 2.64407578e-02, 1.71385075e-01,-2.69178370e-03,
  9.49071801e-02,-7.02337899e-02, 1.04457668e-01, 9.99990796e-01,
  1.93011638e-03,-4.89652876e-04,-3.80024671e-03]

qacc:
[ 1.83552856e+00,-2.75642996e-01, 6.11233890e-01,-8.80380574e-03,
  5.34347514e+00, 1.56160331e-01,-3.51301372e+00, 1.41282779e+01,
  5.02701258e+00, 5.68602714e-02,-2.62884271e+00, 1.02270900e+01,
  1.65352414e+00,-4.65070650e+00, 4.63301879e+00,-1.62339844e+01,
  1.15102852e+00, 2.78791736e+00,-5.32589649e-01,-6.55115869e+01,
  2.79618935e+01, 2.12818569e+00]

qfrc_actuator:
[ 5.40047824e-04,-5.14382214e-04,-1.64753088e-04, 3.37560672e-05,
 -6.89299552e-04,-7.02180756e-04,-2.16880987e-04,-5.24589317e-05,
 -4.42553095e-04,-4.77921820e-04,-1.84551160e-04,-9.69520000e-06,
  2.10000000e-01,-1.30126743e-03, 9.00000000e-02, 4.31290236e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005613203224358598
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.94469459e-14, -3.09043412e-14,  1.00000000e+00,  1.52812529e-27,
        1.00000000e+00,  3.09043412e-14, -1.00000000e+00,  0.00000000e+00,
        4.94469459e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08443915, -0.08876708,  0.06197614])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08726370e-05,-1.17371394e-05, 1.38740098e-06, 1.38962946e-06,
  3.15949381e-05,-8.57482927e-07, 2.12278426e-05, 3.33183696e-05,
  2.95746942e-05,-2.85083091e-05, 3.61934609e-06, 2.13779984e-05,
  2.67737729e-01, 3.23965302e-05,-2.82060970e-06,-7.97854249e-05,
 -1.33160467e-06, 2.52878529e-07,-9.80999757e+00,-1.17815619e-02,
 -2.39843390e-02, 1.10211552e-04]


--- Step 334 ---
qpos:
[-1.35594085e-02, 1.35552310e-02, 1.00243711e-02, 1.47464321e-02,
 -1.90188427e-02,-9.03507244e-03,-1.73541844e-02, 1.63338219e-02,
 -1.21154542e-02,-6.70216212e-03,-1.43728801e-02, 1.51141082e-02,
  1.40562600e+00, 2.64817942e-02, 1.73171124e-01,-2.60883687e-03,
  9.49143853e-02,-7.02133193e-02, 1.04449749e-01, 9.99991352e-01,
  1.69057992e-03,-3.96802374e-04,-3.77884025e-03]

qacc:
[-4.93597958e+00, 5.26106335e-01,-3.68316793e+00, 9.87516003e+00,
  3.40109079e+00, 1.05730900e+00,-5.39054530e+00, 1.26463191e+01,
 -3.06046607e+00,-5.35461342e-02,-1.46417010e+00, 5.97641174e+00,
  1.59289216e+00,-6.81289234e+00, 4.01055540e-01,-1.65548262e+00,
  1.13171718e+00, 2.74044869e+00,-6.98500893e-01,-6.43421901e+01,
  2.74357302e+01, 2.13849000e+00]

qfrc_actuator:
[ 5.10428156e-04,-5.29402764e-04,-1.67587393e-04, 5.09255222e-05,
 -6.70039548e-04,-6.95006711e-04,-2.18520764e-04,-3.18231347e-05,
 -4.61486653e-04,-4.99748853e-04,-1.84364379e-04, 2.19847261e-06,
  2.10000000e-01,-1.36947963e-03, 9.00000000e-02, 4.30693583e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000561481795205078
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.47163629e-14,  6.17909072e-14,  1.00000000e+00, -1.52724649e-27,
        1.00000000e+00, -6.17909072e-14, -1.00000000e+00,  0.00000000e+00,
        2.47163629e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08443929, -0.08876726,  0.06197613])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.93407927e-05,-2.12513243e-05,-5.04543483e-06, 1.67403154e-05,
  2.01788797e-05, 1.25656500e-05, 1.96513756e-06, 2.19836935e-05,
 -1.81058525e-05,-3.61405930e-05,-4.53205202e-06, 1.12092326e-05,
  2.67536936e-01, 1.12815169e-05, 2.04250958e-06,-7.95635166e-06,
  4.77906341e-06, 3.81339015e-06,-9.80997746e+00,-1.17855182e-02,
 -2.39814711e-02, 1.03671097e-04]


--- Step 335 ---
qpos:
[-1.35601303e-02, 1.35558589e-02, 1.00245290e-02, 1.47479671e-02,
 -1.90198685e-02,-9.03505488e-03,-1.73542403e-02, 1.63338971e-02,
 -1.21154871e-02,-6.70200439e-03,-1.43734866e-02, 1.51135383e-02,
  1.40557626e+00, 2.65229182e-02, 1.74957163e-01,-2.52557986e-03,
  9.49266526e-02,-7.01874982e-02, 1.04442915e-01, 9.99991957e-01,
  1.38878173e-03,-2.44700533e-04,-3.75460864e-03]

qacc:
[ -6.07913299,  0.29089983,  0.07565881, -3.18345212, -0.93172271,
   0.31648237, -0.11805148, -2.02356169, -8.07839776, -1.2412552 ,
  10.17583962,-31.7492959 ,  1.53572596, -2.1454052 , -0.99838965,
   3.35741012,  1.26552172,  1.33760834,  0.27141498,-31.24202884,
  29.51017346,  1.37492548]

qfrc_actuator:
[ 4.75254156e-04,-5.02988985e-04,-1.69408576e-04, 4.25759714e-05,
 -6.76103606e-04,-6.72901998e-04,-2.19493329e-04,-3.75235506e-05,
 -5.08497474e-04,-4.77146182e-04,-2.01961581e-04,-6.21100262e-05,
  2.10000000e-01,-1.39103763e-03, 9.00000000e-02, 4.32353868e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005583391908590032
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24277393e-14, -1.07599528e-06,  1.00000000e+00,  1.33721889e-20,
        1.00000000e+00,  1.07599528e-06, -1.00000000e+00,  0.00000000e+00,
        1.24277393e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08452527, -0.07764128,  0.06197626])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.60526539e-05, 1.41976718e-05,-6.25064046e-06,-9.10726599e-06,
 -5.47151005e-06, 3.05197863e-05, 2.63569034e-06,-4.66488326e-06,
 -4.75408578e-05, 1.89860291e-06,-2.52422730e-05,-6.57972054e-05,
  2.67370977e-01, 5.00553621e-05, 1.15197273e-05, 1.90706124e-05,
  1.53044345e-05, 1.17269149e-05,-9.80988069e+00,-1.17942839e-02,
 -2.39755606e-02, 8.83990151e-05]


--- Step 336 ---
qpos:
[-1.35612691e-02, 1.35567106e-02, 1.00246393e-02, 1.47486828e-02,
 -1.90213036e-02,-9.03486409e-03,-1.73540051e-02, 1.63338891e-02,
 -1.21160834e-02,-6.70169376e-03,-1.43743562e-02, 1.51121954e-02,
  1.40553090e+00, 2.65644511e-02, 1.76743324e-01,-2.44240118e-03,
  9.49460394e-02,-7.01661001e-02, 1.04437392e-01, 9.99992369e-01,
  1.13802975e-03,-9.45987458e-06,-3.73731923e-03]

qacc:
[ -3.62025729, -1.25143946,  8.36264763,-22.64550282, -3.54875973,
  -0.74858323,  3.36472082, -5.41027747, -4.92835969, -0.64390528,
   5.86944115,-18.95725056,  1.4284142 ,  0.7065394 ,  0.3921927 ,
  -1.18058586,  1.77984776, -1.10576767,  0.32757307, 25.36610207,
  41.66006009, -3.53541219]

qfrc_actuator:
[ 4.54858717e-04,-4.87487305e-04,-1.70467263e-04, 1.55884100e-06,
 -6.97020473e-04,-6.59803522e-04,-2.02255888e-04,-4.09021925e-05,
 -5.36136611e-04,-4.63754318e-04,-2.12034304e-04,-9.97024199e-05,
  2.10000000e-01,-1.40272205e-03, 9.00000000e-02, 4.31776411e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005636591105592946
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.24678360e-06,  6.41938123e-06,  1.00000000e+00,  1.44229605e-11,
        1.00000000e+00, -6.41938123e-06, -1.00000000e+00, -1.61558713e-27,
       -2.24678360e-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([ 0.081496  , -0.0619642 ,  0.06197604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.14575899e-05, 2.17756974e-05, 8.00081115e-07,-4.07986801e-05,
 -2.10637713e-05, 3.05449296e-05, 2.37169022e-05,-2.06785823e-06,
 -2.89938138e-05, 6.40486536e-06,-1.50638774e-05,-3.96628056e-05,
  2.67162141e-01, 7.10855528e-05, 1.96145808e-05,-4.23252282e-07,
  1.27397050e-05,-8.34710012e-06,-9.80979006e+00,-1.18053213e-02,
 -2.39680287e-02, 6.82465744e-05]


--- Step 337 ---
qpos:
[-1.35622997e-02, 1.35576179e-02, 1.00248285e-02, 1.47482238e-02,
 -1.90222889e-02,-9.03437576e-03,-1.73542019e-02, 1.63345656e-02,
 -1.21166616e-02,-6.70147705e-03,-1.43753315e-02, 1.51114690e-02,
  1.40548951e+00, 2.66063346e-02, 1.78529708e-01,-2.35988642e-03,
  9.49669361e-02,-7.01527084e-02, 1.04434029e-01, 9.99992553e-01,
  9.81714935e-04, 2.42578749e-04,-3.72432050e-03]

qacc:
[  0.9394561 , -2.56906207, 14.22346061,-34.72052573,  3.88845091,
   3.00085138,-13.03362641, 25.36848598,  0.15578911,  1.43949618,
  -7.91668567, 18.82632527,  1.30388948,  0.46176896,  2.3164763 ,
  -7.69316239,  0.37751189, -2.00158154,  0.54023366, 47.18694922,
   8.57294635, -2.15575401]

qfrc_actuator:
[ 4.61079784e-04,-4.96413871e-04,-1.71117935e-04,-5.83513928e-05,
 -6.73245683e-04,-6.52124688e-04,-2.27687458e-04,-7.37102436e-06,
 -5.34390953e-04,-4.73687816e-04,-2.17572144e-04,-6.79990674e-05,
  2.10000000e-01,-1.42659112e-03, 9.00000000e-02, 4.28107490e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000567342629252774
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.53312069e-07,  9.17288806e-15,  1.00000000e+00, -5.99275848e-21,
        1.00000000e+00, -9.17288806e-15, -1.00000000e+00,  0.00000000e+00,
        6.53312069e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09026542, -0.05633421,  0.06197588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.57782229e-06, 1.70421906e-06, 2.54961701e-06,-5.97396428e-05,
  2.31685415e-05, 2.96144604e-05,-1.62547190e-05, 3.56246447e-05,
  9.21597466e-07,-1.11514512e-05,-7.43396064e-06, 3.06875387e-05,
  2.66936492e-01, 6.38645661e-05, 2.10794787e-05,-3.14062462e-05,
 -5.53908552e-05,-7.53210120e-05,-9.80977518e+00,-1.18150945e-02,
 -2.39607620e-02, 4.94923917e-05]


--- Step 338 ---
qpos:
[-1.35629037e-02, 1.35586605e-02, 1.00249641e-02, 1.47470496e-02,
 -1.90226370e-02,-9.03387018e-03,-1.73545983e-02, 1.63360045e-02,
 -1.21172145e-02,-6.70144843e-03,-1.43765944e-02, 1.51111531e-02,
  1.40545248e+00, 2.66489317e-02, 1.80316308e-01,-2.27839997e-03,
  9.49839503e-02,-7.01497694e-02, 1.04431142e-01, 9.99992572e-01,
  9.48672350e-04, 4.45522341e-04,-3.70920208e-03]

qacc:
[  3.69255735, -1.1515451 ,  7.3722004 ,-19.75077052,  5.52716251,
   2.13821982,-10.82941626, 24.35227777,  0.21578951,  1.3996333 ,
  -7.08522142, 14.78865891,  1.17820571,  3.6498664 ,  3.43179676,
 -11.55845042, -0.97064324, -2.61316484,  0.11877051, 61.72690202,
 -24.31672067,  1.09857538]

qfrc_actuator:
[ 4.82912301e-04,-4.84413504e-04,-1.71631446e-04,-9.34090613e-05,
 -6.41103977e-04,-6.65643873e-04,-2.42608464e-04, 2.98189860e-05,
 -5.33123063e-04,-4.97430890e-04,-2.38194071e-04,-4.90564152e-05,
  2.10000000e-01,-1.42237112e-03, 9.00000000e-02, 4.22645383e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005787085099283398
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.19903091e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.19903091e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0989221 , -0.05162603,  0.0619754 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.19623709e-05, 1.09622477e-05,-1.90170377e-06,-3.60568581e-05,
  3.28012778e-05, 1.25416235e-06,-9.56298664e-06, 3.85911360e-05,
  1.29461296e-06,-3.01777739e-05,-2.27715108e-05, 1.88063226e-05,
  2.66731314e-01, 8.76297202e-05, 1.75620235e-05,-5.10428966e-05,
 -1.03441791e-04,-7.25617125e-05,-9.80983006e+00,-1.18219152e-02,
 -2.39524155e-02, 3.77227704e-05]


--- Step 339 ---
qpos:
[-1.35639316e-02, 1.35597848e-02, 1.00250521e-02, 1.47461613e-02,
 -1.90229421e-02,-9.03321682e-03,-1.73551582e-02, 1.63368229e-02,
 -1.21180924e-02,-6.70174112e-03,-1.43777727e-02, 1.51114037e-02,
  1.40541962e+00, 2.66923497e-02, 1.82103117e-01,-2.19815123e-03,
  9.49971710e-02,-7.01570509e-02, 1.04427852e-01, 9.99992469e-01,
  1.03606369e-03, 6.00844882e-04,-3.69149830e-03]

qacc:
[ -3.67678016,  0.83689255, -4.02189039,  8.97238688,  0.36494763,
  -0.62542106,  5.13256591,-15.71910504, -2.82853132,  0.51099159,
  -4.82103665, 14.71875786,  1.02937817,  4.7726564 ,  4.06487538,
 -13.76516109, -0.94836054, -2.55515299, -0.10055534, 60.30431687,
 -23.5857386 ,  1.3418655 ]

qfrc_actuator:
[ 4.60492287e-04,-4.77711466e-04,-1.71961582e-04,-7.80396197e-05,
 -6.39814637e-04,-6.56215342e-04,-2.51282784e-04,-2.15788923e-06,
 -5.49909025e-04,-5.11575321e-04,-2.32136831e-04,-2.00580767e-05,
  2.10000000e-01,-1.41955346e-03, 9.00000000e-02, 4.16170358e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005844408074946392
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.37454121e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.37454121e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09892053, -0.05162783,  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:
[-2.18178939e-05, 1.09269855e-05, 4.59592039e-07, 1.50721121e-05,
  2.21592820e-06, 9.83240532e-06,-8.25509397e-06,-3.15035796e-05,
 -1.67448219e-05,-3.48958606e-05,-2.32269703e-06, 2.72846580e-05,
  2.66507318e-01, 9.18340143e-05, 1.43357256e-05,-6.25892365e-05,
 -9.18110297e-05,-2.07175688e-05,-9.80991891e+00,-1.18235620e-02,
 -2.39454089e-02, 3.41716048e-05]


--- Step 340 ---
qpos:
[-1.35659102e-02, 1.35605647e-02, 1.00255699e-02, 1.47461763e-02,
 -1.90228848e-02,-9.03227095e-03,-1.73558723e-02, 1.63365419e-02,
 -1.21191645e-02,-6.70194670e-03,-1.43790286e-02, 1.51116128e-02,
  1.40539017e+00, 2.67363703e-02, 1.83890053e-01,-2.11858269e-03,
  9.50066752e-02,-7.01743574e-02, 1.04423396e-01, 9.99992240e-01,
  1.24151385e-03, 7.09776779e-04,-3.67083129e-03]

qacc:
[ -8.22141235,  0.22036116, -5.23255498, 20.40530837,  3.13736189,
  -1.45144248, 10.36855502,-29.35620395, -1.69915967,  0.24939947,
  -0.54082385, -0.12556705,  0.89009379,  3.20360605,  2.24866209,
  -7.6001288 , -0.92914578, -2.50623745, -0.29152719, 59.11376545,
 -22.97566741,  1.5408699 ]

qfrc_actuator:
[ 4.12200475e-04,-5.09694205e-04,-1.54413729e-04,-3.31288845e-05,
 -6.21192099e-04,-6.33155595e-04,-2.56165253e-04,-5.68043198e-05,
 -5.59434411e-04,-4.84246849e-04,-2.28081860e-04,-2.08519054e-05,
  2.10000000e-01,-1.43572262e-03, 9.00000000e-02, 4.12700183e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005856754293461081
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.1847678e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.1847678e-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([ 0.09891976, -0.05162797,  0.0619751 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.89575842e-05,-2.50983683e-05, 2.03971133e-05, 4.56914869e-05,
  1.86724092e-05, 2.55147547e-05,-4.95513584e-06,-5.51232836e-05,
 -9.99439651e-06, 8.53214334e-06,-2.48258477e-06,-1.83566357e-06,
  2.66291504e-01, 7.16683558e-05, 1.14878985e-05,-3.36160378e-05,
 -7.90388618e-05, 3.73785263e-05,-9.80993485e+00,-1.18203742e-02,
 -2.39404132e-02, 3.64204133e-05]


--- Step 341 ---
qpos:
[-1.35677636e-02, 1.35609720e-02, 1.00266501e-02, 1.47467241e-02,
 -1.90229499e-02,-9.03131505e-03,-1.73562758e-02, 1.63356121e-02,
 -1.21199974e-02,-6.70204638e-03,-1.43799690e-02, 1.51114350e-02,
  1.40536255e+00, 2.67802682e-02, 1.85677334e-01,-2.04100298e-03,
  9.50089334e-02,-7.01907886e-02, 1.04421923e-01, 9.99992039e-01,
  1.43559031e-03, 7.33495420e-04,-3.65009055e-03]

qacc:
[  1.10947991, -0.96980533,  0.49032558,  8.10936219, -1.05342387,
  -2.18720586, 10.56153373,-22.29911593,  2.09583581, -1.5418601 ,
   7.32711734,-14.59703907,  0.80093256, -2.42147068,  6.50987767,
 -22.10721656, -1.81149965,  0.21882862,  0.74564815, -5.53045224,
 -42.62713772,  0.08577819]

qfrc_actuator:
[ 4.20092492e-04,-5.28989200e-04,-1.26597329e-04,-6.73051181e-06,
 -6.28011613e-04,-6.37626243e-04,-2.40963992e-04,-8.88201005e-05,
 -5.46851618e-04,-4.67819805e-04,-2.07347378e-04,-3.91394887e-05,
  2.10000000e-01,-1.49889916e-03, 9.00000000e-02, 4.02150358e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005896041452347067
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17687332e-14,  2.35374665e-14,  1.00000000e+00,  2.77006164e-28,
        1.00000000e+00, -2.35374665e-14, -1.00000000e+00,  0.00000000e+00,
       -1.17687332e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10359567, -0.07037707,  0.06197494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.43434918e-06,-2.71012712e-05, 2.67516133e-05, 2.69245534e-05,
 -6.29593010e-06, 6.41591671e-06, 1.79520688e-05,-3.21676004e-05,
  1.23213634e-05, 2.06439850e-05, 2.21419169e-05,-1.80405428e-05,
  2.66114817e-01, 1.54036807e-05, 1.27215405e-05,-1.03315176e-04,
 -6.53509019e-05, 1.01883612e-04,-9.80988214e+00,-1.18124908e-02,
 -2.39374814e-02, 4.44088566e-05]


--- Step 342 ---
qpos:
[-1.35691644e-02, 1.35613598e-02, 1.00276728e-02, 1.47475818e-02,
 -1.90237860e-02,-9.03053752e-03,-1.73564154e-02, 1.63346787e-02,
 -1.21203279e-02,-6.70223951e-03,-1.43803014e-02, 1.51113899e-02,
  1.40533597e+00, 2.68236484e-02, 1.87464971e-01,-1.96623714e-03,
  9.50040891e-02,-7.02063659e-02, 1.04422611e-01, 9.99991878e-01,
  1.61878290e-03, 6.73667322e-04,-3.62902492e-03]

qacc:
[  3.92192399,  0.76590377, -4.08972707,  9.57375029, -6.68524539,
  -0.96700164,  3.14380248, -3.52082609,  4.40660927, -1.55788548,
   4.80094873, -3.3930498 ,  0.78266958, -5.51059906,  9.01166379,
 -30.87397066, -1.77560983,  0.21348836,  0.54020863, -5.28955627,
 -41.79268159,  0.21849249]

qfrc_actuator:
[ 4.43246556e-04,-5.22752963e-04,-1.28429700e-04, 8.56975241e-06,
 -6.67509155e-04,-6.58449629e-04,-2.31868172e-04,-8.95157591e-05,
 -5.21359680e-04,-4.75739881e-04,-1.76967204e-04,-3.20562268e-05,
  2.10000000e-01,-1.57204331e-03, 9.00000000e-02, 3.87510816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005915608996393332
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.69192194e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.69192194e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10359552, -0.07037661,  0.06197486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.32994649e-05,-2.16738258e-06,-3.18099698e-06, 1.55928113e-05,
 -3.97038582e-05,-1.49058483e-05, 1.15203497e-05,-4.25136057e-07,
  2.58669562e-05, 7.46031370e-06, 3.67578496e-05, 8.38457900e-06,
  2.66016665e-01,-1.45728118e-05, 3.09518446e-06,-1.48482174e-04,
 -1.59384228e-05, 5.64461024e-05,-9.80991287e+00,-1.18055699e-02,
 -2.39363851e-02, 5.15488245e-05]


--- Step 343 ---
qpos:
[-1.35702771e-02, 1.35616859e-02, 1.00284104e-02, 1.47486378e-02,
 -1.90247447e-02,-9.03003781e-03,-1.73566634e-02, 1.63341288e-02,
 -1.21203497e-02,-6.70255527e-03,-1.43804798e-02, 1.51114655e-02,
  1.40531133e+00, 2.68670177e-02, 1.89252592e-01,-1.89242876e-03,
  9.49922614e-02,-7.02211087e-02, 1.04424749e-01, 9.99991747e-01,
  1.79150468e-03, 5.31674203e-04,-3.60742184e-03]

qacc:
[  2.48911579,  1.1186336 , -4.95265791,  8.89511175, -1.06261273,
   0.72647482, -4.73887837, 11.74977927,  2.70008627, -0.34902577,
   0.49033777,  1.45358657,  0.77635778, -1.54692538,  2.85502614,
 -10.08432941, -1.74584215,  0.20859161,  0.36267854, -5.08648054,
 -41.10075255,  0.33175235]

qfrc_actuator:
[ 4.57427766e-04,-5.36907296e-04,-1.47656248e-04, 1.72209246e-05,
 -6.72657927e-04,-6.88900289e-04,-2.44265771e-04,-7.18050316e-05,
 -5.06233856e-04,-4.98111239e-04,-1.76723576e-04,-2.78677830e-05,
  2.10000000e-01,-1.59746591e-03, 9.00000000e-02, 3.83006342e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005898881328392294
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.41045397e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.41045397e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10359622, -0.07037634,  0.06197493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48240540e-05,-1.52939697e-05,-1.95094731e-05, 8.75428268e-06,
 -6.32193830e-06,-3.64080856e-05,-1.40606078e-05, 1.74658864e-05,
  1.58785137e-05,-1.02257010e-05, 6.60595951e-06, 5.94305259e-06,
  2.65957948e-01, 2.29173839e-05,-7.11165710e-06,-5.10517859e-05,
 -4.22639156e-06, 1.70401726e-05,-9.80991342e+00,-1.17990899e-02,
 -2.39386578e-02, 6.03634981e-05]


--- Step 344 ---
qpos:
[-1.35712116e-02, 1.35620093e-02, 1.00291975e-02, 1.47490679e-02,
 -1.90254136e-02,-9.02959462e-03,-1.73574003e-02, 1.63334485e-02,
 -1.21201897e-02,-6.70288045e-03,-1.43806908e-02, 1.51119350e-02,
  1.40528867e+00, 2.69104531e-02, 1.91040393e-01,-1.82038662e-03,
  9.49735475e-02,-7.02350351e-02, 1.04427727e-01, 9.99991617e-01,
  1.95410469e-03, 3.08643186e-04,-3.58509821e-03]

qacc:
[  1.5469636 , -1.43354323,  7.74353735,-18.64704985,  2.50212285,
   1.01835369, -3.19787048,  1.77505411,  1.58713093,  0.88644796,
  -4.84731837, 11.7296385 ,  0.7291247 , -0.80971539,  5.60041649,
 -19.25582905, -1.72156923,  0.20412921,  0.20990688, -4.91486695,
 -40.53622628,  0.43017473]

qfrc_actuator:
[ 4.66208781e-04,-5.27740568e-04,-1.41563609e-04,-1.36350026e-05,
 -6.57537557e-04,-6.89451250e-04,-2.69292844e-04,-7.89413258e-05,
 -4.97334753e-04,-4.93581528e-04,-1.76598433e-04,-7.70478158e-06,
  2.10000000e-01,-1.63006073e-03, 9.00000000e-02, 3.73858243e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005853186973827501
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.74195951e-14,  2.37097975e-14,  1.00000000e+00, -1.12430900e-27,
        1.00000000e+00, -2.37097975e-14, -1.00000000e+00,  0.00000000e+00,
        4.74195951e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10359758, -0.07037623,  0.06197512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.18090324e-06,-2.99324400e-06, 8.47063422e-07,-3.20137384e-05,
  1.49115176e-05,-2.30334356e-05,-3.36634285e-05,-8.84069224e-06,
  9.36319364e-06, 4.38172166e-07,-9.67567598e-07, 2.00685319e-05,
  2.65854579e-01, 2.78619090e-05, 1.23101348e-06,-9.28792793e-05,
 -2.80906335e-05,-1.68383867e-05,-9.80988541e+00,-1.17930677e-02,
 -2.39442335e-02, 7.08198298e-05]


--- Step 345 ---
qpos:
[-1.35727236e-02, 1.35624479e-02, 1.00302549e-02, 1.47490940e-02,
 -1.90265860e-02,-9.02914182e-03,-1.73587611e-02, 1.63323438e-02,
 -1.21199239e-02,-6.70310318e-03,-1.43806730e-02, 1.51126094e-02,
  1.40526742e+00, 2.69536849e-02, 1.92828603e-01,-1.75197286e-03,
  9.49480248e-02,-7.02481611e-02, 1.04431021e-01, 9.99991437e-01,
  2.10687846e-03, 5.47381859e-06,-3.56189320e-03]

qacc:
[ -5.00013169, -1.4266455 ,  7.03020046,-14.5593898 , -4.39174398,
   0.89026613, -1.34889498, -5.02384616,  0.92805326, -0.08407364,
  -0.37244497,  3.48249591,  0.68488662, -2.76033083, 11.57576892,
 -39.68753213, -1.70220846,  0.20008122,  0.07890544, -4.76951357,
 -40.0855863 ,  0.51737735]

qfrc_actuator:
[ 4.36238915e-04,-5.04615791e-04,-1.20499835e-04,-3.19451188e-05,
 -6.83876893e-04,-6.89925187e-04,-3.01473509e-04,-1.00625443e-04,
 -4.92168461e-04,-4.72975357e-04,-1.58666697e-04, 3.96891340e-06,
  2.10000000e-01,-1.68478398e-03, 9.00000000e-02, 3.54942093e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005784784360739967
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.79803116e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.79803116e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10359948, -0.07037624,  0.06197541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.97266596e-05, 2.02929567e-05, 1.94538266e-05,-1.90301146e-05,
 -2.59222818e-05,-2.06567868e-05,-4.13838102e-05,-2.40072397e-05,
  5.44703403e-06, 2.15099451e-05, 1.85957149e-05, 1.20488284e-05,
  2.65748286e-01, 6.82223384e-06,-1.64513318e-07,-1.91951008e-04,
 -8.59505116e-05,-4.55933328e-05,-9.80983010e+00,-1.17875153e-02,
 -2.39530570e-02, 8.28917035e-05]


--- Step 346 ---
qpos:
[-1.35749284e-02, 1.35631427e-02, 1.00312068e-02, 1.47489078e-02,
 -1.90280646e-02,-9.02884647e-03,-1.73607736e-02, 1.63313570e-02,
 -1.21199428e-02,-6.70339243e-03,-1.43806330e-02, 1.51134546e-02,
  1.40524790e+00, 2.69969217e-02, 1.94616999e-01,-1.68665463e-03,
  9.49272204e-02,-7.02498152e-02, 1.04433229e-01, 9.99991458e-01,
  2.12562447e-03,-2.38511633e-04,-3.53669036e-03]

qacc:
[ -6.01392105,  0.20872958,  0.6634979 , -4.3780611 , -2.67754517,
   1.86036273, -7.42440272, 10.61318318, -2.4823539 ,  0.20638119,
  -1.5757994 ,  4.53464706,  0.65394051, -1.09727143,  9.64015297,
 -33.37114327,  1.17960139,  2.86799241, -0.27136998,-67.11893001,
  29.35511401,  0.93655733]

qfrc_actuator:
[ 4.01455670e-04,-4.90985369e-04,-1.26199477e-04,-4.26991696e-05,
 -6.98909497e-04,-7.08149061e-04,-3.37615968e-04,-9.51867052e-05,
 -5.06991036e-04,-4.96089293e-04,-1.65804771e-04, 1.05803546e-05,
  2.10000000e-01,-1.71703595e-03, 9.00000000e-02, 3.39298293e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005843755836601461
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.37480624e-14,  2.13732561e-13,  1.00000000e+00, -5.07573420e-27,
        1.00000000e+00, -2.13732561e-13, -1.00000000e+00,  0.00000000e+00,
        2.37480624e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08445101, -0.08876176,  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:
[-3.56617216e-05, 2.82283145e-05, 2.50255934e-07,-9.57674246e-06,
 -1.57813862e-05,-3.93182552e-05,-4.63230196e-05, 2.65795328e-06,
 -1.46539550e-05,-6.73532945e-06, 9.27597229e-09, 8.41025779e-06,
  2.65670803e-01, 2.17103692e-05,-1.30270401e-05,-1.65195391e-04,
 -1.76682634e-04,-6.95448657e-05,-9.80974843e+00,-1.17824414e-02,
 -2.39650816e-02, 9.65590066e-05]


--- Step 347 ---
qpos:
[-1.35768445e-02, 1.35642539e-02, 1.00317013e-02, 1.47489435e-02,
 -1.90293672e-02,-9.02866993e-03,-1.73629487e-02, 1.63297133e-02,
 -1.21204838e-02,-6.70372444e-03,-1.43809185e-02, 1.51140490e-02,
  1.40523042e+00, 2.70404193e-02, 1.96405420e-01,-1.62337042e-03,
  9.49110288e-02,-7.02402433e-02, 1.04433529e-01, 9.99991727e-01,
  2.01325757e-03,-4.24973040e-04,-3.50888691e-03]

qacc:
[  2.48155397,  2.28130035, -8.28041364, 12.55388667,  1.52549516,
  -1.05737423,  6.31104951,-17.32754353, -4.56702049,  0.34591581,
  -0.24126542, -3.56334459,  0.60054937,  0.9401681 ,  6.19721824,
 -21.64131705,  1.15318305,  2.80649541, -0.47707088,-65.65756671,
  28.53271752,  1.25522327]

qfrc_actuator:
[ 4.17388646e-04,-4.65486180e-04,-1.47689257e-04,-3.11971909e-05,
 -6.89401186e-04,-7.01354435e-04,-3.40352753e-04,-1.27104706e-04,
 -5.33458884e-04,-5.09802041e-04,-1.87869542e-04,-3.64588178e-06,
  2.10000000e-01,-1.73593221e-03, 9.00000000e-02, 3.29260279e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005880070938870732
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.72027904e-14, -1.82910813e-13,  1.00000000e+00,  8.63390076e-27,
        1.00000000e+00,  1.82910813e-13, -1.00000000e+00,  0.00000000e+00,
        4.72027904e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08445246, -0.08876089,  0.06197501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48789387e-05, 4.09965491e-05,-1.59304035e-05, 1.25406186e-05,
  9.05716186e-06,-2.45980796e-05,-1.64544494e-05,-3.51501687e-05,
 -2.68821749e-05,-1.71205543e-05,-2.31629293e-05,-1.43503232e-05,
  2.65578051e-01, 3.95056026e-05,-1.47554991e-05,-1.09028030e-04,
 -1.42171329e-04, 2.77746018e-06,-9.80986959e+00,-1.17814229e-02,
 -2.39729890e-02, 1.06968057e-04]


--- Step 348 ---
qpos:
[-1.35782109e-02, 1.35654345e-02, 1.00317665e-02, 1.47495052e-02,
 -1.90302005e-02,-9.02879693e-03,-1.73648225e-02, 1.63276910e-02,
 -1.21209931e-02,-6.70382529e-03,-1.43815712e-02, 1.51137455e-02,
  1.40521429e+00, 2.70839085e-02, 1.98193873e-01,-1.56143478e-03,
  9.48993591e-02,-7.02196519e-02, 1.04431205e-01, 9.99992227e-01,
  1.77221413e-03,-5.55296216e-04,-3.47799144e-03]

qacc:
[  4.75128456,  2.36594674,-10.53963396, 20.29660584,  4.08992658,
  -2.02949752,  8.23935619,-15.03503645,  0.26109981, -0.51763938,
   6.07959331,-21.20356082,  0.54138195, -1.07135122,  4.11828609,
 -14.38200574,  1.13048598,  2.75485092, -0.65582332,-64.43581107,
  27.84628954,  1.51723663]

qfrc_actuator:
[ 4.45294293e-04,-4.86386239e-04,-1.78259096e-04,-6.69074797e-06,
 -6.65528164e-04,-7.15029612e-04,-3.23274590e-04,-1.45203919e-04,
 -5.31057255e-04,-4.82365967e-04,-2.00798849e-04,-4.77742058e-05,
  2.10000000e-01,-1.78257804e-03, 9.00000000e-02, 3.22603406e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005873987800228686
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.26904294e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.26904294e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08445299, -0.08876174,  0.06197503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83031861e-05,-6.49124970e-07,-2.36060084e-05, 2.59600842e-05,
  2.41501306e-05,-3.22848531e-05, 8.76895608e-06,-2.04042503e-05,
  1.64122716e-06, 1.24742690e-05,-1.98075544e-05,-4.59404608e-05,
  2.65468648e-01, 1.67399155e-05,-8.47654496e-06,-7.21264326e-05,
 -1.05541473e-04, 7.80973718e-05,-9.80990483e+00,-1.17855201e-02,
 -2.39781114e-02, 1.08293423e-04]


--- Step 349 ---
qpos:
[-1.35799223e-02, 1.35663947e-02, 1.00316236e-02, 1.47500338e-02,
 -1.90303955e-02,-9.02926762e-03,-1.73667681e-02, 1.63261894e-02,
 -1.21211248e-02,-6.70361094e-03,-1.43827164e-02, 1.51122224e-02,
  1.40519879e+00, 2.71270698e-02, 1.99982353e-01,-1.50008793e-03,
  9.48921339e-02,-7.01882130e-02, 1.04425638e-01, 9.99992886e-01,
  1.40450445e-03,-6.30629703e-04,-3.44359961e-03]

qacc:
[ -2.99341245,  0.22827563, -1.08639326,  0.99705553,  5.54683136,
   0.80673992, -5.75271776, 15.15099845,  3.27381708, -0.72391919,
   8.32413096,-28.86516565,  0.51889149, -3.52623852,  1.79184941,
  -6.29317612,  1.11112258,  2.71191639, -0.81096105,-63.42742596,
  27.2775003 ,  1.73488603]

qfrc_actuator:
[ 4.26749127e-04,-5.17192743e-04,-1.96369550e-04,-1.02798047e-05,
 -6.33399994e-04,-7.40754433e-04,-3.30211570e-04,-1.19522182e-04,
 -5.11678975e-04,-4.66002681e-04,-2.25827754e-04,-1.09096317e-04,
  2.10000000e-01,-1.84570888e-03, 9.00000000e-02, 3.19763298e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005833842697150135
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.13652486e-14,  1.18942081e-14,  1.00000000e+00, -8.48833117e-28,
        1.00000000e+00, -1.18942081e-14, -1.00000000e+00,  0.00000000e+00,
        7.13652486e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08445277, -0.08876397,  0.0619752 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.77739306e-05,-3.48700294e-05,-2.02375713e-05,-3.92624187e-06,
  3.28437982e-05,-4.28028423e-05,-1.32226012e-05, 2.42054559e-05,
  1.94443302e-05, 1.72989155e-05,-2.64751632e-05,-6.23657969e-05,
  2.65394110e-01,-9.07584360e-06,-2.52966558e-06,-3.13314824e-05,
 -6.62972363e-05, 1.56515140e-04,-9.80986037e+00,-1.17945781e-02,
 -2.39803800e-02, 1.00787169e-04]


--- Step 350 ---
qpos:
[-1.35821880e-02, 1.35672102e-02, 1.00312145e-02, 1.47508555e-02,
 -1.90305479e-02,-9.02985825e-03,-1.73682823e-02, 1.63242523e-02,
 -1.21213677e-02,-6.70347618e-03,-1.43838166e-02, 1.51110259e-02,
  1.40518345e+00, 2.71696488e-02, 2.01770968e-01,-1.43953066e-03,
  9.48924610e-02,-7.01617758e-02, 1.04422693e-01, 9.99993369e-01,
  1.09496241e-03,-6.18214184e-04,-3.41774287e-03]

qacc:
[ -4.81050189,  1.16589677, -5.65586243, 11.24354429,  0.38538065,
  -2.26002082,  9.66598037,-17.80204471, -0.96704232,  0.44307017,
  -3.10793289,  8.74266813,  0.53128406, -5.47570428,  2.5508405 ,
  -8.74294572,  1.88805642, -1.25045809,  0.65547066, 28.92996309,
  43.96829625, -4.34777958]

qfrc_actuator:
[ 3.98760955e-04,-5.18175927e-04,-2.07053777e-04, 5.12783081e-06,
 -6.32180685e-04,-7.20289561e-04,-2.98047186e-04,-1.39330064e-04,
 -5.17978477e-04,-4.74212196e-04,-2.22338842e-04,-9.12907600e-05,
  2.10000000e-01,-1.91840779e-03, 9.00000000e-02, 3.15640685e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005914870729700622
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.34625378e-14, -2.34625378e-14,  1.00000000e+00, -5.50490680e-28,
        1.00000000e+00,  2.34625378e-14, -1.00000000e+00,  0.00000000e+00,
       -2.34625378e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08118055, -0.06128934,  0.06197486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.85461667e-05,-2.47727669e-05,-2.04940796e-05, 1.31414940e-05,
  2.19272569e-06,-5.14574187e-06, 2.25330635e-05,-2.16294899e-05,
 -5.72380831e-06,-6.66476038e-06, 1.64480449e-06, 1.64169131e-05,
  2.65355293e-01,-2.84902265e-05, 3.70420766e-06,-4.13528756e-05,
 -2.40214038e-05, 2.38268681e-04,-9.80974103e+00,-1.18084706e-02,
 -2.39797419e-02, 8.46519223e-05]


--- Step 351 ---
qpos:
[-1.35837379e-02, 1.35678242e-02, 1.00309427e-02, 1.47521798e-02,
 -1.90310281e-02,-9.03063606e-03,-1.73690986e-02, 1.63220824e-02,
 -1.21220287e-02,-6.70340337e-03,-1.43846708e-02, 1.51114165e-02,
  1.40516892e+00, 2.72119344e-02, 2.03559770e-01,-1.38023989e-03,
  9.49001489e-02,-7.01402079e-02, 1.04421365e-01, 9.99993732e-01,
  8.41792095e-04,-5.19827449e-04,-3.39961550e-03]

qacc:
[  6.21298177,  0.37294617, -3.85876877, 12.50828539, -2.82232441,
  -2.6707107 , 10.15745288,-15.17795528, -3.63997501,  2.50482147,
 -15.73961382, 42.8498911 ,  0.55034754, -3.26853893,  4.08377855,
 -13.96529064,  1.84021043, -1.21731533,  0.40450306, 28.0364397 ,
  43.07738682, -3.92935907]

qfrc_actuator:
[ 4.36464794e-04,-5.19005148e-04,-1.95388347e-04, 3.16205039e-05,
 -6.49166357e-04,-7.25455061e-04,-2.60649060e-04,-1.50178771e-04,
 -5.39346980e-04,-4.61391431e-04,-2.02079791e-04,-9.31420306e-06,
  2.10000000e-01,-1.96095674e-03, 9.00000000e-02, 3.09016939e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005996205871664773
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.31442817e-14, -1.15721409e-14,  1.00000000e+00,  2.67828889e-28,
        1.00000000e+00,  1.15721409e-14, -1.00000000e+00,  0.00000000e+00,
        2.31442817e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08118124, -0.06129121,  0.06197451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.68457111e-05,-1.82782618e-05, 4.50688709e-06, 2.49841842e-05,
 -1.68807811e-05,-4.30929976e-06, 3.83642011e-05,-1.07101732e-05,
 -2.15248705e-05, 1.01447992e-05, 1.96573820e-05, 8.20685794e-05,
  2.65340020e-01,-5.04617017e-06, 4.44646198e-06,-6.63486885e-05,
  1.91873313e-05, 1.06981268e-04,-9.80982476e+00,-1.18190543e-02,
 -2.39824955e-02, 6.67945411e-05]


--- Step 352 ---
qpos:
[-1.35841347e-02, 1.35680404e-02, 1.00314873e-02, 1.47534435e-02,
 -1.90310177e-02,-9.03145280e-03,-1.73698046e-02, 1.63205116e-02,
 -1.21225961e-02,-6.70308379e-03,-1.43853498e-02, 1.51120601e-02,
  1.40515628e+00, 2.72544988e-02, 2.05348826e-01,-1.32317757e-03,
  9.49150374e-02,-7.01233950e-02, 1.04420783e-01, 9.99993995e-01,
  6.43477820e-04,-3.36982357e-04,-3.38854610e-03]

qacc:
[ 10.0268328 , -2.95257108,  9.98573149,-12.00826372,  4.26498816,
   0.86538796, -5.70491762, 15.9437514 ,  0.81933346,  0.35564422,
  -1.86578398,  5.78551746,  0.52265235,  1.18006273,  7.12849211,
 -24.39917225,  1.80015438, -1.18874087,  0.18626874, 27.28249182,
  42.31916193, -3.5789379 ]

qfrc_actuator:
[ 4.94782822e-04,-5.37380070e-04,-1.52857482e-04, 2.89322629e-05,
 -6.23463700e-04,-7.28130932e-04,-2.56055094e-04,-1.20175015e-04,
 -5.33900149e-04,-4.35938288e-04,-1.89730276e-04, 3.25796252e-06,
  2.10000000e-01,-1.96771897e-03, 9.00000000e-02, 2.97421261e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006027270761102682
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.30249948e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.30249948e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08118093, -0.06129211,  0.06197438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.93511573e-05,-2.65237870e-05, 4.01920099e-05,-2.82709209e-06,
  2.52567884e-05, 2.39121319e-06, 8.06545038e-06, 3.09400033e-05,
  4.83610400e-06, 3.87203031e-05, 1.97156140e-05, 1.52867755e-05,
  2.65293076e-01, 3.97257970e-05, 2.66684895e-06,-1.17219923e-04,
  1.51701365e-05, 1.37698034e-05,-9.80986342e+00,-1.18282517e-02,
 -2.39809798e-02, 5.04958128e-05]


--- Step 353 ---
qpos:
[-1.35841743e-02, 1.35681077e-02, 1.00322429e-02, 1.47539846e-02,
 -1.90300093e-02,-9.03180716e-03,-1.73711968e-02, 1.63189580e-02,
 -1.21227491e-02,-6.70248435e-03,-1.43858815e-02, 1.51128470e-02,
  1.40514635e+00, 2.72978392e-02, 2.07138167e-01,-1.26925864e-03,
  9.49369479e-02,-7.01124716e-02, 1.04419837e-01, 9.99994136e-01,
  5.12988713e-04,-7.09427071e-05,-3.38514023e-03]

qacc:
[  3.1056363 , -2.28132747, 10.88938637,-23.61439835,  8.63797044,
   2.54572865, -8.29263344,  9.37836725,  3.61553669,  0.2462332 ,
  -0.95899918,  3.0125738 ,  0.4320359 ,  5.13836517,  9.97474826,
 -34.22088973,  1.75551211, -1.47239435, -0.09094622, 33.77017385,
  41.70945826, -3.87014169]

qfrc_actuator:
[ 5.11487953e-04,-5.48252769e-04,-1.45799295e-04,-8.65516258e-06,
 -5.72835362e-04,-6.93881137e-04,-2.88587643e-04,-1.19656566e-04,
 -5.12708718e-04,-4.20942300e-04,-1.82154091e-04, 1.03920636e-05,
  2.10000000e-01,-1.95346413e-03, 9.00000000e-02, 2.81214015e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006014049634228796
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.61512247e-14, -5.66650776e-06,  1.00000000e+00,  2.61516273e-19,
        1.00000000e+00,  5.66650776e-06, -1.00000000e+00,  4.81482486e-35,
        4.61512247e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08114156, -0.05919552,  0.06197444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83891223e-05,-1.74872640e-05, 6.43504769e-06,-3.73895384e-05,
  5.13961489e-05, 3.85871640e-05,-2.99755792e-05, 1.50109383e-06,
  2.13369846e-05, 4.13976646e-05, 1.85383808e-05, 9.77410986e-06,
  2.65190714e-01, 7.68729042e-05,-2.51344491e-06,-1.66111397e-04,
 -3.34869575e-05,-4.45616185e-05,-9.80985998e+00,-1.18359928e-02,
 -2.39753941e-02, 3.56538661e-05]


--- Step 354 ---
qpos:
[-1.35843580e-02, 1.35682076e-02, 1.00330043e-02, 1.47540622e-02,
 -1.90287456e-02,-9.03185608e-03,-1.73732134e-02, 1.63170935e-02,
 -1.21226471e-02,-6.70188371e-03,-1.43859161e-02, 1.51140704e-02,
  1.40514001e+00, 2.73425224e-02, 2.08928006e-01,-1.22102902e-03,
  9.49549798e-02,-7.01118941e-02, 1.04419149e-01, 9.99994152e-01,
  5.05332042e-04, 1.46366675e-04,-3.37934438e-03]

qacc:
[ -1.24934969, -0.92543752,  5.32313505,-13.38303436,  2.19180344,
   1.50401736, -3.47218748, -1.12610797,  2.24223596, -0.49310613,
  -0.08980921,  6.85646997,  0.28673672,  9.77169403, 18.04099472,
 -61.8941516 , -0.96967014, -2.58645079,  0.06463785, 61.49845565,
 -24.15648124,  1.20290858]

qfrc_actuator:
[ 5.03559875e-04,-5.36961389e-04,-1.41993217e-04,-3.09904317e-05,
 -5.61213183e-04,-6.91219569e-04,-3.24891304e-04,-1.36486970e-04,
 -5.00181184e-04,-4.30105023e-04,-1.59731479e-04, 3.20243478e-05,
  2.10000000e-01,-1.90945514e-03, 9.00000000e-02, 2.51768883e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000607970731777964
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.28264077e-14,  2.28264077e-14,  1.00000000e+00, -5.21044890e-28,
        1.00000000e+00, -2.28264077e-14, -1.00000000e+00,  0.00000000e+00,
        2.28264077e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09890207, -0.05163383,  0.06197416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.41499805e-06, 1.24828983e-06,-3.06726696e-07,-2.35900620e-05,
  1.31490821e-05, 1.80934503e-05,-3.19878893e-05,-1.61893386e-05,
  1.31347624e-05, 1.82464366e-05, 3.35960925e-05, 2.42372776e-05,
  2.65047791e-01, 1.18887629e-04,-9.23035531e-06,-3.01634941e-04,
 -1.29740869e-04,-6.54301888e-05,-9.80982373e+00,-1.18418481e-02,
 -2.39660515e-02, 2.32004614e-05]


--- Step 355 ---
qpos:
[-1.35846353e-02, 1.35683693e-02, 1.00337731e-02, 1.47538672e-02,
 -1.90276960e-02,-9.03205906e-03,-1.73749073e-02, 1.63146902e-02,
 -1.21227407e-02,-6.70141768e-03,-1.43855424e-02, 1.51152222e-02,
  1.40513603e+00, 2.73880898e-02, 2.10718489e-01,-1.18102727e-03,
  9.49692237e-02,-7.01214386e-02, 1.04417848e-01, 9.99994078e-01,
  6.17602241e-04, 3.16377847e-04,-3.37079884e-03]

qacc:
[ -0.81333596, -0.49870113,  3.05006973, -7.82707297, -1.84609664,
  -2.210177  ,  9.86724105,-19.60349562, -1.69266022, -1.4629088 ,
   5.26626758, -7.06585941,  0.11961301,  6.75982967, 25.94136044,
 -89.24516895, -0.94698886, -2.53051647, -0.15338931, 60.04282446,
 -23.44562818,  1.39541817]

qfrc_actuator:
[ 4.98962918e-04,-5.30246036e-04,-1.40017597e-04,-4.41445367e-05,
 -5.72651122e-04,-7.07538954e-04,-3.09986897e-04,-1.63405549e-04,
 -5.10611161e-04,-4.53596268e-04,-1.46562256e-04, 2.64998763e-05,
  2.10000000e-01,-1.91948126e-03, 9.00000000e-02, 2.09435555e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000610672980766433
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13627000e-14, -1.13627000e-14,  1.00000000e+00,  1.29110952e-28,
        1.00000000e+00,  1.13627000e-14, -1.00000000e+00,  0.00000000e+00,
        1.13627000e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09890106, -0.05163478,  0.06197405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.82206512e-06, 6.34431032e-06, 1.38277240e-06,-1.35694263e-05,
 -1.10215371e-05,-1.35438713e-05, 1.41256309e-05,-2.75686205e-05,
 -1.00738166e-05,-5.31090233e-06, 2.19127034e-05,-3.10943221e-06,
  2.64860574e-01, 7.84989192e-05,-2.65554573e-05,-4.38745672e-04,
 -1.13123925e-04,-6.17151099e-06,-9.80990548e+00,-1.18422000e-02,
 -2.39577386e-02, 2.05560602e-05]


--- Step 356 ---
qpos:
[-1.35842763e-02, 1.35685098e-02, 1.00343127e-02, 1.47535434e-02,
 -1.90271356e-02,-9.03235767e-03,-1.73767203e-02, 1.63123516e-02,
 -1.21233039e-02,-6.70099478e-03,-1.43852426e-02, 1.51156307e-02,
  1.40513203e+00, 2.74335315e-02, 2.12508919e-01,-1.14538396e-03,
  9.49797575e-02,-7.01409175e-02, 1.04415178e-01, 9.99993902e-01,
  8.47385342e-04, 4.40285149e-04,-3.35920553e-03]

qacc:
[ 5.50998648e+00, 3.36580599e-01,-7.15404495e-01,-1.11284172e+00,
 -4.25123290e+00, 3.47575132e-01,-1.68150369e+00, 3.04610746e+00,
 -4.10002550e+00,-1.37257557e+00, 7.96385513e+00,-2.06942710e+01,
  3.73173116e-02,-8.09381922e-01, 1.31306112e+01,-4.60522160e+01,
 -9.27531817e-01,-2.48359722e+00,-3.42256716e-01, 5.88333567e+01,
 -2.28527851e+01, 1.55652663e+00]

qfrc_actuator:
[ 5.31877181e-04,-5.44071287e-04,-1.56896840e-04,-5.17955277e-05,
 -5.97557983e-04,-7.17156963e-04,-3.18312964e-04,-1.60519456e-04,
 -5.34466936e-04,-4.67796660e-04,-1.56807846e-04,-1.27378200e-05,
  2.10000000e-01,-1.99751237e-03, 9.00000000e-02, 1.88254951e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006091163230539584
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13917386e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.13917386e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0989008 , -0.05163411,  0.06197411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.27635148e-05,-1.05636912e-05,-1.58635788e-05,-7.59439188e-06,
 -2.51957047e-05,-1.54973904e-05,-1.03494119e-05, 2.25608398e-06,
 -2.41707456e-05,-1.27794759e-05,-8.75055670e-06,-3.87672893e-05,
  2.64735000e-01,-7.00642338e-06,-5.12275033e-05,-2.37405110e-04,
 -9.55868414e-05, 5.92698006e-05,-9.80991494e+00,-1.18377633e-02,
 -2.39514776e-02, 2.36885730e-05]


--- Step 357 ---
qpos:
[-1.35835256e-02, 1.35684693e-02, 1.00349727e-02, 1.47534724e-02,
 -1.90272223e-02,-9.03281153e-03,-1.73786547e-02, 1.63111097e-02,
 -1.21241489e-02,-6.70083025e-03,-1.43849703e-02, 1.51155911e-02,
  1.40512735e+00, 2.74786004e-02, 2.14298750e-01,-1.10857393e-03,
  9.49866474e-02,-7.01701752e-02, 1.04410486e-01, 9.99993562e-01,
  1.19270004e-03, 5.19077954e-04,-3.34431429e-03]

qacc:
[  3.40154365, -0.06190797, -1.20482663,  5.53225289, -5.61971774,
   2.40174058,-13.47403548, 32.74517141, -2.45695265, -1.18182065,
   5.61879748,-13.14908019,  0.0601135 , -2.95326971, -4.44599589,
  14.21076334, -0.91096532, -2.44469095, -0.50551584, 57.84056568,
 -22.36163027,  1.69322441]

qfrc_actuator:
[ 5.51100257e-04,-5.52409830e-04,-1.49350011e-04,-3.84266492e-05,
 -6.30185293e-04,-7.22750947e-04,-3.22511994e-04,-1.04633255e-04,
 -5.48273432e-04,-4.94212819e-04,-1.63030830e-04,-3.59978802e-05,
  2.10000000e-01,-2.06243223e-03, 9.00000000e-02, 1.95685520e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006041533075205885
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.74265987e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.74265987e-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([ 0.09890112, -0.05163214,  0.06197432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01545949e-05,-1.78488498e-05, 3.14314646e-06, 1.22173834e-05,
 -3.33204080e-05,-1.63302747e-05,-8.60245918e-06, 5.49076637e-05,
 -1.45210437e-05,-3.70209734e-05,-1.12753325e-05,-2.48629367e-05,
  2.64728817e-01,-2.89232481e-05,-4.10306509e-05, 5.65715481e-05,
 -7.72869151e-05, 1.30980821e-04,-9.80985645e+00,-1.18286676e-02,
 -2.39472978e-02, 3.25364240e-05]


--- Step 358 ---
qpos:
[-1.35825503e-02, 1.35683792e-02, 1.00359450e-02, 1.47535313e-02,
 -1.90276988e-02,-9.03360907e-03,-1.73802531e-02, 1.63105394e-02,
 -1.21248083e-02,-6.70088836e-03,-1.43850864e-02, 1.51156393e-02,
  1.40512282e+00, 2.75237258e-02, 2.16087929e-01,-1.06685388e-03,
  9.49862683e-02,-7.01985447e-02, 1.04408855e-01, 9.99993162e-01,
  1.52689068e-03, 5.12317343e-04,-3.32905401e-03]

qacc:
[ 1.95806335e+00,-6.74778130e-01, 1.75539276e+00, 3.87938972e-02,
 -3.36806384e+00,-3.67445944e-03,-3.47074201e+00, 1.47997833e+01,
  1.61145482e+00, 9.68352839e-01,-4.25582705e+00, 6.56553193e+00,
  9.50630954e-02,-3.97498868e-02,-1.58545413e+01, 5.40452541e+01,
 -1.81725026e+00, 2.22038012e-01, 7.65378959e-01,-5.41899432e+00,
 -4.27947989e+01, 2.32554644e-01]

qfrc_actuator:
[ 5.62098874e-04,-5.39535554e-04,-1.27405523e-04,-3.05285357e-05,
 -6.49338754e-04,-7.43585269e-04,-3.06432177e-04,-7.12627871e-05,
 -5.38297567e-04,-5.09973292e-04,-1.84609598e-04,-3.19166264e-05,
  2.10000000e-01,-2.08368284e-03, 9.00000000e-02, 2.21679879e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005991566671683449
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.47433031e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.47433031e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1035897 , -0.07037117,  0.06197453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15669094e-05, 4.04624254e-06, 1.90583981e-05, 7.47735757e-06,
 -2.00783857e-05,-2.93986086e-05, 1.35494555e-05, 3.34431834e-05,
  9.53947522e-06,-3.98323210e-05,-3.14649451e-05, 1.62318322e-06,
  2.64754908e-01, 5.15606238e-06,-3.49806327e-06, 2.59927729e-04,
 -5.83600515e-05, 2.08966327e-04,-9.80973330e+00,-1.18150152e-02,
 -2.39452135e-02, 4.70446409e-05]


--- Step 359 ---
qpos:
[-1.35817955e-02, 1.35684023e-02, 1.00368117e-02, 1.47540374e-02,
 -1.90280559e-02,-9.03447800e-03,-1.73816941e-02, 1.63096601e-02,
 -1.21249984e-02,-6.70089107e-03,-1.43861869e-02, 1.51160871e-02,
  1.40511805e+00, 2.75687364e-02, 2.17876614e-01,-1.01765299e-03,
  9.49787662e-02,-7.02260585e-02, 1.04409440e-01, 9.99992710e-01,
  1.85047830e-03, 4.21707433e-04,-3.31316900e-03]

qacc:
[ -1.91707675,  1.3694176 , -6.5472911 , 14.36562176,  1.04259001,
  -1.17219081,  5.34425523,-10.88852146,  4.06514077,  3.63817868,
 -14.56757296, 23.03260434,  0.10445844, -1.42430898,-23.42545746,
  80.83849813, -1.78076571,  0.21393213,  0.55383006, -5.16202382,
 -41.94152205,  0.37357837]

qfrc_actuator:
[ 5.50420485e-04,-5.31745231e-04,-1.32567789e-04,-8.13859973e-06,
 -6.42653752e-04,-7.37808010e-04,-2.96346431e-04,-8.69206489e-05,
 -5.14406986e-04,-5.01520120e-04,-2.32782680e-04,-1.17871749e-05,
  2.10000000e-01,-2.13226984e-03, 9.00000000e-02, 2.60166775e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006007861275225679
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.61987625e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.61987625e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10358961, -0.07037087,  0.06197446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13527390e-05, 1.42797455e-05,-1.73127665e-06, 2.33658371e-05,
  6.14379458e-06,-6.42027527e-06, 6.84614008e-06,-1.57960139e-05,
  2.41545068e-05,-2.02233441e-05,-6.02129387e-05, 1.73664253e-05,
  2.64739335e-01,-9.56874127e-06, 3.66200355e-05, 4.01047895e-04,
 -7.75877768e-06, 1.30262284e-04,-9.80975981e+00,-1.18021667e-02,
 -2.39454343e-02, 6.05930346e-05]


--- Step 360 ---
qpos:
[-1.35811868e-02, 1.35685291e-02, 1.00376171e-02, 1.47548060e-02,
 -1.90276398e-02,-9.03519658e-03,-1.73831096e-02, 1.63085805e-02,
 -1.21249004e-02,-6.70081612e-03,-1.43876630e-02, 1.51167271e-02,
  1.40511207e+00, 2.76131269e-02, 2.19665102e-01,-9.60144690e-04,
  9.49642618e-02,-7.02527463e-02, 1.04411509e-01, 9.99992195e-01,
  2.16391462e-03, 2.48658329e-04,-3.29643226e-03]

qacc:
[ -1.26899702,  0.85217497, -3.94352863,  8.50454831,  6.71264081,
  -0.29778206,  2.17345841, -5.76798389,  2.50111613,  1.54296756,
  -6.17288337, 10.05234903,  0.14780416, -5.20119781,-25.51766167,
  88.72786167, -1.75056133,  0.20648826,  0.37119891, -4.93916454,
 -41.23531289,  0.49988928]

qfrc_actuator:
[ 5.43243909e-04,-5.27148108e-04,-1.35948537e-04, 4.82461935e-06,
 -6.03066274e-04,-7.16198618e-04,-2.89813107e-04,-9.57782537e-05,
 -5.00278222e-04,-4.78727748e-04,-2.42903090e-04,-1.28377481e-07,
  2.10000000e-01,-2.21486271e-03, 9.00000000e-02, 3.02145186e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005987105279615587
  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([ 0.10359039, -0.07037074,  0.06197455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.51205553e-06, 1.31959343e-05, 1.56897575e-07, 1.39690436e-05,
  3.98129533e-05, 1.87714892e-05, 5.50785132e-06,-9.20270109e-06,
  1.48272639e-05,-1.93407419e-07,-2.11115105e-05, 9.04610713e-06,
  2.64744112e-01,-4.97285083e-05, 6.88648289e-05, 4.48548798e-04,
  4.78607534e-06, 5.83637082e-05,-9.80975575e+00,-1.17897819e-02,
 -2.39490477e-02, 7.58524190e-05]


--- Step 361 ---
qpos:
[-1.35806692e-02, 1.35687541e-02, 1.00384011e-02, 1.47553767e-02,
 -1.90267513e-02,-9.03584637e-03,-1.73847332e-02, 1.63081203e-02,
 -1.21249783e-02,-6.70074728e-03,-1.43886684e-02, 1.51167622e-02,
  1.40510812e+00, 2.76583982e-02, 2.21453789e-01,-8.96628215e-04,
  9.49546107e-02,-7.02676923e-02, 1.04413442e-01, 9.99991884e-01,
  2.33963156e-03, 1.36117898e-04,-3.27716233e-03]

qacc:
[-7.92836683e-01,-2.16697931e-01, 1.79950769e+00,-5.26696401e+00,
  4.09483042e+00, 1.93853895e+00,-9.41008540e+00, 2.04289694e+01,
 -1.52053129e+00,-2.56537157e+00, 1.16951532e+01,-2.29196664e+01,
  1.73631251e-01, 5.72324221e+00,-1.78900798e+01, 6.30793907e+01,
  1.21332107e+00, 2.93546023e+00,-3.40332739e-02,-6.89594280e+01,
  3.00298255e+01, 1.18432940e+00]

qfrc_actuator:
[ 5.38782056e-04,-5.24502812e-04,-1.38262256e-04,-5.61503937e-06,
 -5.79944150e-04,-7.20788389e-04,-3.03094801e-04,-6.50355034e-05,
 -5.09765606e-04,-4.65128897e-04,-2.12654219e-04,-2.90096702e-05,
  2.10000000e-01,-2.15753409e-03, 9.00000000e-02, 3.31634508e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006009186504779204
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.61885741e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.61885741e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08445939, -0.08875998,  0.06197446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.69024343e-06, 1.06323249e-05, 9.09106559e-07,-9.59759640e-06,
  2.43201409e-05, 6.64925000e-06,-9.05086095e-06, 3.15560512e-05,
 -9.04915330e-06, 9.52037896e-06, 2.79209883e-05,-2.94447551e-05,
  2.64796525e-01, 7.53293578e-05, 8.62418925e-05, 3.29834610e-04,
 -1.85437856e-05,-7.39524803e-06,-9.80972276e+00,-1.17778770e-02,
 -2.39559854e-02, 9.27865679e-05]


--- Step 362 ---
qpos:
[-1.35805543e-02, 1.35689783e-02, 1.00389390e-02, 1.47555012e-02,
 -1.90262810e-02,-9.03628289e-03,-1.73868843e-02, 1.63087264e-02,
 -1.21248241e-02,-6.70075639e-03,-1.43892662e-02, 1.51164641e-02,
  1.40510714e+00, 2.77051190e-02, 2.23242846e-01,-8.28942190e-04,
  9.49496945e-02,-7.02711938e-02, 1.04414272e-01, 9.99991864e-01,
  2.38122647e-03, 8.22837798e-05,-3.25502230e-03]

qacc:
[-3.49812933e+00,-2.25206957e-01, 2.69670723e+00,-1.00365197e+01,
 -3.65121470e+00, 3.95693498e+00,-1.81912882e+01, 3.73224623e+01,
  2.04021850e+00,-1.93172395e+00, 8.13823597e+00,-1.44914018e+01,
  5.03894797e-02, 1.01139843e+01,-1.20255937e+01, 4.30245500e+01,
  1.18371957e+00, 2.86111902e+00,-2.76050125e-01,-6.71571989e+01,
  2.91364870e+01, 1.35771516e+00]

qfrc_actuator:
[ 5.18199993e-04,-5.40817222e-04,-1.57703908e-04,-2.97409515e-05,
 -6.02214953e-04,-7.05570983e-04,-3.28042234e-04,-1.12721671e-05,
 -4.97568722e-04,-4.74746083e-04,-1.94385118e-04,-4.59895148e-05,
  2.10000000e-01,-2.10626870e-03, 9.00000000e-02, 3.51752741e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006079626678034272
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.5653421e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.5653421e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08446125, -0.0887575 ,  0.06197416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.07318738e-05,-1.06109604e-05,-1.74701997e-05,-2.38262644e-05,
 -2.15256076e-05, 1.83945915e-05,-2.36083798e-05, 5.43462077e-05,
  1.19502886e-05, 2.12587357e-07, 2.26582422e-05,-1.61780246e-05,
  2.64687208e-01, 1.19274601e-04, 8.39180125e-05, 2.32379423e-04,
 -1.47110383e-05,-6.10447566e-06,-9.80990049e+00,-1.17706482e-02,
 -2.39596338e-02, 1.06938405e-04]


--- Step 363 ---
qpos:
[-1.35806872e-02, 1.35690324e-02, 1.00395873e-02, 1.47553333e-02,
 -1.90264254e-02,-9.03636557e-03,-1.73893698e-02, 1.63092497e-02,
 -1.21241798e-02,-6.70087217e-03,-1.43896557e-02, 1.51170186e-02,
  1.40510703e+00, 2.77523867e-02, 2.25032389e-01,-7.58558383e-04,
  9.49494123e-02,-7.02635027e-02, 1.04413155e-01, 9.99992155e-01,
  2.29172715e-03, 8.56495563e-05,-3.22975546e-03]

qacc:
[ -2.14249927, -1.1318953 ,  4.95168204,-10.0738599 , -5.3535042 ,
   1.24122794, -3.37933824,  2.19940486,  4.28568258,  1.02341062,
  -7.46795565, 21.98502537, -0.07999611,  3.96228783, -7.43202895,
  27.10827694,  1.15851216,  2.7981559 , -0.48630637,-65.64017369,
  28.39006722,  1.49039877]

qfrc_actuator:
[ 5.06046366e-04,-5.50695078e-04,-1.51683805e-04,-4.39986767e-05,
 -6.33267238e-04,-6.78641261e-04,-3.41833659e-04,-1.54016788e-05,
 -4.72698961e-04,-4.80465980e-04,-1.83429146e-04,-2.60043285e-06,
  2.10000000e-01,-2.14832534e-03, 9.00000000e-02, 3.64416594e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006098313839978386
  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([ 0.08446205, -0.08875717,  0.06197408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27682538e-05,-2.04515311e-05, 8.52299527e-07,-1.57798625e-05,
 -3.16271533e-05, 3.46437815e-05,-1.10242082e-05,-3.10069694e-06,
  2.52198760e-05,-1.61477830e-06, 1.32295023e-05, 4.38667350e-05,
  2.64530168e-01, 4.14745973e-05, 7.29507623e-05, 1.52319257e-04,
 -7.42270423e-06,-3.49852837e-07,-9.80998689e+00,-1.17685606e-02,
 -2.39603934e-02, 1.11771779e-04]


--- Step 364 ---
qpos:
[-1.35809652e-02, 1.35689283e-02, 1.00402791e-02, 1.47553440e-02,
 -1.90265955e-02,-9.03635019e-03,-1.73916053e-02, 1.63090211e-02,
 -1.21232422e-02,-6.70104637e-03,-1.43899000e-02, 1.51180867e-02,
  1.40510732e+00, 2.78000007e-02, 2.26822394e-01,-6.86739274e-04,
  9.49536791e-02,-7.02448305e-02, 1.04409365e-01, 9.99992716e-01,
  2.07365648e-03, 1.44966515e-04,-3.20116809e-03]

qacc:
[-1.25315164e+00, 3.96939779e-02,-1.19506730e+00, 4.33039659e+00,
 -2.17921367e-01,-2.11536576e+00, 1.09067416e+01,-2.43937458e+01,
  2.56597028e+00, 5.69598131e-01,-4.32063947e+00, 1.30316822e+01,
 -1.21605038e-01, 2.66156816e+00,-3.64674201e+00, 1.37996245e+01,
  1.13724497e+00, 2.74529179e+00,-6.68530770e-01,-6.43759767e+01,
  2.77715381e+01, 1.59106956e+00]

qfrc_actuator:
[ 4.98956087e-04,-5.56541279e-04,-1.48397264e-04,-3.45579811e-05,
 -6.33719494e-04,-6.80415294e-04,-3.31161103e-04,-5.35442086e-05,
 -4.58328816e-04,-4.83787612e-04,-1.76824779e-04, 2.26997302e-05,
  2.10000000e-01,-2.17504200e-03, 9.00000000e-02, 3.70812949e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006075157955304084
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.14217506e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.14217506e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.084462  , -0.08875857,  0.06197418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.47419700e-06,-1.77818912e-05,-1.37637751e-06, 8.28760489e-06,
 -1.31912402e-06, 1.51829103e-05, 1.63659674e-05,-3.70981648e-05,
  1.50971046e-05, 3.73948636e-07, 9.41025765e-06, 2.65399933e-05,
  2.64478579e-01, 2.41559600e-05, 5.62769038e-05, 8.31769932e-05,
  3.41533779e-06, 9.54319122e-06,-9.80998927e+00,-1.17714740e-02,
 -2.39582704e-02, 1.07585580e-04]


--- Step 365 ---
qpos:
[-1.35809815e-02, 1.35688576e-02, 1.00403666e-02, 1.47554882e-02,
 -1.90264244e-02,-9.03659940e-03,-1.73929866e-02, 1.63086873e-02,
 -1.21224842e-02,-6.70121635e-03,-1.43900288e-02, 1.51187531e-02,
  1.40510681e+00, 2.78473244e-02, 2.28613102e-01,-6.16604688e-04,
  9.49624238e-02,-7.02153529e-02, 1.04402270e-01, 9.99993450e-01,
  1.72909099e-03, 2.59210197e-04,-3.16911616e-03]

qacc:
[  2.24927731,  2.00433684, -7.65311771, 10.91237923,  2.99366807,
  -2.95780023, 10.47349294,-13.45386297, -1.56427094, -1.14103361,
   5.77802024,-12.92401823, -0.12409061, -1.67487376,  6.13923413,
 -19.98498288,  1.11947534,  2.70131349, -0.82632351,-63.33529979,
  27.2642769 ,  1.66642969]

qfrc_actuator:
[ 5.12652769e-04,-5.59912485e-04,-1.82233500e-04,-2.90050939e-05,
 -6.16154738e-04,-6.99297324e-04,-2.88508068e-04,-5.81345272e-05,
 -4.68010387e-04,-4.85675852e-04,-1.72851499e-04, 1.63913492e-06,
  2.10000000e-01,-2.24583059e-03, 9.00000000e-02, 3.61040301e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006018598005437109
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.61163473e-14, -1.15290868e-14,  1.00000000e+00,  5.31679373e-28,
        1.00000000e+00,  1.15290868e-14, -1.00000000e+00,  0.00000000e+00,
        4.61163473e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08446128, -0.08876134,  0.06197442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34702936e-05,-1.32363371e-05,-3.73880106e-05, 4.90559089e-06,
  1.75591461e-05,-8.59538208e-06, 4.65234221e-05,-4.09493045e-06,
 -9.24373542e-06, 1.37384076e-06, 6.11671852e-06,-2.02052662e-05,
  2.64450335e-01,-2.71922973e-05, 4.07918646e-05,-8.45284439e-05,
  1.78920766e-05, 2.34370671e-05,-9.80991326e+00,-1.17792731e-02,
 -2.39532752e-02, 9.46212894e-05]


--- Step 366 ---
qpos:
[-1.35808335e-02, 1.35687487e-02, 1.00400471e-02, 1.47556937e-02,
 -1.90263885e-02,-9.03697306e-03,-1.73936106e-02, 1.63089801e-02,
 -1.21221927e-02,-6.70154225e-03,-1.43900284e-02, 1.51191821e-02,
  1.40510537e+00, 2.78942039e-02, 2.30404519e-01,-5.50762333e-04,
  9.49638771e-02,-7.01850428e-02, 1.04398782e-01, 9.99994097e-01,
  1.37286265e-03, 2.84305327e-04,-3.13688982e-03]

qacc:
[  1.4122489 ,  1.21089828, -4.65450142,  6.3996998 , -1.14809268,
  -0.98836117,  0.64396512,  9.07688531, -4.06439423, -1.04778948,
   4.45361038, -8.67076441, -0.07507567, -2.71844349, 14.04833941,
 -47.65238097, -1.82285219,  0.20814825,  0.90204686, -5.69007254,
 -44.59230387,  0.1626248 ]

qfrc_actuator:
[ 5.20720269e-04,-5.61927044e-04,-2.02207628e-04,-2.58110963e-05,
 -6.23641653e-04,-6.92615477e-04,-2.45123613e-04,-2.51868833e-05,
 -4.91767396e-04,-5.04495970e-04,-1.70485363e-04,-1.10228034e-05,
  2.10000000e-01,-2.30705904e-03, 9.00000000e-02, 3.38270294e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006029952001218378
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.30147567e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.30147567e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10358683, -0.07036777,  0.06197436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.45389950e-06,-1.69242080e-05,-2.71439150e-05, 1.42805515e-06,
 -6.96009748e-06, 1.13093052e-05, 4.71956223e-05, 3.41084253e-05,
 -2.40145644e-05,-1.76843837e-05, 2.69587737e-06,-1.27860148e-05,
  2.64482446e-01,-3.71551181e-05, 1.32706965e-05,-2.26217378e-04,
  3.61084291e-05, 4.13570736e-05,-9.80976313e+00,-1.17918630e-02,
 -2.39454179e-02, 7.30715326e-05]


--- Step 367 ---
qpos:
[-1.35809344e-02, 1.35685733e-02, 1.00394714e-02, 1.47559289e-02,
 -1.90264419e-02,-9.03763197e-03,-1.73935766e-02, 1.63096929e-02,
 -1.21218430e-02,-6.70220740e-03,-1.43899169e-02, 1.51198266e-02,
  1.40510271e+00, 2.79404608e-02, 2.32196153e-01,-4.87753991e-04,
  9.49581823e-02,-7.01538875e-02, 1.04397976e-01, 9.99994651e-01,
  1.00524396e-03, 2.22626810e-04,-3.10447280e-03]

qacc:
[-2.16506986e+00, 6.93689533e-01,-2.71881523e+00, 3.68350339e+00,
 -7.49958300e-01,-1.34916717e+00, 2.49290938e+00, 3.93169795e+00,
  5.16892865e-01,-3.15988450e-01,-4.35727050e-01, 4.24039067e+00,
 -1.39373754e-02,-4.16504412e+00, 8.88347330e+00,-3.06795285e+01,
 -1.78702390e+00, 2.11288672e-01, 6.70216067e-01,-5.55900316e+00,
 -4.34042889e+01, 1.53137339e-01]

qfrc_actuator:
[ 5.07650350e-04,-5.63069188e-04,-2.13820033e-04,-2.40136752e-05,
 -6.28067031e-04,-7.23887500e-04,-2.19297719e-04,-5.91132882e-06,
 -4.88105745e-04,-5.33316764e-04,-1.69143337e-04,-8.96438130e-07,
  2.10000000e-01,-2.38003395e-03, 9.00000000e-02, 3.24007393e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006068094357732715
  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([ 0.10358517, -0.070367  ,  0.0619742 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28237502e-05,-1.61552281e-05,-1.84047301e-05, 1.59997517e-07,
 -4.60489275e-06,-1.37416159e-05, 3.51558303e-05, 2.20573934e-05,
  2.97885949e-06,-3.87189580e-05,-2.42336864e-06, 9.21332650e-06,
  2.64520287e-01,-5.11821329e-05,-1.46242987e-05,-1.52453728e-04,
  3.06242401e-05, 1.31478582e-04,-9.80976931e+00,-1.18078001e-02,
 -2.39441711e-02, 5.80846750e-05]


--- Step 368 ---
qpos:
[-1.35818807e-02, 1.35684871e-02, 1.00386643e-02, 1.47561618e-02,
 -1.90265474e-02,-9.03881243e-03,-1.73930021e-02, 1.63099801e-02,
 -1.21217968e-02,-6.70311274e-03,-1.43900880e-02, 1.51206024e-02,
  1.40509864e+00, 2.79859316e-02, 2.33987848e-01,-4.26587266e-04,
  9.49485597e-02,-7.01334197e-02, 1.04398559e-01, 9.99994987e-01,
  7.64063652e-04, 1.09912359e-04,-3.07097153e-03]

qacc:
[ -7.33635619,  0.77423911, -2.55456781,  2.79098072, -0.42651947,
  -3.07400301, 11.75985306,-19.60920678, -2.65398626,  0.74745748,
  -3.67115206,  6.56213924,  0.0657407 , -5.49642817,  5.63487767,
 -19.67814678, -0.98195431, -2.67184876,  0.34746317, 63.29806054,
 -25.3209995 ,  0.58151174]

qfrc_actuator:
[ 4.64492907e-04,-5.45891824e-04,-2.20403513e-04,-2.30471287e-05,
 -6.30647309e-04,-7.77721265e-04,-2.04210580e-04,-3.03883782e-05,
 -5.03836159e-04,-5.50139631e-04,-1.86201993e-04, 4.79224978e-06,
  2.10000000e-01,-2.45970078e-03, 9.00000000e-02, 3.14874623e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006137107334342404
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52258273e-14, -5.65322841e-15,  1.00000000e+00, -2.55671931e-28,
        1.00000000e+00,  5.65322841e-15, -1.00000000e+00,  0.00000000e+00,
       -4.52258273e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09888733, -0.05163337,  0.06197391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.35196348e-05, 4.34632295e-06,-1.21809992e-05,-3.58824082e-07,
 -2.69803124e-06,-5.33109601e-05, 1.73435437e-05,-2.34197629e-05,
 -1.56375554e-05,-3.85900423e-05,-2.50397998e-05, 4.12402289e-06,
  2.64573078e-01,-6.30120233e-05,-1.78276763e-05,-1.00303250e-04,
 -1.43877559e-05, 2.24599013e-04,-9.80974376e+00,-1.18241707e-02,
 -2.39463808e-02, 4.47333147e-05]


--- Step 369 ---
qpos:
[-1.35826473e-02, 1.35684494e-02, 1.00380668e-02, 1.47560332e-02,
 -1.90266826e-02,-9.03993349e-03,-1.73927131e-02, 1.63096097e-02,
 -1.21219390e-02,-6.70409447e-03,-1.43905501e-02, 1.51214199e-02,
  1.40509519e+00, 2.80315709e-02, 2.35779400e-01,-3.65649786e-04,
  9.49350877e-02,-7.01233558e-02, 1.04399496e-01, 9.99995182e-01,
  6.45809915e-04,-5.21259761e-05,-3.03595059e-03]

qacc:
[  1.5631475 , -1.26931708,  6.13936313,-12.76017232, -0.26929476,
  -0.47625018,  4.58965251,-15.5592383 , -1.65189396,  0.80123477,
  -3.17405149,  4.41167407,  0.11996827,  0.91506999,  0.48536927,
  -1.99782011, -0.96235343, -2.60101724,  0.08840609, 61.53868674,
 -24.47247758,  0.78521434]

qfrc_actuator:
[ 4.74989418e-04,-5.35604497e-04,-2.06139331e-04,-4.03115444e-05,
 -6.32122067e-04,-7.55978516e-04,-2.13465104e-04,-6.26867601e-05,
 -5.13110753e-04,-5.41974468e-04,-1.96199224e-04, 7.81639250e-06,
  2.10000000e-01,-2.45420704e-03, 9.00000000e-02, 3.14159841e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006212791868043521
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11687210e-14, -2.23374420e-14,  1.00000000e+00, -2.49480658e-28,
        1.00000000e+00,  2.23374420e-14, -1.00000000e+00,  0.00000000e+00,
       -1.11687210e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09888495, -0.05163591,  0.06197359])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.25545314e-06, 1.02042799e-05, 1.36612183e-05,-1.75028381e-05,
 -1.53524338e-06,-5.48693257e-06,-1.89386801e-05,-3.44381531e-05,
 -9.70209669e-06,-1.84140822e-05,-2.09089503e-05, 5.84865265e-07,
  2.64635821e-01, 1.84762883e-05,-1.33508877e-05,-1.35961596e-05,
 -4.98625476e-05, 1.46083852e-04,-9.80987087e+00,-1.18347551e-02,
 -2.39537934e-02, 3.62960479e-05]


--- Step 370 ---
qpos:
[-1.35822478e-02, 1.35684104e-02, 1.00373883e-02, 1.47557252e-02,
 -1.90268340e-02,-9.04077927e-03,-1.73926698e-02, 1.63084788e-02,
 -1.21225357e-02,-6.70496670e-03,-1.43912699e-02, 1.51225857e-02,
  1.40509268e+00, 2.80775382e-02, 2.37571092e-01,-3.05936041e-04,
  9.49178321e-02,-7.01234559e-02, 1.04399887e-01, 9.99995259e-01,
  6.47526180e-04,-2.62082360e-04,-2.99910285e-03]

qacc:
[ 10.10532315, -0.16444917,  1.30681409, -4.24325548, -0.15256502,
  -0.5148917 ,  5.57632594,-18.55223458, -3.97654075,  1.58976137,
  -6.91631927, 13.26381594,  0.08672574,  2.13404768,  3.93273989,
 -13.41771185, -0.94589793, -2.54097775, -0.13645024, 60.05753672,
 -23.77621109,  0.92556221]

qfrc_actuator:
[ 5.34744041e-04,-5.47198730e-04,-2.15220163e-04,-5.04018905e-05,
 -6.32934911e-04,-7.24767442e-04,-2.18962032e-04,-9.92757489e-05,
 -5.36258239e-04,-5.18884208e-04,-2.01838124e-04, 2.70314851e-05,
  2.10000000e-01,-2.46926761e-03, 9.00000000e-02, 3.07756702e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006234863205966876
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.11291839e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.11291839e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09888361, -0.05163646,  0.0619735 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.00339719e-05,-3.78575553e-06,-5.88804335e-06,-9.51981300e-06,
 -8.18579884e-07, 2.27595765e-05,-1.01533111e-05,-3.81493497e-05,
 -2.33918716e-05, 8.50444084e-06,-1.19944286e-05, 1.77147016e-05,
  2.64595805e-01, 3.16516761e-05, 1.44611096e-06,-6.43910790e-05,
 -8.16761171e-05, 7.69603934e-05,-9.80992135e+00,-1.18404126e-02,
 -2.39630114e-02, 3.38048318e-05]


--- Step 371 ---
qpos:
[-1.35814795e-02, 1.35682283e-02, 1.00363980e-02, 1.47553337e-02,
 -1.90269934e-02,-9.04135665e-03,-1.73927453e-02, 1.63069096e-02,
 -1.21234045e-02,-6.70575635e-03,-1.43923300e-02, 1.51236363e-02,
  1.40509087e+00, 2.81237585e-02, 2.39363018e-01,-2.48089369e-04,
  9.49031950e-02,-7.01307582e-02, 1.04401769e-01, 9.99995232e-01,
  7.35174926e-04,-4.40319597e-04,-2.96665755e-03]

qacc:
[  3.1900705 ,  0.50387097, -1.72882098,  0.89732333, -0.07755124,
  -0.21519072,  3.13273427,-10.72564261, -2.38731064,  0.82695082,
  -2.29537675,  0.77407724,  0.04321886,  1.73799762,  6.01840141,
 -20.51811403,  0.65463422, -1.80054725,  0.37248737, 42.91792884,
  15.98691985, -2.22289472]

qfrc_actuator:
[ 5.51984757e-04,-5.71891517e-04,-2.38101305e-04,-5.62253351e-05,
 -6.33352404e-04,-7.05867666e-04,-2.22130101e-04,-1.20320383e-04,
 -5.49635361e-04,-5.22499498e-04,-2.22531510e-04, 2.01325206e-05,
  2.10000000e-01,-2.49688762e-03, 9.00000000e-02, 2.98049166e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000620849963536678
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11764425e-14,  5.72365830e-06,  1.00000000e+00, -6.39701377e-20,
        1.00000000e+00, -5.72365830e-06, -1.00000000e+00, -1.20370622e-35,
        1.11764425e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08840779, -0.05735559,  0.06197361])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89814939e-05,-2.84284480e-05,-2.47256671e-05,-6.37827661e-06,
 -3.98359447e-07, 2.79000921e-05,-1.03608927e-06,-2.11627778e-05,
 -1.40070316e-05,-5.61315807e-07,-1.97918977e-05,-6.60243433e-06,
  2.64540491e-01, 2.42750332e-05, 1.99096771e-06,-9.85056285e-05,
 -1.10524363e-04, 1.67666228e-05,-9.80990086e+00,-1.18412884e-02,
 -2.39740941e-02, 3.71760791e-05]


--- Step 372 ---
qpos:
[-1.35805096e-02, 1.35679243e-02, 1.00354195e-02, 1.47545052e-02,
 -1.90268111e-02,-9.04172448e-03,-1.73928780e-02, 1.63054487e-02,
 -1.21237366e-02,-6.70650888e-03,-1.43935899e-02, 1.51239019e-02,
  1.40508943e+00, 2.81701192e-02, 2.41155021e-01,-1.91148076e-04,
  9.48956885e-02,-7.01427599e-02, 1.04404294e-01, 9.99995148e-01,
  8.78187957e-04,-5.32532794e-04,-2.94090353e-03]

qacc:
[ 1.74965171e+00,-1.09729420e+00, 5.51786746e+00,-1.30043918e+01,
  2.96115377e+00, 6.53742311e-01,-2.39673551e+00, 4.22002492e+00,
  4.67728584e+00,-1.01731995e+00, 6.99753285e+00,-2.02756053e+01,
  1.29676361e-02, 9.73076737e-01, 2.86674245e+00,-9.84240245e+00,
  1.78265170e+00,-1.17484036e+00, 1.60985552e-01, 2.75529569e+01,
  4.30914664e+01,-3.38952282e+00]

qfrc_actuator:
[ 5.61800544e-04,-5.68795823e-04,-2.33494228e-04,-7.72652725e-05,
 -6.15781763e-04,-6.94457880e-04,-2.23929477e-04,-1.14303929e-04,
 -5.21645561e-04,-5.24402352e-04,-2.34319406e-04,-1.98631632e-05,
  2.10000000e-01,-2.53209958e-03, 9.00000000e-02, 2.93573328e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006220225398909443
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.23107475e-14, -2.23107475e-14,  1.00000000e+00,  4.97769453e-28,
        1.00000000e+00,  2.23107475e-14, -1.00000000e+00,  0.00000000e+00,
        2.23107475e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08117427, -0.06130676,  0.06197356])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03735926e-05,-1.82054784e-05,-4.54247133e-06,-2.32406846e-05,
  1.75952134e-05, 2.58962010e-05, 3.10538998e-06, 6.76468180e-06,
  2.76281269e-05,-6.55788873e-06,-1.45578810e-05,-4.08304340e-05,
  2.64496565e-01, 1.30330516e-05,-2.07901206e-06,-4.81371259e-05,
 -6.69721258e-05,-1.56246946e-05,-9.80990590e+00,-1.18366165e-02,
 -2.39828592e-02, 4.42871313e-05]


--- Step 373 ---
qpos:
[-1.35794291e-02, 1.35676922e-02, 1.00343714e-02, 1.47537564e-02,
 -1.90264190e-02,-9.04232276e-03,-1.73925736e-02, 1.63044390e-02,
 -1.21233849e-02,-6.70750608e-03,-1.43946025e-02, 1.51236915e-02,
  1.40508763e+00, 2.82163034e-02, 2.42947047e-01,-1.34150414e-04,
  9.48951770e-02,-7.01593904e-02, 1.04406710e-01, 9.99995008e-01,
  1.07532366e-03,-5.40496081e-04,-2.92156949e-03]

qacc:
[ 9.55722157e-01, 4.51794669e-01,-1.81270865e+00, 3.25429970e+00,
  1.84025911e+00,-6.00513451e-01,-2.11949259e-01, 7.49852173e+00,
  5.97996994e+00,-2.00588393e+00, 8.67260545e+00,-1.71041684e+01,
  8.16798783e-03,-1.20814829e+00,-1.47136523e-01, 5.38924503e-01,
  1.74873380e+00,-1.15721121e+00,-2.71310738e-02, 2.69356330e+01,
  4.22015018e+01,-3.26145824e+00]

qfrc_actuator:
[ 5.67181095e-04,-5.48991037e-04,-2.30345534e-04,-7.15429844e-05,
 -6.05517245e-04,-7.23095873e-04,-2.07169083e-04,-9.24220817e-05,
 -4.87288254e-04,-5.43017961e-04,-2.23015576e-04,-4.34958046e-05,
  2.10000000e-01,-2.58960790e-03, 9.00000000e-02, 2.93990286e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006195193492243775
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.24008949e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.24008949e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08117356, -0.06130694,  0.06197367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.69878988e-06, 7.65622952e-06,-1.98886653e-06, 4.32963850e-06,
  1.07978971e-05,-1.32260932e-05, 2.27231040e-05, 2.32295274e-05,
  3.51900828e-05,-2.70142183e-05, 6.74787883e-06,-2.52121300e-05,
  2.64469869e-01,-1.48908195e-05, 1.64670949e-06, 3.07440040e-06,
 -1.38778677e-05,-1.72811586e-06,-9.80992929e+00,-1.18290845e-02,
 -2.39869350e-02, 5.35576038e-05]


--- Step 374 ---
qpos:
[-1.35786368e-02, 1.35677229e-02, 1.00332360e-02, 1.47534031e-02,
 -1.90259063e-02,-9.04299857e-03,-1.73921032e-02, 1.63040441e-02,
 -1.21229676e-02,-6.70889186e-03,-1.43954136e-02, 1.51235667e-02,
  1.40508575e+00, 2.82624247e-02, 2.44739130e-01,-7.68466920e-05,
  9.49015476e-02,-7.01805922e-02, 1.04408371e-01, 9.99994783e-01,
  1.32558120e-03,-4.65672784e-04,-2.90844777e-03]

qacc:
[-2.50631085e+00, 1.41106249e+00,-6.18881161e+00, 1.29721059e+01,
  1.05311778e+00, 6.96633881e-01,-5.23217861e+00, 1.56682413e+01,
  5.85096902e-01,-9.01150436e-01, 2.10485185e+00,-6.58001943e-01,
  2.73981201e-02,-4.92175042e-01,-8.46012351e-01, 3.07280216e+00,
  1.72053798e+00,-1.14282974e+00,-1.88948122e-01, 2.64382240e+01,
  4.14673223e+01,-3.16513589e+00]

qfrc_actuator:
[ 5.52158190e-04,-5.19305889e-04,-2.27995382e-04,-5.01052950e-05,
 -5.99641310e-04,-7.22148448e-04,-1.97496823e-04,-6.14071665e-05,
 -4.84977482e-04,-5.71394275e-04,-2.15976705e-04,-3.95530698e-05,
  2.10000000e-01,-2.62472812e-03, 9.00000000e-02, 2.95507698e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006138139045641991
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.13045564e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.13045564e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08117206, -0.06130645,  0.06197391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48336986e-05, 3.37022060e-05, 3.82221859e-06, 2.17781829e-05,
  6.20072535e-06,-7.70096274e-07, 1.05383320e-05, 3.16852352e-05,
  3.35851291e-06,-4.31654843e-05, 1.41421544e-06, 2.52612375e-06,
  2.64478856e-01,-4.59800751e-06, 8.11997470e-06, 1.72027972e-05,
 -6.82614832e-06, 4.40484175e-05,-9.80991136e+00,-1.18201021e-02,
 -2.39871593e-02, 6.42116847e-05]


--- Step 375 ---
qpos:
[-1.35783754e-02, 1.35678893e-02, 1.00327323e-02, 1.47532751e-02,
 -1.90256718e-02,-9.04345799e-03,-1.73919114e-02, 1.63040168e-02,
 -1.21228694e-02,-6.71045657e-03,-1.43962076e-02, 1.51234759e-02,
  1.40508300e+00, 2.83080567e-02, 2.46531498e-01,-2.04317918e-05,
  9.49147079e-02,-7.02063195e-02, 1.04408720e-01, 9.99994418e-01,
  1.62816756e-03,-3.09252718e-04,-2.90138165e-03]

qacc:
[ -4.58333639, -1.11364246,  3.29519338, -0.52266502, -2.42679219,
   1.82554675, -7.6389807 , 14.2806962 , -2.78118285, -0.20921042,
   0.26881752,  0.41308724,  0.05047807, -3.30920832,  3.08772677,
 -10.25883019,  1.69742377, -1.13137944, -0.32779295, 26.04429609,
  40.87022419, -3.09425525]

qfrc_actuator:
[ 5.25247926e-04,-5.01664738e-04,-1.90573501e-04,-3.73387051e-05,
 -6.14145719e-04,-7.03510524e-04,-2.09733905e-04,-4.30090855e-05,
 -5.01549892e-04,-5.69879975e-04,-2.11549740e-04,-3.71888495e-05,
  2.10000000e-01,-2.69971623e-03, 9.00000000e-02, 2.90557107e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006056067957289774
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.58310174e-14,  5.72887718e-15,  1.00000000e+00,  2.62560270e-28,
        1.00000000e+00, -5.72887718e-15, -1.00000000e+00,  0.00000000e+00,
       -4.58310174e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08116992, -0.06130542,  0.06197426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.73144752e-05, 3.81755675e-05, 4.55981644e-05, 1.47654972e-05,
 -1.43079958e-05, 2.17253241e-05,-1.00077923e-05, 1.93450056e-05,
 -1.64315118e-05,-2.22322014e-05,-4.23030899e-06, 6.11964207e-07,
  2.64474045e-01,-3.98590554e-05, 1.27934038e-05,-4.58331270e-05,
 -4.32025880e-05, 1.19850944e-04,-9.80985434e+00,-1.18096514e-02,
 -2.39836222e-02, 7.61924936e-05]


--- Step 376 ---
qpos:
[-1.35787834e-02, 1.35681973e-02, 1.00324588e-02, 1.47529828e-02,
 -1.90259574e-02,-9.04364509e-03,-1.73921890e-02, 1.63042163e-02,
 -1.21226245e-02,-6.71201709e-03,-1.43967407e-02, 1.51230278e-02,
  1.40507898e+00, 2.83529506e-02, 2.48324053e-01, 3.53428023e-05,
  9.49329013e-02,-7.02322051e-02, 1.04410199e-01, 9.99993936e-01,
  1.93253810e-03,-9.31889507e-05,-2.89573554e-03]

qacc:
[ -5.7990003 , -0.7837187 ,  3.77936993, -7.11791325, -4.53638649,
   2.14634019, -8.07378115, 12.53368359,  1.28751526, -1.46132847,
   6.72334219,-13.32442722,  0.11411379, -5.09043922,  2.17775912,
  -7.32033923,  1.2582792 , -0.03954695,  0.28219974,  0.80543757,
  29.82309931, -0.75899839]

qfrc_actuator:
[ 4.91562998e-04,-5.08980662e-04,-1.86050534e-04,-4.75153454e-05,
 -6.40527979e-04,-6.92273841e-04,-2.34738307e-04,-3.21799242e-05,
 -4.93588552e-04,-5.50485519e-04,-1.90833685e-04,-5.35070041e-05,
  2.10000000e-01,-2.78042091e-03, 9.00000000e-02, 2.87158749e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005976768309298094
  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([ 0.08459162, -0.06874435,  0.06197459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.44617060e-05, 2.40650740e-05, 1.85336598e-05,-6.67508348e-06,
 -2.67725078e-05, 2.21337399e-05,-2.10825356e-05, 1.17903850e-05,
  7.54919106e-06, 6.11110370e-06, 1.56258568e-05,-1.74043879e-05,
  2.64508957e-01,-5.95291109e-05, 6.21457582e-06,-3.36043499e-05,
 -1.21004894e-04, 2.24321209e-04,-9.80975984e+00,-1.17977216e-02,
 -2.39763889e-02, 8.94585153e-05]


--- Step 377 ---
qpos:
[-1.35792475e-02, 1.35684065e-02, 1.00323684e-02, 1.47529512e-02,
 -1.90265570e-02,-9.04372685e-03,-1.73924369e-02, 1.63045310e-02,
 -1.21222852e-02,-6.71339884e-03,-1.43973897e-02, 1.51223907e-02,
  1.40507481e+00, 2.83975783e-02, 2.50116721e-01, 9.06481894e-05,
  9.49557802e-02,-7.02467405e-02, 1.04410199e-01, 9.99993608e-01,
  2.10342226e-03, 1.80421245e-04,-2.88579417e-03]

qacc:
[ -0.47802142, -0.10448041, -0.91629008,  5.20811511, -2.72678393,
   0.29884617, -1.34068824,  3.19930571,  0.81830351,  0.16952744,
   0.53319596, -3.74606423,  0.17635661, -2.09826476,  1.56886665,
  -5.29816465,  1.17135203,  2.83750881, -0.36954037,-66.82605646,
  28.58392654,  2.09845019]

qfrc_actuator:
[ 4.89669600e-04,-5.31330956e-04,-1.83365463e-04,-3.56531174e-05,
 -6.55930960e-04,-6.85620373e-04,-2.31595701e-04,-2.58983332e-05,
 -4.88997648e-04,-5.38227149e-04,-1.96099931e-04,-6.29042114e-05,
  2.10000000e-01,-2.81085321e-03, 9.00000000e-02, 2.84702432e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006007418320232716
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.31010845e-14, -4.62021689e-14,  1.00000000e+00,  1.06732021e-27,
        1.00000000e+00,  4.62021689e-14, -1.00000000e+00,  0.00000000e+00,
        2.31010845e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08447184, -0.08876761,  0.06197446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.88666472e-06,-5.34707569e-06, 9.71407302e-06, 1.34071809e-05,
 -1.61560597e-05, 1.51822109e-05, 5.52976854e-06, 6.73173514e-06,
  4.87309614e-06, 1.81568557e-05,-2.68235965e-06,-8.93370554e-06,
  2.64563673e-01,-1.65053251e-05, 4.37909509e-06,-2.43831635e-05,
 -1.96433335e-04, 2.70321460e-04,-9.80971332e+00,-1.17856617e-02,
 -2.39674066e-02, 1.00500122e-04]


--- Step 378 ---
qpos:
[-1.35793861e-02, 1.35683222e-02, 1.00324403e-02, 1.47530892e-02,
 -1.90273365e-02,-9.04399740e-03,-1.73924686e-02, 1.63042530e-02,
 -1.21215472e-02,-6.71479955e-03,-1.43980397e-02, 1.51220089e-02,
  1.40507086e+00, 2.84420924e-02, 2.51909542e-01, 1.45263499e-04,
  9.49832655e-02,-7.02501687e-02, 1.04407935e-01, 9.99993448e-01,
  2.14380006e-03, 5.10393144e-04,-2.87180032e-03]

qacc:
[  2.8311393 , -0.49757017,  0.48554956,  2.417295  , -1.5527256 ,
  -2.07035238,  9.52872433,-20.00143046,  3.47994566,  0.49648478,
  -2.89633984,  7.34314538,  0.18834846, -1.10130763,  2.30385954,
  -7.76601696,  1.15161724,  2.77683252, -0.56616474,-65.33463462,
  27.99661193,  1.95542437]

qfrc_actuator:
[ 5.06505422e-04,-5.62518203e-04,-1.81828178e-04,-2.86796133e-05,
 -6.64744578e-04,-7.17164060e-04,-2.29628699e-04,-5.78296196e-05,
 -4.68682938e-04,-5.48179323e-04,-1.98930569e-04,-5.04217364e-05,
  2.10000000e-01,-2.84680394e-03, 9.00000000e-02, 2.81044578e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006014142401440173
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.30752564e-14,  3.46128846e-14,  1.00000000e+00, -7.98701188e-28,
        1.00000000e+00, -3.46128846e-14, -1.00000000e+00,  0.00000000e+00,
        2.30752564e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08447204, -0.08876752,  0.06197444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67433263e-05,-3.15798693e-05, 2.09878908e-06, 7.34259097e-06,
 -9.26876331e-06,-2.16070311e-05, 6.02475224e-06,-3.09563125e-05,
  2.05201366e-05,-7.41170890e-07, 2.78264869e-07, 1.29934087e-05,
  2.64561948e-01,-2.61015531e-06, 6.31237753e-06,-3.57334381e-05,
 -2.42498132e-04, 1.44263388e-04,-9.80978699e+00,-1.17779636e-02,
 -2.39568547e-02, 1.00512149e-04]


--- Step 379 ---
qpos:
[-1.35793219e-02, 1.35681899e-02, 1.00321926e-02, 1.47529668e-02,
 -1.90278704e-02,-9.04466394e-03,-1.73923508e-02, 1.63036268e-02,
 -1.21202252e-02,-6.71626367e-03,-1.43987053e-02, 1.51221318e-02,
  1.40506637e+00, 2.84861103e-02, 2.53702634e-01, 1.98389783e-04,
  9.50054548e-02,-7.02431583e-02, 1.04405903e-01, 9.99993480e-01,
  2.06050051e-03, 7.75249348e-04,-2.86244402e-03]

qacc:
[ 1.74847603e+00, 2.89866284e-01,-3.18488095e-02,-3.92367067e+00,
  2.14291201e+00,-1.66111315e+00, 6.62681606e+00,-1.25932499e+01,
  5.09714379e+00, 9.88851780e-01,-5.79614750e+00, 1.46232662e+01,
  1.99305805e-01,-3.56546791e+00, 4.88503213e+00,-1.65852354e+01,
 -1.32400049e+00, 2.60964835e+00, 5.81696341e-02,-6.17437896e+01,
 -3.27402435e+01,-2.28025172e+00]

qfrc_actuator:
[ 5.16467101e-04,-5.63268120e-04,-1.98784506e-04,-4.24051268e-05,
 -6.51860386e-04,-7.53621419e-04,-2.28565639e-04,-7.65215355e-05,
 -4.39275889e-04,-5.53578965e-04,-2.00368326e-04,-2.51800608e-05,
  2.10000000e-01,-2.92161707e-03, 9.00000000e-02, 2.73156132e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006025076531813303
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.68208422e-06, -4.80595505e-06,  1.00000000e+00, -8.08402114e-12,
        1.00000000e+00,  4.80595505e-06, -1.00000000e+00,  0.00000000e+00,
       -1.68208422e-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([ 0.10128228, -0.08676131,  0.06197439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04350765e-05,-1.76507899e-05,-2.29661856e-05,-1.48636511e-05,
  1.26216992e-05,-4.85969765e-05,-3.71948938e-06,-2.00096803e-05,
  3.00531675e-05,-5.21422547e-06,-1.11424191e-06, 2.54703930e-05,
  2.64542215e-01,-3.52242213e-05, 6.29031987e-06,-7.83471544e-05,
 -2.83071371e-04, 2.56367973e-05,-9.80977899e+00,-1.17751949e-02,
 -2.39431771e-02, 9.16556142e-05]


--- Step 380 ---
qpos:
[-1.35791384e-02, 1.35677529e-02, 1.00320928e-02, 1.47530269e-02,
 -1.90285902e-02,-9.04571696e-03,-1.73922040e-02, 1.63027890e-02,
 -1.21189046e-02,-6.71779347e-03,-1.43993906e-02, 1.51229022e-02,
  1.40506138e+00, 2.85296029e-02, 2.55495990e-01, 2.49532041e-04,
  9.50203980e-02,-7.02353041e-02, 1.04407124e-01, 9.99993545e-01,
  1.96679764e-03, 9.53316602e-04,-2.85194610e-03]

qacc:
[ 1.04471031e+00,-4.41981209e-01, 2.17378657e-01, 2.93409823e+00,
 -1.60642668e+00,-1.02400073e+00, 3.80904225e+00,-7.23897692e+00,
 -1.02907499e-02, 1.30076991e+00,-7.49790926e+00, 1.87840206e+01,
  2.40378356e-01,-3.79973674e+00, 6.36747869e+00,-2.18002529e+01,
 -1.81151524e+00, 2.10925392e-01, 8.13171866e-01,-5.07788846e+00,
 -4.34079197e+01, 6.56234268e-01]

qfrc_actuator:
[ 5.22296781e-04,-5.81388934e-04,-1.90914881e-04,-3.26825570e-05,
 -6.61816202e-04,-7.74991610e-04,-2.28064537e-04,-8.72773001e-05,
 -4.40263403e-04,-5.56195062e-04,-2.00955371e-04, 7.36553858e-06,
  2.10000000e-01,-2.98381448e-03, 9.00000000e-02, 2.62836828e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006084627662213404
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.56158982e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.56158982e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10358503, -0.07036186,  0.06197414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.13398418e-06,-3.33717125e-05, 8.78934714e-07, 7.88155429e-06,
 -9.58415358e-06,-5.01474108e-05,-1.06816086e-05,-1.33557209e-05,
 -6.90180654e-08,-4.70267654e-06,-9.34477951e-07, 3.27754937e-05,
  2.64560106e-01,-3.61140318e-05, 2.23567874e-07,-1.05324598e-04,
 -1.42915134e-04,-5.02177221e-05,-9.80984788e+00,-1.17794389e-02,
 -2.39318017e-02, 7.82040810e-05]


--- Step 381 ---
qpos:
[-1.35792308e-02, 1.35671405e-02, 1.00317646e-02, 1.47532125e-02,
 -1.90297681e-02,-9.04661701e-03,-1.73928394e-02, 1.63014704e-02,
 -1.21182944e-02,-6.71927718e-03,-1.43998419e-02, 1.51240243e-02,
  1.40505698e+00, 2.85730623e-02, 2.57289464e-01, 2.99069483e-04,
  9.50282478e-02,-7.02266158e-02, 1.04410723e-01, 9.99993683e-01,
  1.86291424e-03, 1.04670155e-03,-2.84035123e-03]

qacc:
[ -2.39631037,  0.66941699, -3.2447362 ,  5.90124805, -4.00478312,
   1.40528586, -2.67351929, -4.52655279, -6.19439555,  0.14337461,
  -1.88688503,  7.54361479,  0.2616011 , -0.68262615,  5.03054843,
 -17.36905276, -1.77334573,  0.20853785,  0.59464592, -4.97006946,
 -42.35435252,  0.62700043]

qfrc_actuator:
[ 5.07896914e-04,-5.91903863e-04,-2.03994502e-04,-2.69826054e-05,
 -6.85142898e-04,-7.51655379e-04,-2.63345321e-04,-1.11021355e-04,
 -4.76888665e-04,-5.39360753e-04,-1.83269075e-04, 2.61962862e-05,
  2.10000000e-01,-3.00270946e-03, 9.00000000e-02, 2.54718597e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006103241289741254
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.54767791e-14, -2.27383896e-14,  1.00000000e+00,  1.03406872e-27,
        1.00000000e+00,  2.27383896e-14, -1.00000000e+00,  0.00000000e+00,
        4.54767791e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10358441, -0.07036167,  0.06197406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.42181171e-05,-2.86633721e-05,-1.95951033e-05, 4.45291349e-06,
 -2.35806931e-05,-7.46189576e-06,-4.74080408e-05,-2.65205336e-05,
 -3.65685704e-05, 1.53735966e-05, 1.77206472e-05, 1.92321025e-05,
  2.64575647e-01, 7.74322592e-06,-5.33649514e-06,-8.55444810e-05,
 -5.53445448e-05,-3.36948729e-05,-9.80992220e+00,-1.17835175e-02,
 -2.39245729e-02, 6.99290560e-05]


--- Step 382 ---
qpos:
[-1.35794948e-02, 1.35665940e-02, 1.00308812e-02, 1.47534566e-02,
 -1.90305262e-02,-9.04717730e-03,-1.73943612e-02, 1.63002056e-02,
 -1.21181271e-02,-6.72038597e-03,-1.44004798e-02, 1.51250043e-02,
  1.40505335e+00, 2.86166015e-02, 2.59083120e-01, 3.46599753e-04,
  9.50291324e-02,-7.02171007e-02, 1.04415948e-01, 9.99993914e-01,
  1.74902487e-03, 1.05715512e-03,-2.82770396e-03]

qacc:
[ -1.50496825,  1.76305348, -6.4019706 ,  8.24969982,  3.61212073,
   3.02889454,-10.38894882, 12.50345839, -3.87739827,  0.73172419,
  -1.27733203, -1.17280514,  0.23570346,  0.12029167,  6.34962063,
 -21.83077707, -1.74133328,  0.20671911,  0.40633022, -4.88581815,
 -41.47870869,  0.5983411 ]

qfrc_actuator:
[ 4.99459552e-04,-5.80109950e-04,-2.29326664e-04,-2.37121276e-05,
 -6.62887682e-04,-7.19632758e-04,-3.01542955e-04,-1.06699152e-04,
 -4.98681582e-04,-5.10941714e-04,-1.90369731e-04, 1.90822628e-05,
  2.10000000e-01,-3.03141031e-03, 9.00000000e-02, 2.44411923e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006083243511244771
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.12525549e-14,  2.28131387e-14,  1.00000000e+00, -2.08175719e-27,
        1.00000000e+00, -2.28131387e-14, -1.00000000e+00,  0.00000000e+00,
        9.12525549e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1035848 , -0.07036163,  0.06197415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.83122197e-06,-8.09566293e-06,-3.35117822e-05, 1.45144474e-06,
  2.16198893e-05, 1.69557727e-05,-4.64818561e-05, 1.84938339e-06,
 -2.27800905e-05, 4.14705142e-05,-1.08068819e-06,-5.46741286e-06,
  2.64537514e-01, 1.71579744e-05,-3.74935978e-06,-1.06611036e-04,
 -7.36490900e-06,-1.26477214e-05,-9.80996451e+00,-1.17881154e-02,
 -2.39207165e-02, 6.33328320e-05]


--- Step 383 ---
qpos:
[-1.35795126e-02, 1.35660363e-02, 1.00299830e-02, 1.47533648e-02,
 -1.90306658e-02,-9.04791855e-03,-1.73959747e-02, 1.63003953e-02,
 -1.21175320e-02,-6.72121592e-03,-1.44008809e-02, 1.51255290e-02,
  1.40505040e+00, 2.86602066e-02, 2.60876973e-01, 3.91881080e-04,
  9.50231574e-02,-7.02067638e-02, 1.04422152e-01, 9.99994234e-01,
  1.62526201e-03, 9.86116918e-04,-2.81404837e-03]

qacc:
[  2.13322081, -0.66944002,  3.77663043, -9.55169148,  5.37121956,
   2.99943775,-17.20218044, 42.67624235,  3.73628031, -1.23763842,
   6.85803339,-15.3102966 ,  0.20161665,  0.11532365,  7.10593587,
 -24.44122758, -1.71487181,  0.20542852,  0.24476591, -4.82210604,
 -40.75875978,  0.57032997]

qfrc_actuator:
[ 5.12358241e-04,-5.72854535e-04,-2.26086822e-04,-3.96352886e-05,
 -6.31730572e-04,-7.35904193e-04,-3.05568329e-04,-3.26217613e-05,
 -4.76053281e-04,-4.93671721e-04,-1.76510445e-04,-3.24557847e-06,
  2.10000000e-01,-3.06609433e-03, 9.00000000e-02, 2.32896612e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000603250756728263
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.60100138e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.60100138e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10358597, -0.07036171,  0.06197436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26720371e-05,-4.12812337e-06,-2.50779804e-06,-1.74006884e-05,
  3.18283276e-05,-1.62764587e-05,-6.17698456e-06, 7.32322827e-05,
  2.20359229e-05, 3.99927750e-05, 2.21035591e-05,-2.06938150e-05,
  2.64489304e-01, 1.49190446e-05,-5.26672965e-06,-1.19648186e-04,
  3.78208075e-06, 1.27009262e-05,-9.80997701e+00,-1.17932166e-02,
 -2.39201658e-02, 5.83745063e-05]


--- Step 384 ---
qpos:
[-1.35793751e-02, 1.35654355e-02, 1.00294206e-02, 1.47527169e-02,
 -1.90307745e-02,-9.04900179e-03,-1.73975471e-02, 1.63018279e-02,
 -1.21166698e-02,-6.72186417e-03,-1.44007879e-02, 1.51257764e-02,
  1.40504795e+00, 2.87038385e-02, 2.62670892e-01, 4.35789518e-04,
  9.50104089e-02,-7.01956084e-02, 1.04428783e-01, 9.99994621e-01,
  1.49172142e-03, 8.34753724e-04,-2.79942786e-03]

qacc:
[  1.35671426, -2.14419789,  9.90626565,-20.03324681,  0.27679118,
   1.99028506,-13.00239813, 34.70368896,  2.34338843, -1.71599096,
   7.63013535,-13.34514369,  0.1727824 , -0.12603214,  4.25733872,
 -14.7587388 , -1.69338847,  0.20462397,  0.10668533, -4.77634594,
 -40.17527242,  0.54300158]

qfrc_actuator:
[ 5.19956885e-04,-5.68271472e-04,-2.06022055e-04,-6.67035242e-05,
 -6.31104122e-04,-7.63014608e-04,-3.07283095e-04, 2.86288075e-05,
 -4.62971037e-04,-4.83145054e-04,-1.50423836e-04,-1.65789224e-05,
  2.10000000e-01,-3.10438641e-03, 9.00000000e-02, 2.26086372e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005957745802030803
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.65873781e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.65873781e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10358777, -0.07036188,  0.06197468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.99440354e-06, 1.01324112e-06, 1.82992422e-05,-2.76713492e-05,
  1.57975723e-06,-3.43337143e-05,-3.30311779e-06, 6.17635647e-05,
  1.37609312e-05, 3.65585988e-05, 3.63473481e-05,-1.12595430e-05,
  2.64445802e-01, 9.73709662e-06,-7.54328392e-06,-7.35480503e-05,
 -1.98185559e-05, 4.22019353e-05,-9.80996138e+00,-1.17988072e-02,
 -2.39228638e-02, 5.50209619e-05]


--- Step 385 ---
qpos:
[-1.35791466e-02, 1.35645030e-02, 1.00292034e-02, 1.47524767e-02,
 -1.90312185e-02,-9.05025192e-03,-1.73988346e-02, 1.63029080e-02,
 -1.21160017e-02,-6.72217347e-03,-1.44009813e-02, 1.51258961e-02,
  1.40504623e+00, 2.87476529e-02, 2.64464810e-01, 4.79224921e-04,
  9.49909549e-02,-7.01836360e-02, 1.04435370e-01, 9.99995033e-01,
  1.34846665e-03, 6.03992471e-04,-2.78388502e-03]

qacc:
[ 8.05243505e-01,-5.65220621e-01,-3.45788706e-01, 7.10037341e+00,
 -2.90002789e+00,-1.73580357e+00, 7.36770435e+00,-1.38119947e+01,
 -1.70926240e+00, 9.88882105e-01,-2.33123987e+00, 3.24004556e-01,
  1.45779935e-01, 8.61794507e-01, 1.43411925e+00,-5.01236258e+00,
 -1.67635691e+00, 2.04264325e-01,-1.09197614e-02,-4.74633881e+00,
 -3.97117366e+01, 5.16367804e-01]

qfrc_actuator:
[ 5.24367927e-04,-6.00760800e-04,-1.93959764e-04,-4.68463010e-05,
 -6.48455996e-04,-7.60889737e-04,-2.89955074e-04, 1.08024479e-05,
 -4.73379468e-04,-4.76678772e-04,-1.70610862e-04,-2.45115094e-05,
  2.10000000e-01,-3.12707777e-03, 9.00000000e-02, 2.23876791e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005864649141110734
  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([ 0.10359004, -0.07036212,  0.06197507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.67213915e-06,-2.93332666e-05, 1.35647529e-05, 1.99943122e-05,
 -1.72662029e-05,-1.51055287e-05, 1.19678944e-05,-1.82097203e-05,
 -9.98069112e-06, 3.39106735e-05,-8.55804463e-06,-5.32977677e-06,
  2.64411636e-01, 2.20990753e-05,-3.37439281e-06,-2.52456197e-05,
 -7.66355086e-05, 7.57664059e-05,-9.80991893e+00,-1.18048748e-02,
 -2.39287628e-02, 5.32457516e-05]


--- Step 386 ---
qpos:
[-1.35788664e-02, 1.35634086e-02, 1.00290835e-02, 1.47528172e-02,
 -1.90315211e-02,-9.05168641e-03,-1.73992982e-02, 1.63030401e-02,
 -1.21151183e-02,-6.72225642e-03,-1.44013526e-02, 1.51255820e-02,
  1.40504550e+00, 2.87918207e-02, 2.66258778e-01, 5.22409309e-04,
  9.49648478e-02,-7.01708463e-02, 1.04441514e-01, 9.99995413e-01,
  1.19553282e-03, 2.94548465e-04,-2.76746147e-03]

qacc:
[  0.45515147,  0.70920376, -5.29195435, 15.30665044,  1.25576546,
  -4.498233  , 19.68581788,-37.27452375,  1.87033814, -0.10051983,
   2.61799883,-10.00227863,  0.10293964,  2.00740704,  0.85069769,
  -2.82973902, -1.66330247,  0.20431077, -0.11077245, -4.73022126,
 -39.35405166,  0.49042802]

qfrc_actuator:
[ 5.26868585e-04,-6.01929667e-04,-1.86842667e-04,-1.73280045e-05,
 -6.40735734e-04,-7.59014633e-04,-2.43708912e-04,-3.56192131e-05,
 -4.62022639e-04,-4.72878651e-04,-1.82473813e-04,-4.69949751e-05,
  2.10000000e-01,-3.14057525e-03, 9.00000000e-02, 2.22617271e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005758014647848295
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.20508445e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.20508445e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10359266, -0.07036242,  0.06197552])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.66061995e-06,-1.39233001e-05, 3.41629658e-06, 2.91187913e-05,
  7.27629571e-06,-4.87009912e-06, 4.39760883e-05,-4.70075076e-05,
  1.10965053e-05, 2.07403533e-05,-6.10399074e-06,-2.14311876e-05,
  2.64365677e-01, 3.58392425e-05, 4.29824024e-06,-1.24355741e-05,
 -1.65596325e-04, 1.13355267e-04,-9.80985066e+00,-1.18114082e-02,
 -2.39378226e-02, 5.30281762e-05]


--- Step 387 ---
qpos:
[-1.35789025e-02, 1.35623485e-02, 1.00292883e-02, 1.47527767e-02,
 -1.90317280e-02,-9.05298139e-03,-1.73992875e-02, 1.63019061e-02,
 -1.21141054e-02,-6.72220955e-03,-1.44018344e-02, 1.51250089e-02,
  1.40504505e+00, 2.88361016e-02, 2.68052570e-01, 5.67818767e-04,
  9.49333201e-02,-7.01620964e-02, 1.04447357e-01, 9.99995629e-01,
  1.09027838e-03,-8.01074557e-05,-2.74713424e-03]

qacc:
[ -2.7332787 , -1.64185685,  7.53777276,-14.68738107,  0.84211667,
  -3.74772376, 18.97438916,-41.74623643,  1.12356271, -0.05508829,
   1.53522401, -5.93303169,  0.05988467,  0.45098088, -7.00450024,
  24.12588983, -1.35513839, -1.00995368, -0.07501088, 23.92933722,
 -32.5374763 ,  1.99761535]

qfrc_actuator:
[ 5.10473166e-04,-5.84343506e-04,-1.64830198e-04,-3.56068558e-05,
 -6.36067359e-04,-7.39452524e-04,-2.16270048e-04,-9.84614211e-05,
 -4.55691175e-04,-4.70701212e-04,-1.89336328e-04,-6.00991143e-05,
  2.10000000e-01,-3.18430559e-03, 9.00000000e-02, 2.34351350e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005639226785356541
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23046903e-14, -3.74192859e-06,  1.00000000e+00, -4.60432724e-20,
        1.00000000e+00,  3.74192859e-06, -1.00000000e+00,  0.00000000e+00,
       -1.23046903e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10150938, -0.06206366,  0.06197602])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.62846416e-05, 1.17409162e-05, 2.05601550e-05,-1.81915027e-05,
  4.93362350e-06, 2.39212979e-05, 3.02267055e-05,-6.24436136e-05,
  6.66571314e-06, 1.15688472e-05,-4.08219434e-06,-1.28459665e-05,
  2.64306419e-01, 1.07823528e-05, 9.31178972e-06, 1.19209798e-04,
 -2.86012611e-04, 1.54971266e-04,-9.80975728e+00,-1.18183974e-02,
 -2.39500094e-02, 5.43525234e-05]


--- Step 388 ---
qpos:
[-1.35794791e-02, 1.35614259e-02, 1.00297281e-02, 1.47521646e-02,
 -1.90322213e-02,-9.05394137e-03,-1.73990602e-02, 1.63003656e-02,
 -1.21133690e-02,-6.72227805e-03,-1.44023307e-02, 1.51249989e-02,
  1.40504453e+00, 2.88803577e-02, 2.69846279e-01, 6.16321438e-04,
  9.49089646e-02,-7.01580740e-02, 1.04453926e-01, 9.99995654e-01,
  1.04074712e-03,-3.68317541e-04,-2.73360853e-03]

qacc:
[ -4.67998187, -1.64346929,  8.55210698,-18.93761095, -2.48571184,
  -0.99378092,  5.91147589,-13.55107149, -2.41100884,  1.05210539,
  -6.34260784, 16.18985018,  0.05056996, -0.4255001 , -9.50794811,
  33.06011597,  1.79305173, -1.18185503,  0.18113758, 27.74256458,
  43.29555551, -3.45036926]

qfrc_actuator:
[ 4.83087563e-04,-5.73388330e-04,-1.51899393e-04,-6.40819422e-05,
 -6.50993564e-04,-7.09528335e-04,-2.00095726e-04,-1.17200943e-04,
 -4.70127721e-04,-4.87244019e-04,-1.93194828e-04,-3.20716847e-05,
  2.10000000e-01,-3.22832394e-03, 9.00000000e-02, 2.50093493e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005600899914390417
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.23888911e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.23888911e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08115498, -0.06130378,  0.06197619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.78151629e-05, 2.09807931e-05, 1.72591985e-05,-2.76139808e-05,
 -1.47249649e-05, 4.68777063e-05, 2.26802049e-05,-1.78834797e-05,
 -1.42356899e-05,-1.15010771e-05,-2.42779421e-06, 2.81295722e-05,
  2.64282987e-01,-2.54986769e-06, 2.56421267e-05, 1.67133431e-04,
 -3.86641781e-04, 1.26362289e-04,-9.80968790e+00,-1.18238861e-02,
 -2.39652928e-02, 5.75609890e-05]


--- Step 389 ---
qpos:
[-1.35800341e-02, 1.35605802e-02, 1.00300935e-02, 1.47509003e-02,
 -1.90325441e-02,-9.05455713e-03,-1.73986526e-02, 1.62986132e-02,
 -1.21128112e-02,-6.72239907e-03,-1.44026030e-02, 1.51253001e-02,
  1.40504304e+00, 2.89240972e-02, 2.71640339e-01, 6.65722718e-04,
  9.48916432e-02,-7.01587042e-02, 1.04460519e-01, 9.99995573e-01,
  1.04562831e-03,-5.71891886e-04,-2.72658557e-03]

qacc:
[ 1.82649579e-01,-1.03418272e+00, 6.58802409e+00,-1.78145045e+01,
  1.48012078e+00,-4.87854035e-01, 3.28902809e+00,-7.49122654e+00,
 -1.55092894e+00,-5.19425334e-02,-1.22401174e+00, 6.28405897e+00,
  7.14609749e-02,-3.35796678e+00,-2.23694544e+00, 8.49599109e+00,
  1.75854468e+00,-1.16317479e+00, 6.29253110e-03, 2.70892845e+01,
  4.23886548e+01,-3.30556474e+00]

qfrc_actuator:
[ 4.84963699e-04,-5.84281334e-04,-1.62210519e-04,-9.83319217e-05,
 -6.41827528e-04,-6.91390841e-04,-1.90611887e-04,-1.27584482e-04,
 -4.78918344e-04,-4.79320446e-04,-1.77550036e-04,-1.55891471e-05,
  2.10000000e-01,-3.30792781e-03, 9.00000000e-02, 2.53862554e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005624326142748826
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.23372894e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.23372894e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08115541, -0.06130477,  0.06197609])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11135056e-06, 3.23009083e-06,-4.79962793e-06,-3.32888663e-05,
  8.79396205e-06, 4.82824672e-05, 2.13479587e-05,-7.93622051e-06,
 -9.19520852e-06, 2.16519503e-06, 1.39360430e-05, 1.64521967e-05,
  2.64276835e-01,-4.45847265e-05, 3.73723318e-05, 5.19214986e-05,
 -2.19048396e-04, 4.63742137e-05,-9.80982310e+00,-1.18236553e-02,
 -2.39777668e-02, 5.98580774e-05]


--- Step 390 ---
qpos:
[-1.35802168e-02, 1.35594822e-02, 1.00302075e-02, 1.47492911e-02,
 -1.90330990e-02,-9.05494141e-03,-1.73983310e-02, 1.62964381e-02,
 -1.21120184e-02,-6.72233791e-03,-1.44027836e-02, 1.51257749e-02,
  1.40504142e+00, 2.89676543e-02, 2.73434742e-01, 7.14934780e-04,
  9.48812394e-02,-7.01639245e-02, 1.04466533e-01, 9.99995436e-01,
  1.10384338e-03,-6.92349705e-04,-2.72583297e-03]

qacc:
[  3.22303986, -0.34763847,  2.2013683 , -7.57278397, -2.02160907,
  -0.31994125,  3.37711983,-10.73617316,  2.05088744,  0.33788132,
  -1.5956003 ,  4.32813346,  0.11487282, -1.33309571,  1.06774308,
  -3.03461314,  1.72937698, -1.14749814, -0.14508895, 26.55174778,
  41.62749589, -3.19395012]

qfrc_actuator:
[ 5.04051098e-04,-6.26030195e-04,-1.86251282e-04,-1.17984827e-04,
 -6.54053707e-04,-6.98221200e-04,-2.02945513e-04,-1.50739235e-04,
 -4.66556028e-04,-4.56733750e-04,-1.68188674e-04,-6.00677606e-06,
  2.10000000e-01,-3.33737070e-03, 9.00000000e-02, 2.52318759e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005614142214148202
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.47193378e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.47193378e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08115501, -0.06130504,  0.06197614])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.91513527e-05,-4.23426093e-05,-2.51108470e-05,-2.03275678e-05,
 -1.19351574e-05, 2.42532506e-05,-2.18758678e-09,-2.05011076e-05,
  1.21053025e-05, 2.73582758e-05, 1.20887498e-05, 1.04767442e-05,
  2.64315700e-01,-1.18660688e-05, 2.73892813e-05,-6.68888538e-06,
 -1.00177596e-04, 7.52141806e-07,-9.80991397e+00,-1.18219973e-02,
 -2.39863323e-02, 6.36063235e-05]


--- Step 391 ---
qpos:
[-1.35805132e-02, 1.35579257e-02, 1.00303707e-02, 1.47481559e-02,
 -1.90341405e-02,-9.05498374e-03,-1.73988373e-02, 1.62954218e-02,
 -1.21110835e-02,-6.72224525e-03,-1.44028209e-02, 1.51270672e-02,
  1.40504973e+00, 2.90185150e-02, 2.75052293e-01, 6.94679576e-04,
  9.48766633e-02,-7.01732137e-02, 1.04471833e-01, 9.99995231e-01,
  1.20414469e-03,-7.39566269e-04,-2.74618459e-03]

qacc:
[-9.75232912e-01, 2.34757424e-01,-3.71436361e+00, 1.21746817e+01,
 -4.25694452e+00, 5.15746213e+00,-2.26142739e+01, 4.37312469e+01,
  1.24403049e+00, 1.32153730e+00,-8.10768016e+00, 2.20089971e+01,
 -2.54686613e-01, 3.89377796e+01,-5.08816140e+01,-2.00758092e+02,
  1.45693419e+00,-1.01724362e+00,-1.78203039e-01, 2.09359323e+01,
  3.66661485e+01,-1.06071491e+01]

qfrc_actuator:
[ 4.97600672e-04,-6.50488956e-04,-1.82817905e-04,-9.34206295e-05,
 -6.78780903e-04,-6.84551960e-04,-2.45927957e-04,-9.24977920e-05,
 -4.59596756e-04,-4.61068141e-04,-1.62554671e-04, 3.49537844e-05,
  2.10000000e-01,-3.33684458e-03, 9.00000000e-02, 2.47660090e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.17490918,  0.04990364, -0.16763904,  0.04990364,  0.51814028,
        0.10217477, -0.16763904,  0.10217477,  0.20532508,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.1708449851597147e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.94555695e-01,  4.75963560e-01, -3.77014506e-01,  4.30010922e-01,
        8.79465002e-01,  2.04039008e-01,  4.28686196e-01,  2.77555756e-17,
       -9.03453455e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10368366, -0.08827467,  0.15066198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005577104560616011
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.24417497e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.24417497e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08115394, -0.06130475,  0.0619763 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.86898144e-06,-5.41857132e-05,-9.10944031e-06, 2.14842955e-05,
 -2.50464246e-05, 2.63686118e-05,-3.86755767e-05, 5.88834168e-05,
  7.31346138e-06, 1.38857615e-05, 1.31269571e-05, 4.27527979e-05,
  2.64311813e-01, 3.40968793e-05, 1.77546030e-05,-4.20572017e-05,
 -2.70571315e-05,-1.27852804e-05,-9.80996344e+00,-1.18188901e-02,
 -2.39911006e-02, 6.87348558e-05]


--- Step 392 ---
qpos:
[-1.35812283e-02, 1.35561425e-02, 1.00304572e-02, 1.47476477e-02,
 -1.90351255e-02,-9.05447082e-03,-1.74003268e-02, 1.62961305e-02,
 -1.21107623e-02,-6.72212763e-03,-1.44027532e-02, 1.51288438e-02,
  1.40506862e+00, 2.90775371e-02, 2.76503944e-01, 6.09817806e-04,
  9.48774947e-02,-7.01860067e-02, 1.04476181e-01, 9.99994954e-01,
  1.33889915e-03,-7.18097927e-04,-2.78987131e-03]

qacc:
[  -3.62780758,   1.21355082,  -7.39680068,  18.52565308,   0.45105437,
    7.02842349, -31.28316242,  62.30749219,  -5.3522104 ,   0.74692769,
   -4.6426348 ,  12.82065602,  -0.93378937,  45.68180157, -49.32391328,
 -182.49255993,   1.35187001,  -0.8759478 ,  -0.23805327,  17.12359342,
   34.37552065, -11.7216835 ]

qfrc_actuator:
[ 4.76164499e-04,-6.46513947e-04,-1.80852722e-04,-6.07598377e-05,
 -6.75155984e-04,-6.41033388e-04,-2.88770759e-04,-4.58386008e-06,
 -4.91385602e-04,-4.63724737e-04,-1.59245300e-04, 5.85227516e-05,
  2.10000000e-01,-3.36125531e-03, 9.00000000e-02, 2.46292606e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1794369 ,  0.15331059, -0.09323875,  0.15331059,  0.50152542,
        0.52960362, -0.09323875,  0.52960362,  1.05025337,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015133208708540977
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78957942,  0.47672771, -0.38638716,  0.4282054 ,  0.87905102,
        0.20954582,  0.43955032,  0.        , -0.89821797])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10364785, -0.08824862,  0.15056184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005519314903945291
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.51440406e-14, -1.25720203e-14,  1.00000000e+00,  3.16111389e-28,
        1.00000000e+00,  1.25720203e-14, -1.00000000e+00,  0.00000000e+00,
        2.51440406e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08115235, -0.06130402,  0.06197654])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.15678790e-05,-2.72834939e-05,-9.60438408e-06, 3.04420941e-05,
  2.92191055e-06, 5.28276540e-05,-4.01096872e-05, 8.88548914e-05,
 -3.15826499e-05, 9.62005042e-06, 9.26244349e-06, 2.54476470e-05,
  2.63808547e-01,-3.23021231e-04, 8.86726944e-03, 3.41920642e-03,
  3.42617349e-06,-8.33649122e-07,-9.80998117e+00,-1.18143301e-02,
 -2.39916152e-02, 7.48627889e-05]


--- Step 393 ---
qpos:
[-1.35818490e-02, 1.35544221e-02, 1.00304421e-02, 1.47471533e-02,
 -1.90357147e-02,-9.05384965e-03,-1.74018516e-02, 1.62971881e-02,
 -1.21111696e-02,-6.72198735e-03,-1.44026196e-02, 1.51308924e-02,
  1.40509838e+00, 2.91454451e-02, 2.77799889e-01, 4.64973535e-04,
  9.48833347e-02,-7.02018016e-02, 1.04479393e-01, 9.99994585e-01,
  1.50116745e-03,-6.32161990e-04,-2.85945130e-03]

qacc:
[   0.81383137,   0.39376923,  -1.34455001,   1.7026025 ,   3.43498553,
    0.9528067 ,  -4.6746991 ,  10.70256211,  -6.35644652,   0.41818083,
   -2.57431846,   7.13574109,  -1.64462764,  51.6447336 , -48.17081439,
 -164.44440909,   1.25214083,  -0.75045086,  -0.28405055,  13.65768983,
   32.25464813, -12.99973506]

qfrc_actuator:
[ 4.81592689e-04,-6.25526948e-04,-1.79662116e-04,-5.90889204e-05,
 -6.54868229e-04,-6.50965829e-04,-2.95538168e-04, 1.13407449e-05,
 -5.27971874e-04,-4.65380715e-04,-1.57349805e-04, 7.16628577e-05,
  2.10000000e-01,-3.40440750e-03, 9.00000000e-02, 2.43866664e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.18861978,  0.16100813, -0.09825378,  0.16100813,  0.64883875,
        0.75415924, -0.09825378,  0.75415924,  1.42445794,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025695954596271185
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.84742023e-01,  4.77097833e-01, -3.95673623e-01,  4.26009714e-01,
        8.78850191e-01,  2.14797732e-01,  4.50217372e-01, -2.77555756e-17,
       -8.92918987e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10362371, -0.08823096,  0.15046133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005445789175802102
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.27417601e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.27417601e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08115038, -0.06130295,  0.06197685])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.86047854e-06, 5.06311250e-06,-4.56748570e-06, 7.63922036e-07,
  2.03855054e-05, 1.51682932e-05, 2.28959751e-06, 1.85317799e-05,
 -3.74980553e-05, 6.70383692e-06, 5.90111083e-06, 1.43683406e-05,
  2.63273290e-01,-7.45403503e-04, 1.71686945e-02, 6.62667914e-03,
  2.74560306e-06, 3.32759165e-05,-9.80997534e+00,-1.18100220e-02,
 -2.39882875e-02, 8.14562138e-05]


--- Step 394 ---
qpos:
[-1.35820541e-02, 1.35527708e-02, 1.00307098e-02, 1.47463094e-02,
 -1.90360562e-02,-9.05320614e-03,-1.74030139e-02, 1.62966856e-02,
 -1.21116680e-02,-6.72164193e-03,-1.44024946e-02, 1.51323735e-02,
  1.40513854e+00, 2.92226554e-02, 2.78947993e-01, 2.63741349e-04,
  9.48937907e-02,-7.02201577e-02, 1.04481336e-01, 9.99994088e-01,
  1.68459574e-03,-4.85765953e-04,-2.95804397e-03]

qacc:
[   3.6108562 ,  -1.42608172,   6.68052965, -13.21920559,   2.16074463,
   -4.19734686,  21.59038238, -49.18255485,  -0.79965826,  -0.87130688,
    5.89880387, -15.86014873,  -2.36772432,  55.71133772, -47.36692642,
 -150.22400672,   1.15401703,  -0.64034446,  -0.3173587 ,  10.48442693,
   30.23832289, -14.55851289]

qfrc_actuator:
[ 5.02793901e-04,-6.12284275e-04,-1.61128161e-04,-7.56495313e-05,
 -6.42697429e-04,-6.57238704e-04,-2.81214884e-04,-6.84999976e-05,
 -5.31570986e-04,-4.48691386e-04,-1.56305421e-04, 4.30590900e-05,
  2.10000000e-01,-3.48054609e-03, 9.00000000e-02, 2.39376978e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035967973391599954
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78002941,  0.47713669, -0.40483911,  0.42349605,  0.87882909,
        0.21979654,  0.46065738,  0.        , -0.88757804])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361035, -0.08822061,  0.15036074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005360746014473755
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17755841e-14,  2.58877921e-14,  1.00000000e+00,  1.34035555e-27,
        1.00000000e+00, -2.58877921e-14, -1.00000000e+00,  0.00000000e+00,
       -5.17755841e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08114813, -0.06130163,  0.06197721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.14069045e-05, 1.51818736e-05, 1.90488908e-05,-1.64860694e-05,
  1.27551039e-05, 3.50476165e-06, 1.83857550e-05,-7.87503817e-05,
 -4.68293627e-06, 2.22734341e-05, 3.65880872e-06,-2.78306381e-05,
  2.62724494e-01,-1.24038012e-03, 2.49597926e-02, 9.58215445e-03,
 -2.35974478e-05, 8.40018514e-05,-9.80995166e+00,-1.18063310e-02,
 -2.39814234e-02, 8.81114141e-05]


--- Step 395 ---
qpos:
[-1.35820021e-02, 1.35511725e-02, 1.00309500e-02, 1.47449519e-02,
 -1.90369388e-02,-9.05250042e-03,-1.74042882e-02, 1.62952587e-02,
 -1.21115167e-02,-6.72106389e-03,-1.44023291e-02, 1.51324574e-02,
  1.40516025e+00, 2.92965174e-02, 2.79981830e-01, 5.32900572e-05,
  9.49069056e-02,-7.02325296e-02, 1.04483642e-01, 9.99993466e-01,
  1.78123895e-03,-3.29064518e-04,-3.12833181e-03]

qacc:
[ 2.22593150e+00,-9.15830376e-01, 5.52824317e+00,-1.44062328e+01,
 -4.70334044e+00,-1.49804492e+00, 9.38050581e+00,-2.52653423e+01,
  5.66754384e+00,-2.69301560e+00, 1.59292774e+01,-4.03291203e+01,
 -2.95353393e+00,-1.94798113e+01,-1.41350469e+02, 2.48819868e+02,
  6.64703481e-01, 1.49609239e+00, 9.09338997e-02,-4.34248425e+01,
  4.96389189e+00,-3.58351609e+01]

qfrc_actuator:
[ 5.15347231e-04,-6.21472262e-04,-1.68037142e-04,-1.02791294e-04,
 -6.70912219e-04,-6.61273244e-04,-2.90126091e-04,-1.15267404e-04,
 -4.97971125e-04,-4.38939034e-04,-1.55723620e-04,-2.76130805e-05,
  2.10000000e-01,-3.52718957e-03, 9.00000000e-02, 2.48115729e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005387237543920726
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77544624,  0.47689251, -0.41383168,  0.42072884,  0.87896162,
        0.22452997,  0.47081883,  0.        , -0.88222992])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.103607  , -0.08821678,  0.15026067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.67748266,   1.99803688, -11.50527922,   1.99803688,
        47.03639287,   6.14052083, -11.50527922,   6.14052083,
        12.74386157,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000528544418452544
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.25132319e-14,  4.48266785e-07,  1.00000000e+00,  2.35399376e-20,
        1.00000000e+00, -4.48266785e-07, -1.00000000e+00,  0.00000000e+00,
       -5.25132319e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08451949, -0.0776681 ,  0.06197753])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.32344734e-05, 2.54005233e-06,-1.99716603e-06,-2.61537555e-05,
 -2.78524168e-05,-1.63482120e-06,-8.64407105e-06,-4.75133926e-05,
  3.34572465e-05, 2.17857214e-05, 4.67543146e-06,-7.01318052e-05,
  2.62199332e-01,-1.72990053e-03, 3.23572526e-02, 1.24900402e-02,
 -7.14265376e-05, 1.47549295e-04,-9.80991442e+00,-1.18036425e-02,
 -2.39712954e-02, 9.44785680e-05]


--- Step 396 ---
qpos:
[-1.35817987e-02, 1.35497630e-02, 1.00307277e-02, 1.47439835e-02,
 -1.90384972e-02,-9.05216239e-03,-1.74055392e-02, 1.62943649e-02,
 -1.21109641e-02,-6.72042272e-03,-1.44023985e-02, 1.51320805e-02,
  1.40515679e+00, 2.93635710e-02, 2.80925308e-01,-1.34335523e-04,
  9.49223920e-02,-7.02348853e-02, 1.04483473e-01, 9.99992713e-01,
  1.73715613e-03,-2.02172584e-04,-3.39329482e-03]

qacc:
[ 1.29500178e+00, 2.34191527e+00,-9.63530564e+00, 1.69758885e+01,
 -5.86174375e+00, 5.57682002e-01,-4.92501990e+00, 1.43643631e+01,
  3.49336761e+00,-2.15642797e-01, 2.82410736e+00,-1.04588922e+01,
 -2.50706511e+00,-4.13801225e+01,-2.03330502e+02, 5.16351170e+02,
  5.92893848e-01, 2.50403737e+00,-6.18814035e-01,-7.03313853e+01,
 -1.52091122e+01,-4.72877783e+01]

qfrc_actuator:
[ 5.22704228e-04,-6.08624875e-04,-1.90014824e-04,-8.27198623e-05,
 -7.04916075e-04,-6.99518848e-04,-2.94895919e-04,-8.89445431e-05,
 -4.78261605e-04,-4.51211043e-04,-1.73217711e-04,-5.14589912e-05,
  2.10000000e-01,-3.54720621e-03, 9.00000000e-02, 2.88959125e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38666306,  0.31046829, -0.23047291,  0.31046829,  0.53482128,
        0.19958281, -0.23047291,  0.19958281,  0.65551953,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.701353495372622e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64041350e-01,  2.65740706e-01, -2.48027676e-03,  2.65739827e-01,
        9.64044541e-01,  6.83692992e-04,  2.57278233e-03,  1.08420217e-19,
       -9.99996690e-01])
  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([ 0.10379905, -0.0889677 ,  0.14094691])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.28587795, -0.26445812,  0.10857304, -0.26445812,  0.62815169,
        0.83369748,  0.10857304,  0.83369748,  2.31656682,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006306095000729345
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77099313,  0.47728408, -0.4216272 ,  0.41875749,  0.87874906,
        0.22900275,  0.47980387,  0.        , -0.87737577])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10360773, -0.0882055 ,  0.15017595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.16447143e+01,  2.86010513e-02, -1.16446792e+01,  2.86010513e-02,
        1.76756096e+01,  1.48127692e-02, -1.16446792e+01,  1.48127692e-02,
        1.16447507e+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: -0.0005265492012907838
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.63561084e-14, -1.05424433e-13,  1.00000000e+00,  2.77857779e-27,
        1.00000000e+00,  1.05424433e-13, -1.00000000e+00,  0.00000000e+00,
        2.63561084e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08444435, -0.08880751,  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:
[ 7.79882218e-06, 1.27321528e-05,-2.26067400e-05, 1.96009836e-05,
 -3.48114623e-05,-4.29589522e-05,-7.80503663e-06, 2.50321096e-05,
  2.06551769e-05,-2.12479825e-06,-1.48489022e-05,-2.41173469e-05,
  2.63117741e-01,-1.56258111e-03, 3.80756174e-02, 1.33604437e-02,
 -1.15145461e-04, 1.37983969e-04,-9.80993863e+00,-1.18062484e-02,
 -2.39663413e-02, 9.42581994e-05]


--- Step 397 ---
qpos:
[-1.35811629e-02, 1.35487188e-02, 1.00303862e-02, 1.47435612e-02,
 -1.90401063e-02,-9.05245250e-03,-1.74064306e-02, 1.62941493e-02,
 -1.21105247e-02,-6.71954485e-03,-1.44028109e-02, 1.51320966e-02,
  1.40512878e+00, 2.94226633e-02, 2.81803331e-01,-2.96441813e-04,
  9.49398843e-02,-7.02287517e-02, 1.04480985e-01, 9.99991591e-01,
  1.56108591e-03,-1.22393102e-04,-3.79012127e-03]

qacc:
[ 3.73922901e+00, 1.93383773e+00,-8.51296427e+00, 1.79013310e+01,
 -4.17874210e-01,-4.38130757e-01,-2.50483743e+00, 1.41298190e+01,
 -1.00228017e+00, 2.08196145e+00,-8.62566336e+00, 1.57980478e+01,
 -1.53567392e+00,-4.89812303e+01,-1.74720926e+02, 4.69495904e+02,
  5.01465530e-01, 2.12230170e+00,-5.79694212e-01,-6.59262930e+01,
 -2.38945613e+01,-6.58776100e+01]

qfrc_actuator:
[ 5.44698879e-04,-5.64960638e-04,-1.85082300e-04,-5.27704822e-05,
 -7.06536866e-04,-7.40133436e-04,-2.79518713e-04,-5.53605231e-05,
 -4.84650313e-04,-4.23363336e-04,-1.83545462e-04,-2.98339999e-05,
  2.10000000e-01,-3.58195256e-03, 9.00000000e-02, 3.37353275e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39560004, -0.18786226, -0.3481482 , -0.18786226,  0.66724704,
       -0.14658189, -0.3481482 , -0.14658189,  0.47469625,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016676817692534596
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63827061e-01,  2.66518864e-01, -2.25651403e-03,  2.66518133e-01,
        9.63829702e-01,  6.23972839e-04,  2.34119578e-03,  0.00000000e+00,
       -9.99997259e-01])
  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([ 0.10377906, -0.08891143,  0.14097933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.31193759, -0.30760555, -0.05180622, -0.30760555,  0.34545152,
       -0.19899295, -0.05180622, -0.19899295,  1.49348165,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007060655472542314
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.66658288e-01,  4.78726008e-01, -4.27851001e-01,  4.18034353e-01,
        8.77964356e-01,  2.33293528e-01,  4.87321607e-01, -2.77555756e-17,
       -8.73222567e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10360903, -0.08818036,  0.15011116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.57643562,   3.57323207,  11.01117043,   3.57323207,
       110.62204504, -32.14126513,  11.01117043, -32.14126513,
        22.00658926,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000522385305429196
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.9698573e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        7.9698573e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08443845, -0.08880978,  0.06197779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.22798896e-05, 4.69447994e-05, 5.45183380e-06, 3.00929365e-05,
 -2.63430675e-06,-6.51321062e-05, 6.42835015e-06, 3.19651559e-05,
 -5.81776063e-06, 2.25442055e-05,-1.34380967e-05, 2.05486076e-05,
  2.64372807e-01,-1.23873320e-03, 4.25982411e-02, 1.27040535e-02,
 -2.27015566e-04, 1.42922125e-04,-9.80989379e+00,-1.18114912e-02,
 -2.39791310e-02, 8.72479798e-05]


--- Step 398 ---
qpos:
[-1.35802673e-02, 1.35476528e-02, 1.00308524e-02, 1.47427951e-02,
 -1.90410328e-02,-9.05308480e-03,-1.74071957e-02, 1.62939720e-02,
 -1.21105106e-02,-6.71836460e-03,-1.44031554e-02, 1.51326790e-02,
  1.40509180e+00, 2.94788913e-02, 2.82604296e-01,-4.88373775e-04,
  9.49570212e-02,-7.02249588e-02, 1.04480269e-01, 9.99989620e-01,
  1.37587838e-03,-1.21741317e-05,-4.34348768e-03]

qacc:
[  2.27770995, -2.99977255, 12.09739076,-19.31497528,  5.93731312,
  -0.7376542 ,  1.79249052, -1.05872142, -3.71494045,  1.38286774,
  -6.73005492, 16.18895802, -0.21465875,-19.21103369,-23.8424915 ,
 -82.46511135, -0.08885066, -0.58516229,  0.442834  , -4.63522929,
  15.08006416,-78.29413831]

qfrc_actuator:
[ 5.57381873e-04,-5.74068933e-04,-1.46409439e-04,-7.04649076e-05,
 -6.71330023e-04,-7.46256627e-04,-2.70151641e-04,-5.32834484e-05,
 -5.06344031e-04,-3.89395243e-04,-1.71618710e-04, 6.51446078e-07,
  2.10000000e-01,-3.60390791e-03, 9.00000000e-02, 3.73118122e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40760396, -0.02982287, -0.40651149, -0.02982287,  0.43138423,
       -0.00174459, -0.40651149, -0.00174459,  0.40773195,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023180442637764581
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63630516e-01,  2.67229141e-01, -2.19426974e-03,  2.67228448e-01,
        9.63633014e-01,  6.08502207e-04,  2.27708028e-03,  0.00000000e+00,
       -9.99997407e-01])
  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([ 0.10375926, -0.08885037,  0.14100653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34339162, -0.33624119, -0.06971134, -0.33624119,  0.46948811,
       -0.60820565, -0.06971134, -0.60820565,  3.27697158,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008114232448781841
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.62609494e-01,  4.80969886e-01, -4.32544481e-01,  4.18360527e-01,
        8.76737115e-01,  2.37289909e-01,  4.93357101e-01, -2.77555756e-17,
       -8.69826863e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10360752, -0.08814411,  0.15006585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.56479569,  0.18413408, 11.56332971,  0.18413408, 23.7699837 ,
       -0.19435501, 11.56332971, -0.19435501, 11.5678906 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005216745533947881
  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([ 0.08459048, -0.06875364,  0.06197782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33831598e-05, 1.95404538e-05, 5.00730977e-05,-1.49110890e-05,
  3.51282147e-05,-3.97897628e-05,-2.16915973e-06, 1.34288816e-07,
 -2.18798268e-05, 4.46593468e-05, 1.56337926e-05, 3.13855883e-05,
  2.65596117e-01,-8.45689050e-04, 4.58754366e-02, 1.17866459e-02,
 -5.23599635e-04, 2.60745052e-04,-9.80971481e+00,-1.18172178e-02,
 -2.40125589e-02, 7.61810922e-05]


--- Step 399 ---
qpos:
[-1.35799152e-02, 1.35467293e-02, 1.00311896e-02, 1.47422126e-02,
 -1.90411849e-02,-9.05374721e-03,-1.74079483e-02, 1.62930977e-02,
 -1.21107572e-02,-6.71731779e-03,-1.44031560e-02, 1.51336589e-02,
  1.40504646e+00, 2.95320239e-02, 2.83342398e-01,-7.06937790e-04,
  9.49736461e-02,-7.02227969e-02, 1.04481059e-01, 9.99986565e-01,
  1.17848241e-03, 1.19820593e-04,-5.04637594e-03]

qacc:
[-4.71893253e+00, 9.36644488e-01,-3.82515200e+00, 7.08639891e+00,
  6.72527115e+00,-1.52187980e+00, 8.28935662e+00,-2.03264387e+01,
 -2.26161673e+00,-3.14469976e-01,-8.05502582e-01, 7.22625497e+00,
  5.86495377e-02,-2.05101937e+01,-1.25282718e+01,-9.16189090e+01,
 -1.27986739e-01,-4.07729326e-01, 3.76646130e-01,-6.14160752e+00,
  1.07584283e+01,-7.47774246e+01]

qfrc_actuator:
[ 5.28972245e-04,-5.79094333e-04,-1.59382104e-04,-6.28162202e-05,
 -6.32492256e-04,-7.31719676e-04,-2.64301119e-04,-8.74944999e-05,
 -5.19110694e-04,-4.22925815e-04,-1.64365623e-04, 1.83699196e-05,
  2.10000000e-01,-3.63785372e-03, 9.00000000e-02, 4.05819113e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42187917,  0.00977586, -0.42176589,  0.00977586,  0.64196153,
        0.00510116, -0.42176589,  0.00510116,  0.42199741,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002877769329303505
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63460233e-01,  2.67843342e-01, -2.07933670e-03,  2.67842719e-01,
        9.63462477e-01,  5.78057271e-04,  2.15819167e-03,  0.00000000e+00,
       -9.99997671e-01])
  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([ 0.10373954, -0.08880045,  0.14103206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35075136,  0.20481266,  0.2847425 ,  0.20481266,  1.65981536,
       -0.94159767,  0.2847425 , -0.94159767,  1.02803389,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000842159876411949
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.59141701e-01,  4.82716209e-01, -4.36679446e-01,  4.18428521e-01,
        8.75776833e-01,  2.40691737e-01,  4.98619545e-01,  2.77555756e-17,
       -8.66820944e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10360428, -0.08811451,  0.15002759])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.54698719,   5.34393727, -10.2359781 ,   5.34393727,
        50.31363837,  20.23905777, -10.2359781 ,  20.23905777,
        22.11327154,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005205866144766379
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07066939e-06,  3.05905540e-06,  1.00000000e+00,  3.27523699e-12,
        1.00000000e+00, -3.05905540e-06, -1.00000000e+00,  0.00000000e+00,
       -1.07066939e-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([ 0.08523282, -0.06880988,  0.06197786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.79834284e-05, 1.55755191e-05,-3.29654002e-06, 9.92567263e-06,
  3.98677052e-05,-8.10974909e-06,-2.62128783e-06,-3.59879678e-05,
 -1.34197656e-05,-3.99446123e-06, 1.94893918e-05, 2.07846451e-05,
  2.66041244e-01,-7.21141782e-04, 4.97324410e-02, 1.36057569e-02,
 -9.57526119e-04, 4.92329779e-04,-9.80958081e+00,-1.18400706e-02,
 -2.40294707e-02, 6.39326929e-05]


--- Step 400 ---
qpos:
[-1.35799060e-02, 1.35462421e-02, 1.00309469e-02, 1.47420655e-02,
 -1.90408692e-02,-9.05440340e-03,-1.74087111e-02, 1.62925075e-02,
 -1.21111557e-02,-6.71660488e-03,-1.44028921e-02, 1.51345306e-02,
  1.40502153e+00, 2.95933366e-02, 2.84067140e-01,-9.88305265e-04,
  9.49819866e-02,-7.02272215e-02, 1.04480841e-01, 9.99983162e-01,
  1.10440960e-03, 2.07613084e-04,-5.69320271e-03]

qacc:
[-2.99633976e+00, 3.10047745e+00,-1.20463693e+01, 2.01775229e+01,
  4.06138196e+00, 6.13184765e-01,-3.38765158e+00, 8.33035086e+00,
 -1.31200318e+00,-1.40037572e+00, 4.81448599e+00,-6.86992473e+00,
  3.51853823e-01, 5.01053914e+01, 1.71114683e+02,-6.25935973e+02,
 -2.07111333e+00,-1.64665137e+00,-2.52007466e-01, 6.17691267e+01,
 -2.17566003e+01, 2.80629330e+01]

qfrc_actuator:
[ 5.12111837e-04,-5.46320502e-04,-1.84975776e-04,-4.03515079e-05,
 -6.09593420e-04,-7.22714482e-04,-2.60497238e-04,-7.17479867e-05,
 -5.26515678e-04,-4.61135442e-04,-1.60219859e-04, 1.06178803e-05,
  2.10000000e-01,-3.69536966e-03, 9.00000000e-02, 4.37555454e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43727649, -0.24793526, -0.36019277, -0.24793526,  0.5659774 ,
       -0.08859004, -0.36019277, -0.08859004,  0.4982566 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033502874167515035
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63312448e-01,  2.68375489e-01, -1.92965971e-03,  2.68374951e-01,
        9.63314381e-01,  5.37595388e-04,  2.00314637e-03,  0.00000000e+00,
       -9.99997994e-01])
  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([ 0.10371921, -0.08876031,  0.14105585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.3595702 ,  0.2330746 ,  0.27380095,  0.2330746 ,  0.9869793 ,
       -0.53408554,  0.27380095, -0.53408554,  0.81421354,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008873079402294664
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.56209955e-01,  4.84041244e-01, -4.40284655e-01,  4.18306179e-01,
        8.75045184e-01,  2.43548489e-01,  5.03156480e-01,  2.77555756e-17,
       -8.64195323e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10359847, -0.08809017,  0.14999579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.5920363 ,  7.4130434 ,  8.91190738,  7.4130434 , 14.88068751,
       -2.73554393,  8.91190738, -2.73554393, 13.86749822,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000523337488256663
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06071421e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.06071421e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09899586, -0.05166944,  0.06197775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76315217e-05, 4.12030001e-05,-2.24425467e-05, 2.32114272e-05,
  2.40802882e-05, 2.40607060e-06, 5.60700726e-07, 1.46065660e-05,
 -7.83250754e-06,-3.55262465e-05, 6.44278871e-06,-6.84357738e-06,
  2.66455962e-01,-6.10020781e-04, 5.28794679e-02, 1.52554610e-02,
 -1.49265437e-03, 7.81980307e-04,-9.80943304e+00,-1.18647027e-02,
 -2.40480230e-02, 5.06226688e-05]


--- Step 401 ---
qpos:
[-1.35800987e-02, 1.35461205e-02, 1.00303863e-02, 1.47421794e-02,
 -1.90406252e-02,-9.05517141e-03,-1.74093753e-02, 1.62921178e-02,
 -1.21116405e-02,-6.71623645e-03,-1.44025309e-02, 1.51353165e-02,
  1.40500986e+00, 2.96607665e-02, 2.84778022e-01,-1.32635277e-03,
  9.49838009e-02,-7.02365705e-02, 1.04479970e-01, 9.99979812e-01,
  1.12026248e-03, 2.40887093e-04,-6.25007575e-03]

qacc:
[-1.76725629e+00, 1.91327500e+00,-7.21636030e+00, 1.19663312e+01,
 -6.17055508e-01,-9.43235273e-03,-1.02557940e+00, 4.41920229e+00,
 -7.44895001e-01,-9.02439074e-01, 2.92232110e+00,-4.31343556e+00,
 -7.89744143e-01, 3.99704842e+01, 1.51745501e+02,-5.59424697e+02,
 -1.63155155e+00,-1.23107214e+00,-1.63391980e-01, 4.51079239e+01,
 -2.69531344e+01, 4.50157031e+01]

qfrc_actuator:
[ 5.02197532e-04,-5.26723010e-04,-1.99886980e-04,-2.70750741e-05,
 -6.14013657e-04,-7.34805246e-04,-2.57903661e-04,-6.22343864e-05,
 -5.30708127e-04,-4.84146046e-04,-1.57996638e-04, 5.68290686e-06,
  2.10000000e-01,-3.75931229e-03, 9.00000000e-02, 4.68069639e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.45303783, -0.21609404, -0.39817916, -0.21609404,  0.70062323,
       -0.13436597, -0.39817916, -0.13436597,  0.52595899,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003747998401637522
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63185829e-01,  2.68830465e-01, -1.80020006e-03,  2.68829995e-01,
        9.63187511e-01,  5.02444865e-04,  1.86900270e-03,  1.08420217e-19,
       -9.99998253e-01])
  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([ 0.10369271, -0.08874033,  0.14107658])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36909396,  0.3371314 ,  0.15024237,  0.3371314 ,  0.92408347,
       -1.24535038,  0.15024237, -1.24535038,  3.16355678,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009885146434710631
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75425776,  0.48390007, -0.44377466,  0.4170674 ,  0.87512326,
        0.24538553,  0.50709961,  0.        , -0.86188746])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10358306, -0.08808392,  0.14996229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.65290065, -6.93416273, -9.36522722, -6.93416273, 22.07298471,
       -7.71519546, -9.36522722, -7.71519546, 17.36535371,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005270478413265042
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.29139661e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.29139661e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09902012, -0.0516867 ,  0.06197759])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03876794e-05, 3.89890665e-05,-8.36120140e-06, 1.47178286e-05,
 -3.69263357e-06,-1.00066408e-05, 3.66039704e-06, 9.91866951e-06,
 -4.46000838e-06,-4.18303595e-05,-4.55436060e-06,-6.36674072e-06,
  2.65432088e-01,-1.06971071e-03, 5.35513193e-02, 1.87014722e-02,
 -1.12370167e-03, 6.23382069e-04,-9.80978622e+00,-1.18489140e-02,
 -2.39876364e-02, 4.68828533e-05]


--- Step 402 ---
qpos:
[-1.35804087e-02, 1.35462798e-02, 1.00296683e-02, 1.47424512e-02,
 -1.90400904e-02,-9.05587431e-03,-1.74100492e-02, 1.62914846e-02,
 -1.21118273e-02,-6.71638197e-03,-1.44017560e-02, 1.51356918e-02,
  1.40500214e+00, 2.97307991e-02, 2.85460966e-01,-1.71295576e-03,
  9.49803265e-02,-7.02494884e-02, 1.04478703e-01, 9.99976905e-01,
  1.19881814e-03, 2.08069910e-04,-6.68650403e-03]

qacc:
[-1.02604396e+00, 1.13876457e+00,-4.18531993e+00, 6.96103888e+00,
  2.52333438e+00,-3.92881773e-01, 2.54553267e+00,-6.78357879e+00,
  2.62267390e+00,-2.68508687e+00, 1.03131255e+01,-1.76922321e+01,
 -1.13685499e+00, 1.87765277e+01, 1.06069132e+02,-4.30389837e+02,
 -1.32216431e+00,-8.92262284e-01,-9.86848500e-02, 3.15425332e+01,
 -3.27815707e+01, 6.02671364e+01]

qfrc_actuator:
[ 4.96447267e-04,-5.15135332e-04,-2.08418727e-04,-1.93113587e-05,
 -5.98967788e-04,-7.23932779e-04,-2.56141044e-04,-7.42433085e-05,
 -5.15225210e-04,-5.15645729e-04,-1.39112967e-04,-1.52935364e-05,
  2.10000000e-01,-3.84607287e-03, 9.00000000e-02, 4.97975062e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.46853829,  0.14784008, -0.44460256,  0.14784008,  0.37150915,
       -0.03226431, -0.44460256, -0.03226431,  0.4578097 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004080934457165884
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63080761e-01,  2.69207094e-01, -1.72845368e-03,  2.69206660e-01,
        9.63082313e-01,  4.83148724e-04,  1.79471023e-03, -5.42101086e-20,
       -9.99998390e-01])
  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([ 0.10366184, -0.08873512,  0.14109472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36919646,  0.34410597,  0.13378009,  0.34410597,  0.45241832,
       -0.21406128,  0.13378009, -0.21406128,  0.9197998 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010427756453376142
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75307582,  0.48270546, -0.44707074,  0.41507304,  0.87578276,
        0.24641212,  0.51048133,  0.        , -0.85988884])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10356006, -0.08809042,  0.14992872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.66198289,  -7.02805426,  -9.30635795,  -7.02805426,
        25.48396549, -10.43820195,  -9.30635795, -10.43820195,
        19.5447927 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005276009064480239
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05214283e-13, -6.57589271e-15,  1.00000000e+00, -6.91877838e-28,
        1.00000000e+00,  6.57589271e-15, -1.00000000e+00,  0.00000000e+00,
       -1.05214283e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09903963, -0.05169941,  0.06197757])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.02580942e-06, 3.22967015e-05,-9.96422074e-07, 9.43238918e-06,
  1.49720702e-05, 6.44771600e-06, 4.87130428e-07,-1.21184198e-05,
  1.53217145e-05,-5.60905002e-05, 9.46693801e-06,-2.30495034e-05,
  2.64765621e-01,-1.44960992e-03, 5.42480315e-02, 2.18351707e-02,
 -7.37792539e-04, 4.22943242e-04,-9.80999544e+00,-1.18281592e-02,
 -2.39502218e-02, 4.76661354e-05]


--- Step 403 ---
qpos:
[-1.35807851e-02, 1.35464889e-02, 1.00289538e-02, 1.47428329e-02,
 -1.90393788e-02,-9.05650858e-03,-1.74107314e-02, 1.62910570e-02,
 -1.21121723e-02,-6.71675706e-03,-1.44008251e-02, 1.51351035e-02,
  1.40497305e+00, 2.97925394e-02, 2.86118705e-01,-2.10891224e-03,
  9.49699506e-02,-7.02598740e-02, 1.04478663e-01, 9.99974708e-01,
  1.25901613e-03, 8.58044105e-05,-6.99934224e-03]

qacc:
[ -0.57632799,  0.28328579, -1.37594834,  3.23128112,  1.53441488,
   0.53420469, -2.646905  ,  6.17522733, -1.37244645, -2.72004311,
  13.33266613,-30.09932249, -1.28346353,-46.79803167, -9.37405905,
 -22.36600115, -1.72537273,  0.63310094,  0.30656534, -8.89285583,
 -44.71049324, 61.84768759]

qfrc_actuator:
[ 4.93191469e-04,-5.26167538e-04,-2.13156102e-04,-1.48566614e-05,
 -5.90328639e-04,-7.17167208e-04,-2.54808114e-04,-6.32966469e-05,
 -5.23792191e-04,-5.16426327e-04,-1.28340951e-04,-6.32885228e-05,
  2.10000000e-01,-3.92770385e-03, 9.00000000e-02, 5.32520502e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.48253143,  0.30366986, -0.37499493,  0.30366986,  0.31355865,
       -0.13683369, -0.37499493, -0.13683369,  0.37172388,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043445292383585037
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63000775e-01,  2.69492934e-01, -1.75110308e-03,  2.69492488e-01,
        9.63002367e-01,  4.90040235e-04,  1.81837879e-03,  0.00000000e+00,
       -9.99998347e-01])
  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([ 0.10362831, -0.08874121,  0.14111061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36919646,  0.34098333,  0.14154998,  0.34098333,  0.38514971,
       -0.03843018,  0.14154998, -0.03843018,  0.46177189,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010697933848847737
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75258131,  0.48075406, -0.44999656,  0.41261819,  0.87685548,
        0.24671988,  0.51319353,  0.        , -0.85827291])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1035312 , -0.08810608,  0.1498983 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.62925962, -11.17826281,  -3.20719813, -11.17826281,
        15.79114507, -14.50569857,  -3.20719813, -14.50569857,
        62.18694403,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005256074954778417
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.64033293e-14,  6.33032495e-07,  1.00000000e+00, -1.67141654e-20,
        1.00000000e+00, -6.33032495e-07, -1.00000000e+00,  0.00000000e+00,
        2.64033293e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10159879, -0.06217243,  0.06197765])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.41663095e-06, 7.23573900e-06, 2.14109260e-06, 5.98869018e-06,
  9.10779125e-06, 9.93821062e-06, 2.29849098e-06, 1.10021458e-05,
 -8.15171160e-06,-3.11669918e-05,-4.44491159e-07,-5.05200012e-05,
  2.64565099e-01,-1.64940169e-03, 5.56486303e-02, 2.46089827e-02,
 -3.92022283e-04, 2.07846583e-04,-9.81008590e+00,-1.18076118e-02,
 -2.39347611e-02, 5.21168795e-05]


--- Step 404 ---
qpos:
[-1.35811977e-02, 1.35466805e-02, 1.00282350e-02, 1.47432745e-02,
 -1.90389129e-02,-9.05741333e-03,-1.74112746e-02, 1.62914882e-02,
 -1.21122724e-02,-6.71713077e-03,-1.43999162e-02, 1.51342721e-02,
  1.40492208e+00, 2.98446884e-02, 2.86756836e-01,-2.50713034e-03,
  9.49527892e-02,-7.02677773e-02, 1.04479459e-01, 9.99973298e-01,
  1.29551392e-03,-1.27336840e-04,-7.19089460e-03]

qacc:
[ -0.31275193,  0.11299819, -0.68900852,  1.74716643, -2.12458508,
   1.02549717, -7.79422997, 22.62630781,  2.13679892, -0.44144617,
   2.59568976, -6.76043326, -0.18489994,-56.75684758,-22.71844576,
  35.98990649, -1.69637395,  0.62057684,  0.20875995,-11.53746335,
 -45.4433526 , 60.70033696]

qfrc_actuator:
[ 4.91428401e-04,-5.32900398e-04,-2.15714823e-04,-1.24023433e-05,
 -6.03288548e-04,-7.48400597e-04,-2.53730456e-04,-2.11757643e-05,
 -5.10946836e-04,-4.98854270e-04,-1.22343627e-04,-7.35193073e-05,
  2.10000000e-01,-3.94314526e-03, 9.00000000e-02, 5.67871971e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.49070997,  0.32848149, -0.3645493 ,  0.32848149,  0.31533242,
       -0.15802603, -0.3645493 , -0.15802603,  0.34831873,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004485423007938338
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.62938768e-01,  2.69713003e-01, -1.95580853e-03,  2.69712446e-01,
        9.62940754e-01,  5.47808355e-04,  2.03107878e-03,  0.00000000e+00,
       -9.99997937e-01])
  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([ 0.10359124, -0.08875059,  0.14112367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36919646,  0.34009883,  0.14366216,  0.34009883,  0.37510355,
       -0.01398414,  0.14366216, -0.01398414,  0.40230185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010907111750206415
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.52722156e-01,  4.78807566e-01, -4.51832569e-01,  4.10526144e-01,
        8.77919880e-01,  2.46424369e-01,  5.14662647e-01,  2.77555756e-17,
       -8.57392769e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10349443, -0.08812004,  0.14988197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.5870663 , -10.75562984,  -4.31005015, -10.75562984,
        18.91488906, -18.28641116,  -4.31005015, -18.28641116,
        57.22037977,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005230341976727687
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32666161e-14, -6.45414115e-06,  1.00000000e+00, -8.56246128e-20,
        1.00000000e+00,  6.45414115e-06, -1.00000000e+00,  0.00000000e+00,
       -1.32666161e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10160409, -0.06218041,  0.06197776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.85946483e-06,-1.97520921e-06,-5.89015576e-07, 2.95598627e-06,
 -1.26627820e-05,-2.47524392e-05, 3.78556341e-06, 4.28384436e-05,
  1.26071204e-05,-2.10325363e-06,-2.23947546e-06,-1.25638424e-05,
  2.65630710e-01,-1.23881651e-03, 5.69123242e-02, 2.54307102e-02,
 -2.27100026e-04, 3.01467775e-05,-9.81005482e+00,-1.17923605e-02,
 -2.39485704e-02, 5.76542909e-05]


--- Step 405 ---
qpos:
[-1.35812836e-02, 1.35471019e-02, 1.00276977e-02, 1.47430066e-02,
 -1.90386053e-02,-9.05843237e-03,-1.74118283e-02, 1.62924112e-02,
 -1.21122176e-02,-6.71761981e-03,-1.43989526e-02, 1.51340244e-02,
  1.40486600e+00, 2.98954338e-02, 2.87313930e-01,-2.92132886e-03,
  9.49410299e-02,-7.02742599e-02, 1.04481544e-01, 9.99971961e-01,
  1.31951300e-03,-2.68823612e-04,-7.36637373e-03]

qacc:
[  2.83271307, -1.67066087,  9.38400906,-22.11529166, -1.37217903,
   0.89316399, -5.47663424, 14.08720535,  1.35551965,  0.89366751,
  -5.876848  , 15.98186716,  0.51790985,-13.03246722,-71.68512606,
  76.39308175,  1.35051499,  0.35516349,  0.32258193, -6.5058412 ,
  35.79176103,  7.99104828]

qfrc_actuator:
[ 5.08309861e-04,-5.01500988e-04,-1.99207400e-04,-4.66477304e-05,
 -6.11103396e-04,-7.48863808e-04,-2.52949955e-04, 3.40910520e-06,
 -5.03346547e-04,-5.05915018e-04,-1.19095689e-04,-4.36741495e-05,
  2.10000000e-01,-3.98526752e-03, 9.00000000e-02, 6.06922536e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.49206463,  0.12612638, -0.47562563,  0.12612638,  1.19374895,
        0.18607261, -0.47562563,  0.18607261,  0.54140736,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045079274720915397
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.62891464e-01,  2.69878706e-01, -2.34807821e-03,  2.69877903e-01,
        9.62894327e-01,  6.58116152e-04,  2.43856273e-03,  0.00000000e+00,
       -9.99997027e-01])
  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([ 0.10355037, -0.08876267,  0.14113412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36919646,  0.31310553,  0.19562964,  0.31310553,  1.17729316,
       -1.29335997,  0.19562964, -1.29335997,  2.43922101,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010701679904713923
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75347081,  0.47689354, -0.45260831,  0.40880692,  0.87896106,
        0.24556945,  0.51493557,  0.        , -0.85722889])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10344965, -0.08813192,  0.14987954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.62705608, 11.55634691, -1.28034332, 11.55634691, 12.04211562,
        3.74631712, -1.28034332,  3.74631712, 45.44122111,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000525473189317234
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.90377917e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.90377917e-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([ 0.08124906, -0.06126415,  0.06197766])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68275449e-05, 3.03141015e-05, 1.61335903e-05,-3.42919024e-05,
 -8.15171929e-06,-1.17084233e-05,-2.38841870e-06, 2.44883749e-05,
  7.96605721e-06,-9.22941791e-06, 2.10315524e-06, 2.94327735e-05,
  2.66721635e-01,-7.90390760e-04, 5.78960309e-02, 2.59347959e-02,
 -1.76567978e-04,-5.41867824e-05,-9.80997200e+00,-1.17894606e-02,
 -2.39640323e-02, 6.45013061e-05]


--- Step 406 ---
qpos:
[-1.35811665e-02, 1.35475103e-02, 1.00280268e-02, 1.47419682e-02,
 -1.90387381e-02,-9.05923409e-03,-1.74127361e-02, 1.62925668e-02,
 -1.21127617e-02,-6.71813513e-03,-1.43982785e-02, 1.51344940e-02,
  1.40480627e+00, 2.99452160e-02, 2.87792466e-01,-3.34844079e-03,
  9.49342373e-02,-7.02795161e-02, 1.04484501e-01, 9.99970660e-01,
  1.33015360e-03,-3.44094014e-04,-7.53597633e-03]

qacc:
[  1.786058  , -4.0300912 , 17.59105249,-32.29597878, -3.83969465,
  -0.29561322,  4.72456807,-17.61634847, -5.23491121,  2.26088889,
 -11.12322015, 24.00218909,  0.78120463,-11.05041132,-77.30078087,
 101.38498937,  1.24166249,  0.30660834,  0.21775554, -6.92217865,
  33.06193772,  2.89642359]

qfrc_actuator:
[ 5.18277127e-04,-5.00720472e-04,-1.53691622e-04,-8.44146452e-05,
 -6.33573049e-04,-7.30912916e-04,-2.70006521e-04,-3.57622384e-05,
 -5.34406456e-04,-5.09886648e-04,-1.35317788e-04,-8.26553241e-06,
  2.10000000e-01,-4.06550218e-03, 9.00000000e-02, 6.39003327e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.49574716,  0.13358876, -0.47740893,  0.13358876,  1.44296827,
        0.26505179, -0.47740893,  0.26505179,  0.56991405,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004567980318349293
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.62864710e-01,  2.69971748e-01, -2.60884759e-03,  2.69970758e-01,
        9.62868244e-01,  7.31476140e-04,  2.70945439e-03, -1.08420217e-19,
       -9.99996329e-01])
  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([ 0.10351912, -0.08876928,  0.14114582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010782124061645957
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75379753,  0.47545919, -0.45357231,  0.40739408,  0.87973778,
        0.24513568,  0.51557671,  0.        , -0.85684343])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10341692, -0.08814023,  0.14987585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005268793459076715
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.26791870e-14,  2.96320427e-14,  1.00000000e+00, -1.56099192e-27,
        1.00000000e+00, -2.96320427e-14, -1.00000000e+00,  0.00000000e+00,
        5.26791870e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08125282, -0.06126409,  0.0619776 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04555465e-05, 1.96053277e-05, 5.25784326e-05,-3.65775676e-05,
 -2.26679060e-05, 1.19455846e-05,-1.89250728e-05,-3.92794835e-05,
 -3.08292632e-05,-7.43563534e-06,-1.68523413e-05, 3.56582137e-05,
  2.66975935e-01,-7.91113765e-04, 6.19509595e-02, 2.70550488e-02,
 -1.11122943e-04,-1.95203600e-05,-9.80999884e+00,-1.17970083e-02,
 -2.39714088e-02, 6.93370711e-05]


--- Step 407 ---
qpos:
[-1.35812756e-02, 1.35476404e-02, 1.00290489e-02, 1.47408768e-02,
 -1.90391384e-02,-9.05982110e-03,-1.74142037e-02, 1.62929573e-02,
 -1.21133287e-02,-6.71867517e-03,-1.43977860e-02, 1.51350314e-02,
  1.40474409e+00, 2.99943857e-02, 2.88194529e-01,-3.78617335e-03,
  9.49319392e-02,-7.02838146e-02, 1.04487972e-01, 9.99969330e-01,
  1.32728456e-03,-3.58398548e-04,-7.71035565e-03]

qacc:
[ -1.93413847, -2.41037343,  8.29056387,-10.11669186, -2.34451534,
   2.33537594, -8.89982588, 13.69468351, -0.20538683,  0.6149721 ,
  -2.52609228,  4.00868971,  0.99447223, -9.47080674,-81.15712071,
 119.36853816,  1.12364768,  0.23940728,  0.12870446, -6.98513736,
  30.42795306, -2.42662432]

qfrc_actuator:
[ 5.06336260e-04,-5.35912901e-04,-1.27033609e-04,-8.84444918e-05,
 -6.46737462e-04,-7.19952080e-04,-2.97417553e-04,-2.33615413e-05,
 -5.34712825e-04,-5.12047731e-04,-1.45146974e-04,-5.39120213e-06,
  2.10000000e-01,-4.06196738e-03, 9.00000000e-02, 6.70785292e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.50141144,  0.17372242, -0.47035513,  0.17372242,  1.45558617,
        0.35241784, -0.47035513,  0.35241784,  0.63157453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000465729380846877
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.62857580e-01,  2.69995783e-01, -2.74909766e-03,  2.69994683e-01,
        9.62861505e-01,  7.70873872e-04,  2.85513300e-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([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10349663, -0.08877135,  0.14115832])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001086151582615959
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75376366,  0.4744498 , -0.4546842 ,  0.40625935,  0.88028256,
        0.24506317,  0.51652075,  0.        , -0.85627467])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10339507, -0.08814547,  0.14987106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005258134852422006
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.31964929e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.31964929e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08125521, -0.06126366,  0.06197765])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16494097e-05,-1.49345520e-05, 3.59169449e-05,-2.08299148e-06,
 -1.37710386e-05, 1.20454337e-05,-2.86317166e-05, 1.14944798e-05,
 -1.18311406e-06,-8.26224025e-06,-1.21996831e-05, 2.66889191e-06,
  2.67156554e-01,-7.31723023e-04, 6.58815766e-02, 2.80188855e-02,
 -7.91067146e-05, 8.07740887e-06,-9.81000830e+00,-1.18029986e-02,
 -2.39759286e-02, 7.18088451e-05]


--- Step 408 ---
qpos:
[-1.35815271e-02, 1.35474793e-02, 1.00304266e-02, 1.47404621e-02,
 -1.90400376e-02,-9.06050634e-03,-1.74156078e-02, 1.62934902e-02,
 -1.21142400e-02,-6.71916614e-03,-1.43971823e-02, 1.51355692e-02,
  1.40468066e+00, 3.00433124e-02, 2.88523099e-01,-4.23272927e-03,
  9.49336742e-02,-7.02874447e-02, 1.04491654e-01, 9.99967884e-01,
  1.31099936e-03,-3.16467993e-04,-7.90007946e-03]

qacc:
[-1.21813796e+00, 1.67567769e-02,-3.47077682e+00, 1.48226188e+01,
 -4.32781788e+00,-5.37554706e-03,-7.55992437e-01, 3.17627900e+00,
 -3.00237841e+00,-2.39535541e-01, 9.57029153e-01,-1.17648467e+00,
  1.15247664e+00,-7.59136353e+00,-8.21798837e+01, 1.29376909e+02,
  1.00828154e+00, 1.67117669e-01, 5.28256119e-02,-6.92734831e+00,
  2.80547571e+01,-7.70736968e+00]

qfrc_actuator:
[ 4.99351056e-04,-5.56913517e-04,-1.11863424e-04,-5.48888477e-05,
 -6.72068036e-04,-7.31022239e-04,-2.95188615e-04,-1.62182556e-05,
 -5.52408711e-04,-4.95360900e-04,-1.33379836e-04,-3.92229746e-06,
  2.10000000e-01,-4.07914695e-03, 9.00000000e-02, 7.04450485e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.50869591,  0.21090091, -0.4629172 ,  0.21090091,  1.4535611 ,
        0.43047207, -0.4629172 ,  0.43047207,  0.70481511,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047670867105735796
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.62869373e-01,  2.69953417e-01, -2.77905961e-03,  2.69952292e-01,
        9.62873384e-01,  7.79143602e-04,  2.88621501e-03,  0.00000000e+00,
       -9.99995835e-01])
  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([ 0.10348204, -0.08876999,  0.14117125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010935415167044053
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.53439628e-01,  4.73797970e-01, -4.55899342e-01,  4.05365159e-01,
        8.80633569e-01,  2.45282704e-01,  5.17694712e-01, -2.77555756e-17,
       -8.55565418e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10338291, -0.08814831,  0.14986548])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005227832041509381
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.30919421e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.30919421e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08125652, -0.06126293,  0.06197778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.34196537e-06,-2.20210033e-05, 1.64396467e-05, 3.41186539e-05,
 -2.56844907e-05,-9.74606021e-06, 1.59295367e-06, 6.89384258e-06,
 -1.77196625e-05, 9.68223433e-06, 8.65672513e-06, 7.45852831e-07,
  2.67277665e-01,-7.12173508e-04, 6.97076812e-02, 2.88868436e-02,
 -7.53349520e-05, 3.28856259e-05,-9.81000139e+00,-1.18085825e-02,
 -2.39779779e-02, 7.20239203e-05]


--- Step 409 ---
qpos:
[-1.35818607e-02, 1.35471708e-02, 1.00316836e-02, 1.47404675e-02,
 -1.90412329e-02,-9.06133677e-03,-1.74166277e-02, 1.62933976e-02,
 -1.21153562e-02,-6.71950226e-03,-1.43968147e-02, 1.51368211e-02,
  1.40461712e+00, 3.00923726e-02, 2.88781872e-01,-4.68678612e-03,
  9.49389982e-02,-7.02907048e-02, 1.04495292e-01, 9.99966223e-01,
  1.28156310e-03,-2.22557977e-04,-8.11545894e-03]

qacc:
[-7.12962389e-01, 1.00955689e+00,-5.65421400e+00, 1.32266657e+01,
 -2.55631384e+00,-2.54749007e+00, 1.14554183e+01,-2.27995005e+01,
 -1.79782139e+00, 2.33786429e+00,-1.10489439e+01, 2.36682786e+01,
  1.26066532e+00,-5.49767673e+00,-8.06997913e+01, 1.32177115e+02,
  8.97217302e-01, 9.25023243e-02,-1.12311614e-02,-6.78455647e+00,
  2.59200976e+01,-1.28602709e+01]

qfrc_actuator:
[ 4.95345976e-04,-5.69274712e-04,-1.21278427e-04,-3.49955050e-05,
 -6.86607402e-04,-7.37331301e-04,-2.75574990e-04,-4.77361649e-05,
 -5.62455135e-04,-4.85181865e-04,-1.44380438e-04, 3.22490101e-05,
  2.10000000e-01,-4.12663211e-03, 9.00000000e-02, 7.37715451e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.51727727,  0.24472295, -0.45572629,  0.24472295,  1.4387742 ,
        0.49483965, -0.45572629,  0.49483965,  0.78300391,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004889736415167617
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.62899173e-01,  2.69847830e-01, -2.70780789e-03,  2.69846763e-01,
        9.62902980e-01,  7.58847046e-04,  2.81212951e-03, -1.08420217e-19,
       -9.99996046e-01])
  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([ 0.10347447, -0.08876624,  0.14118425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011001679669195694
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75289017,  0.47343655, -0.45718072,  0.40467124,  0.88082792,
        0.24573025,  0.51903523,  0.        , -0.85475285])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10337927, -0.08814942,  0.14985929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005182223499761371
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.00847008e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.00847008e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08125698, -0.06126196,  0.06197797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.23592571e-06,-1.98101932e-05,-1.07540214e-05, 2.01835488e-05,
 -1.52423955e-05,-1.11108872e-05, 1.80469073e-05,-3.17431772e-05,
 -1.05414521e-05, 1.74410599e-05,-7.89736919e-06, 3.69029299e-05,
  2.67339816e-01,-7.42912645e-04, 7.33844960e-02, 2.96608677e-02,
 -9.68722108e-05, 5.97057316e-05,-9.80997857e+00,-1.18148050e-02,
 -2.39779951e-02, 7.01033633e-05]


--- Step 410 ---
qpos:
[-1.35822400e-02, 1.35469016e-02, 1.00322268e-02, 1.47400384e-02,
 -1.90422479e-02,-9.06201915e-03,-1.74172509e-02, 1.62928891e-02,
 -1.21162392e-02,-6.71986264e-03,-1.43965017e-02, 1.51385074e-02,
  1.40455436e+00, 3.01418687e-02, 2.88974289e-01,-5.14683784e-03,
  9.49475407e-02,-7.02937875e-02, 1.04498675e-01, 9.99964246e-01,
  1.23869534e-03,-8.02718885e-05,-8.36456235e-03]

qacc:
[-4.18652178e-01, 1.15319770e+00,-2.19992614e+00,-4.21100368e+00,
  1.57400445e+00,-1.77125619e+00, 8.35102697e+00,-1.62881937e+01,
  2.03428385e+00, 1.01046361e+00,-5.49018009e+00, 1.31198180e+01,
  1.32120585e+00,-3.76112987e+00,-8.01572437e+01, 1.37702025e+02,
  8.04644253e-01, 4.43282932e-02,-6.35609985e-02,-6.91536759e+00,
  2.41110717e+01,-1.68921798e+01]

qfrc_actuator:
[ 4.93125655e-04,-5.76479516e-04,-1.62863063e-04,-5.88190889e-05,
 -6.76922702e-04,-7.05192184e-04,-2.45876845e-04,-6.62345860e-05,
 -5.50160943e-04,-4.96785523e-04,-1.50986194e-04, 5.30224858e-05,
  2.10000000e-01,-4.21033273e-03, 9.00000000e-02, 7.85163076e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.52683397,  0.28204343, -0.44497814,  0.28204343,  1.39416899,
        0.54974868, -0.44497814,  0.54974868,  0.87528481,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005018688053189036
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.62945910e-01,  2.69682601e-01, -2.54338255e-03,  2.69681661e-01,
        9.62949269e-01,  7.12297153e-04,  2.64124252e-03,  1.08420217e-19,
       -9.99996512e-01])
  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([ 0.10347309, -0.08876108,  0.14119705])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00110596429665827
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75217448,  0.47330013, -0.45849815,  0.40413642,  0.88090124,
        0.24634683,  0.52048757,  0.        , -0.85386925])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10338303, -0.08814944,  0.14985266])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005124996106615695
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08314524e-13,  2.36938021e-14,  1.00000000e+00,  2.56638289e-27,
        1.00000000e+00, -2.36938021e-14, -1.00000000e+00,  0.00000000e+00,
       -1.08314524e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08125678, -0.06126081,  0.06197821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.35332435e-06,-1.96284509e-05,-4.62979112e-05,-2.46507116e-05,
  9.28495275e-06, 2.83314159e-05, 2.85424387e-05,-1.89645170e-05,
  1.20022182e-05,-1.86331315e-06,-2.68579558e-06, 2.19684658e-05,
  2.67344616e-01,-8.30141757e-04, 7.68762632e-02, 3.05105326e-02,
 -1.43106753e-04, 9.34505532e-05,-9.80993998e+00,-1.18225311e-02,
 -2.39763955e-02, 6.61688743e-05]


--- Step 411 ---
qpos:
[-1.35829876e-02, 1.35464034e-02, 1.00328789e-02, 1.47396503e-02,
 -1.90434834e-02,-9.06240423e-03,-1.74179053e-02, 1.62928633e-02,
 -1.21176578e-02,-6.72025677e-03,-1.43956748e-02, 1.51400459e-02,
  1.40449304e+00, 3.01920685e-02, 2.89103758e-01,-5.61137237e-03,
  9.49589810e-02,-7.02968335e-02, 1.04501634e-01, 9.99961848e-01,
  1.18191394e-03, 1.07290808e-04,-8.65411997e-03]

qacc:
[-3.18577536e+00,-5.16234437e-01, 1.23910173e+00,-5.46431806e-01,
 -1.91956592e+00, 1.47697374e+00,-6.72843959e+00, 1.49083733e+01,
 -4.65815867e+00,-1.77539107e+00, 6.90528821e+00,-1.02760778e+01,
  1.32554426e+00,-2.10526703e+00,-7.96764492e+01, 1.43380606e+02,
  7.24467994e-01, 9.18810962e-03,-1.06352194e-01,-7.14729958e+00,
  2.25542329e+01,-2.02556276e+01]

qfrc_actuator:
[ 4.74219909e-04,-5.80718351e-04,-1.52097623e-04,-5.49282357e-05,
 -6.88566592e-04,-6.85724590e-04,-2.45799272e-04,-4.13754072e-05,
 -5.78076408e-04,-4.85836392e-04,-1.19536838e-04, 4.67988686e-05,
  2.10000000e-01,-4.26286041e-03, 9.00000000e-02, 8.41269727e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.53673438,  0.31967289, -0.43115315,  0.31967289,  1.32858433,
        0.58710683, -0.43115315,  0.58710683,  0.97203709,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005148715247734462
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63008464e-01,  2.69461390e-01, -2.29281511e-03,  2.69460627e-01,
        9.63011194e-01,  6.41555519e-04,  2.38088105e-03,  1.08420217e-19,
       -9.99997166e-01])
  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([ 0.10347718, -0.08875522,  0.1412094 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011108873773614408
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.51337422e-01,  4.73342237e-01, -4.59825190e-01,  4.03732968e-01,
        8.80878610e-01,  2.47088170e-01,  5.22007442e-01,  2.77555756e-17,
       -8.52940930e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10339329, -0.0881488 ,  0.14984571])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005059274732870933
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09721559e-13,  1.02863962e-14,  1.00000000e+00,  1.12863943e-27,
        1.00000000e+00, -1.02863962e-14, -1.00000000e+00,  0.00000000e+00,
       -1.09721559e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08125608, -0.06125953,  0.06197849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89731994e-05,-2.58227475e-05, 1.60153676e-07, 9.68880026e-07,
 -1.13337687e-05, 4.04334056e-05, 8.80078309e-06, 2.66937384e-05,
 -2.75674662e-05, 1.03304443e-05, 3.15033925e-05,-5.96770326e-06,
  2.67306090e-01,-9.02669821e-04, 8.01957847e-02, 3.13714249e-02,
 -2.13320244e-04, 1.37302352e-04,-9.80988546e+00,-1.18323701e-02,
 -2.39735952e-02, 6.02943060e-05]


--- Step 412 ---
qpos:
[-1.35839558e-02, 1.35457546e-02, 1.00336135e-02, 1.47393030e-02,
 -1.90455378e-02,-9.06261777e-03,-1.74187882e-02, 1.62935110e-02,
 -1.21194001e-02,-6.72042534e-03,-1.43945751e-02, 1.51414808e-02,
  1.40444275e+00, 3.02453192e-02, 2.89263047e-01,-6.09465366e-03,
  9.49642734e-02,-7.03028045e-02, 1.04503952e-01, 9.99960021e-01,
  1.17827283e-03, 2.02181705e-04,-8.86159565e-03]

qacc:
[-1.90799807e+00,-3.42147811e-01, 7.65530248e-01,-8.83273507e-02,
 -7.12115721e+00, 2.26464524e+00,-1.05663230e+01, 2.24373329e+01,
 -2.81996363e+00,-6.71879129e-01, 3.27576407e+00,-5.68323305e+00,
  1.01661218e+00, 1.83119522e+01, 1.01151688e+02,-2.89361783e+02,
 -1.53701055e+00,-7.31232140e-01,-1.59935179e-01, 2.69653914e+01,
 -4.60557162e+01, 4.10994906e+01]

qfrc_actuator:
[ 4.63396502e-04,-5.82924972e-04,-1.45964463e-04,-5.24630925e-05,
 -7.30431767e-04,-6.91821020e-04,-2.63224888e-04,-8.98659306e-06,
 -5.93936877e-04,-4.61336367e-04,-1.01306322e-04, 4.25379087e-05,
  2.10000000e-01,-4.24386868e-03, 9.00000000e-02, 9.02660384e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.5464702 ,  0.07704274, -0.5410121 ,  0.07704274,  3.57805329,
        0.43171208, -0.5410121 ,  0.43171208,  0.60794808,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005275635171482083
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63085659e-01,  2.69187969e-01, -1.96223615e-03,  2.69187411e-01,
        9.63087658e-01,  5.48455129e-04,  2.03744294e-03, -1.08420217e-19,
       -9.99997924e-01])
  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([ 0.10348612, -0.08874919,  0.14122112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36919646,  0.26902652,  0.25284533,  0.26902652,  1.38459567,
       -1.08038107,  0.25284533, -1.08038107,  1.51871801,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011586484030172242
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75041634,  0.47352673, -0.46113745,  0.40344061,  0.88077945,
        0.24791781,  0.5235561 ,  0.        , -0.85199121])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10340927, -0.08814784,  0.14983863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.25389806, 10.03090447,  5.10207577, 10.03090447, 15.04638269,
       -7.45619092,  5.10207577, -7.45619092, 25.91309604,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005025827345558481
  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([ 0.0991186 , -0.05176502,  0.06197863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13683344e-05,-1.65528794e-05, 8.61846090e-07, 1.38536820e-06,
 -4.21570870e-05, 1.95164553e-05,-7.05117931e-06, 3.49487703e-05,
 -1.66463321e-05, 3.65701839e-05, 2.40553945e-05,-2.84034966e-06,
  2.67233899e-01,-9.18358323e-04, 8.33445795e-02, 3.22095002e-02,
 -3.08160031e-04, 1.93955532e-04,-9.80981494e+00,-1.18447138e-02,
 -2.39699337e-02, 5.25282722e-05]


--- Step 413 ---
qpos:
[-1.35847015e-02, 1.35450901e-02, 1.00340787e-02, 1.47389950e-02,
 -1.90470432e-02,-9.06299084e-03,-1.74194283e-02, 1.62945524e-02,
 -1.21206296e-02,-6.72023822e-03,-1.43935749e-02, 1.51425170e-02,
  1.40438188e+00, 3.02924167e-02, 2.89461765e-01,-6.56010005e-03,
  9.49619268e-02,-7.03056242e-02, 1.04506929e-01, 9.99959088e-01,
  1.14562177e-03, 1.89244895e-04,-8.97074024e-03]

qacc:
[  1.92204841,  0.80938538, -3.08831374,  4.21740263,  4.77801153,
  -0.08833931, -1.66948399,  8.23034863,  4.46524357, -0.08144546,
   2.64049164, -9.62623663,  0.73484564,-36.13910263,  3.93120297,
  69.93371545, -1.90973521,  0.78780105,  0.16484341,-14.03709807,
 -53.98239457, 49.22813895]

qfrc_actuator:
[ 4.75174818e-04,-5.83899072e-04,-1.60380550e-04,-5.08695212e-05,
 -7.00979816e-04,-7.13249009e-04,-2.55437365e-04, 9.78351864e-06,
 -5.67056820e-04,-4.46704273e-04,-1.08724131e-04, 2.17169906e-05,
  2.10000000e-01,-4.30886231e-03, 9.00000000e-02, 9.63501361e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.55146471,  0.25500628, -0.48896331,  0.25500628,  1.69266133,
        0.59516185, -0.48896331,  0.59516185,  0.86185612,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005340428405340187
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63166452e-01,  2.68899996e-01, -1.78247057e-03,  2.68899536e-01,
        9.63168102e-01,  4.97635179e-04,  1.85063290e-03,  0.00000000e+00,
       -9.99998288e-01])
  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([ 0.10348782, -0.08875333,  0.14123011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36919646,  0.25594377,  0.26608047,  0.25594377,  0.90774172,
       -0.51802865,  0.26608047, -0.51802865,  0.86749011,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011633338797957709
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75018439,  0.47297717, -0.4620779 ,  0.40271284,  0.88107469,
        0.24805195,  0.52444805,  0.        , -0.85144245])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10341439, -0.0881546 ,  0.14983387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.22278126, -8.80013645,  6.96479846, -8.80013645, 27.42273473,
       20.46890543,  6.96479846, 20.46890543, 37.08557712,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005006594456604407
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.38595086e-14,  5.84191904e-06,  1.00000000e+00,  8.09661273e-20,
        1.00000000e+00, -5.84191904e-06, -1.00000000e+00,  0.00000000e+00,
       -1.38595086e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10162053, -0.06224264,  0.06197871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14603074e-05,-9.96350789e-06,-1.76694943e-05, 9.43595049e-07,
  2.82605567e-05,-1.04133194e-05, 1.21852871e-05, 2.00489568e-05,
  2.64052379e-05, 3.99856648e-05, 3.02070331e-06,-1.84725511e-05,
  2.66682088e-01,-1.13498591e-03, 8.18551459e-02, 3.37552894e-02,
 -1.26854431e-04, 9.31900440e-05,-9.80995550e+00,-1.18265587e-02,
 -2.39559738e-02, 5.11827191e-05]


--- Step 414 ---
qpos:
[-1.35856448e-02, 1.35446100e-02, 1.00339604e-02, 1.47390498e-02,
 -1.90468045e-02,-9.06361470e-03,-1.74196300e-02, 1.62961545e-02,
 -1.21218727e-02,-6.71985175e-03,-1.43928632e-02, 1.51429842e-02,
  1.40432213e+00, 3.03377750e-02, 2.89678129e-01,-7.03415024e-03,
  9.49545781e-02,-7.03105721e-02, 1.04509406e-01, 9.99959085e-01,
  1.14537464e-03, 7.77522628e-05,-8.97273986e-03]

qacc:
[-1.73466558e+00, 2.62626650e+00,-1.05366983e+01, 1.76095268e+01,
  1.51628365e+01,-4.31706488e-01,-1.36041762e+00, 1.06043869e+01,
 -1.30886083e-01,-1.01313257e-01, 3.14661600e+00,-1.26812390e+01,
  1.70445493e+00,-1.23104807e+01, 5.20502106e+01,-1.44584129e+02,
 -1.25051995e+00,-5.32046947e-01,-1.25228221e-01, 1.66326873e+01,
 -4.90692656e+01, 5.36339826e+01]

qfrc_actuator:
[ 4.64653837e-04,-5.66455661e-04,-1.86807323e-04,-3.20610932e-05,
 -6.12025383e-04,-7.25860861e-04,-2.32901907e-04, 3.81454448e-05,
 -5.68497207e-04,-4.55965906e-04,-1.31267894e-04,-8.70352685e-06,
  2.10000000e-01,-4.39851084e-03, 9.00000000e-02, 1.01932897e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.54876815,  0.39429715, -0.38167556,  0.39429715,  0.61536552,
        0.06879968, -0.38167556,  0.06879968,  0.61984295,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005305471005374074
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63241869e-01,  2.68629428e-01, -1.82559013e-03,  2.68628946e-01,
        9.63243599e-01,  5.09120676e-04,  1.89525280e-03,  1.08420217e-19,
       -9.99998204e-01])
  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([ 0.10348196, -0.08875816,  0.14123578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36919646,  0.31412811,  0.1939834 ,  0.31412811,  0.48525286,
       -0.18793657,  0.1939834 , -0.18793657,  0.6735326 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011161797895358934
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75049692,  0.47253924, -0.46201844,  0.40240028,  0.88130963,
        0.24772433,  0.52424077,  0.        , -0.85157009])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10340772, -0.08815755,  0.14984108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.20114001,  -0.34890447, -11.19570468,  -0.34890447,
        42.29968841,  -0.96915942, -11.19570468,  -0.96915942,
        11.23134303,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004993194591243338
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.94835118e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.94835118e-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([ 0.09912671, -0.05177825,  0.06197877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01739283e-05, 8.29151491e-06,-3.06205945e-05, 1.77895114e-05,
  8.97819075e-05,-1.49943444e-05, 2.25959075e-05, 2.87297467e-05,
 -6.90156504e-07, 1.29826526e-05,-1.45396699e-05,-2.89608137e-05,
  2.67209716e-01,-9.15229568e-04, 7.98853489e-02, 3.34218849e-02,
 -3.70129401e-05, 1.44257442e-05,-9.80999054e+00,-1.18165931e-02,
 -2.39579425e-02, 5.01367751e-05]


--- Step 415 ---
qpos:
[-1.35860171e-02, 1.35446189e-02, 1.00333765e-02, 1.47385911e-02,
 -1.90455010e-02,-9.06397929e-03,-1.74199911e-02, 1.62973690e-02,
 -1.21234683e-02,-6.71955820e-03,-1.43922825e-02, 1.51427655e-02,
  1.40425492e+00, 3.03778128e-02, 2.89888261e-01,-7.51089665e-03,
  9.49424368e-02,-7.03173070e-02, 1.04511311e-01, 9.99960061e-01,
  1.16915308e-03,-1.34784161e-04,-8.85948289e-03]

qacc:
[ 4.92709622e+00, 8.80257324e-01,-4.89218773e-02,-8.43881113e+00,
  9.23670962e+00,-2.78441356e-02, 2.20222669e+00,-8.81431528e+00,
 -3.07920975e+00,-1.16284742e+00, 6.87497261e+00,-1.84813078e+01,
  1.98274097e+00,-3.54528159e+01,-1.45925489e+00,-9.30628477e+00,
 -1.19815505e+00,-4.46741065e-01,-1.43037850e-01, 1.24605735e+01,
 -5.03460739e+01, 5.76891356e+01]

qfrc_actuator:
[ 4.94342443e-04,-5.20402971e-04,-2.02265925e-04,-5.65210197e-05,
 -5.59794652e-04,-6.97522696e-04,-2.37315622e-04, 1.86800790e-05,
 -5.86608714e-04,-4.79549712e-04,-1.44905678e-04,-4.45539550e-05,
  2.10000000e-01,-4.41614184e-03, 9.00000000e-02, 1.07585430e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.54141837,  0.43713675, -0.31944532,  0.43713675,  0.43630192,
       -0.14384392, -0.31944532, -0.14384392,  0.34457885,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005209885785325524
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63322644e-01,  2.68338059e-01, -2.04188923e-03,  2.68337456e-01,
        9.63324808e-01,  5.68776582e-04,  2.11962695e-03,  0.00000000e+00,
       -9.99997754e-01])
  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([ 0.10347043, -0.08877034,  0.14123963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36919646,  0.33647849,  0.1519482 ,  0.33647849,  0.37902838,
       -0.02177208,  0.1519482 , -0.02177208,  0.41740919,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011120345662171546
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75139976,  0.47158582, -0.46152488,  0.40183871,  0.88182017,
        0.24681743,  0.52337755,  0.        , -0.8521009 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10339198, -0.08816557,  0.14985264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.14718499, -10.87874252,  -2.43160328, -10.87874252,
        15.08755466, -17.62880789,  -2.43160328, -17.62880789,
        90.0166551 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004959439793050038
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.59651428e-14,  6.99564285e-15,  1.00000000e+00,  3.91512151e-28,
        1.00000000e+00, -6.99564285e-15, -1.00000000e+00,  0.00000000e+00,
       -5.59651428e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0991294 , -0.05178208,  0.06197891])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.94172637e-05, 4.51554607e-05,-1.68909344e-05,-2.48155083e-05,
  5.48297747e-05, 2.58743998e-05,-3.73960168e-06,-1.87711167e-05,
 -1.81482669e-05,-2.05254801e-05,-1.37359348e-05,-3.63583577e-05,
  2.67153176e-01,-8.43800745e-04, 7.90046553e-02, 3.44173957e-02,
 -3.02722941e-05,-1.38492271e-07,-9.80997499e+00,-1.18172264e-02,
 -2.39601118e-02, 5.27715643e-05]


--- Step 416 ---
qpos:
[-1.35856857e-02, 1.35449409e-02, 1.00331967e-02, 1.47374589e-02,
 -1.90442700e-02,-9.06398984e-03,-1.74207350e-02, 1.62979986e-02,
 -1.21249240e-02,-6.71928915e-03,-1.43919070e-02, 1.51421157e-02,
  1.40418522e+00, 3.04160241e-02, 2.90050660e-01,-7.97878000e-03,
  9.49350714e-02,-7.03207269e-02, 1.04514132e-01, 9.99961082e-01,
  1.17570036e-03,-2.82458085e-04,-8.73908606e-03]

qacc:
[ 6.10683268e+00,-2.11469983e+00, 1.09628560e+01,-2.34722506e+01,
 -6.48474273e-01, 3.35068595e-01, 1.95558639e+00,-1.17279262e+01,
  1.21394491e+00,-3.48767818e-01, 3.01304321e+00,-1.01250774e+01,
  1.98694768e+00,-1.81542526e+01,-9.77899482e+01, 2.38935400e+02,
  1.19399292e+00, 8.28738851e-01, 2.29207686e-01,-8.90210691e+00,
  3.23578020e+01, 3.53322414e+00]

qfrc_actuator:
[ 5.29714534e-04,-4.93068251e-04,-1.75522928e-04,-8.84579234e-05,
 -5.65121777e-04,-6.80529519e-04,-2.57476381e-04,-1.10049530e-05,
 -5.78873283e-04,-4.76009030e-04,-1.53242077e-04,-6.55651702e-05,
  2.10000000e-01,-4.43954333e-03, 9.00000000e-02, 1.12012481e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.52823705,  0.31063107, -0.42725018,  0.31063107,  2.60947999,
        1.51316197, -0.42725018,  1.51316197,  1.6283773 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005037179885084276
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63414068e-01,  2.68006299e-01, -2.44064159e-03,  2.68005439e-01,
        9.63417160e-01,  6.78945057e-04,  2.53331754e-03, -2.16840434e-19,
       -9.99996791e-01])
  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([ 0.10345429, -0.08879002,  0.14124194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36919646, -0.35567817,  0.09899023, -0.35567817,  0.52779748,
        0.56986349,  0.09899023,  0.56986349,  2.41675204,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011042460164890553
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7529321 ,  0.47015133, -0.46048993,  0.40108511,  0.88258582,
        0.24530187,  0.52175089,  0.        , -0.85309789])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10336791, -0.08817826,  0.14987066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.14872074,  9.75301429,  5.40117454,  9.75301429, 15.45761482,
       -7.78066052,  5.40117454, -7.78066052, 25.19842283,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004960407937516786
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.59542198e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.59542198e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08126206, -0.06127379,  0.06197891])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.62454948e-05, 4.80566147e-05, 3.31340633e-05,-3.10698596e-05,
 -3.72381198e-06, 2.98570124e-05,-1.59440676e-05,-2.90761888e-05,
  7.19360973e-06,-1.22825165e-05,-1.55076888e-05,-2.30695114e-05,
  2.67525318e-01,-5.99198711e-04, 7.93178286e-02, 3.49949523e-02,
 -1.39880605e-04, 5.42033734e-05,-9.80987083e+00,-1.18291360e-02,
 -2.39704569e-02, 5.84344599e-05]


--- Step 417 ---
qpos:
[-1.35849325e-02, 1.35453394e-02, 1.00337050e-02, 1.47363084e-02,
 -1.90438012e-02,-9.06410444e-03,-1.74210461e-02, 1.62993060e-02,
 -1.21259314e-02,-6.71883072e-03,-1.43920619e-02, 1.51415592e-02,
  1.40411421e+00, 3.04526174e-02, 2.90166690e-01,-8.43726665e-03,
  9.49318823e-02,-7.03216593e-02, 1.04517571e-01, 9.99962043e-01,
  1.16583244e-03,-3.71381188e-04,-8.62641549e-03]

qacc:
[ 3.67626864e+00,-1.86763372e+00, 6.87103157e+00,-8.33254642e+00,
 -6.60230851e+00, 6.07675815e-02,-3.25550594e+00, 1.43457328e+01,
  3.89345370e+00, 1.91661595e+00,-6.87841819e+00, 9.21773776e+00,
  2.31079062e+00,-1.75956560e+01,-9.73913579e+01, 2.40459282e+02,
  1.04403886e+00, 6.21897399e-01, 1.54284934e-01,-8.46505122e+00,
  2.92979908e+01,-3.89546031e+00]

qfrc_actuator:
[ 5.50383032e-04,-4.94736732e-04,-1.41894996e-04,-8.90105417e-05,
 -6.04272145e-04,-6.88294441e-04,-2.33540309e-04, 2.45409113e-05,
 -5.55980974e-04,-4.56224912e-04,-1.76023603e-04,-5.99006398e-05,
  2.10000000e-01,-4.53878335e-03, 9.00000000e-02, 1.15244383e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.5189601 ,  0.31796101, -0.41014678,  0.31796101,  2.46879665,
        1.51158568, -0.41014678,  1.51158568,  1.69079743,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004912997232723649
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63510627e-01,  2.67656229e-01, -2.72314098e-03,  2.67655160e-01,
        9.63514475e-01,  7.56465693e-04,  2.82625850e-03,  1.08420217e-19,
       -9.99996006e-01])
  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([ 0.10344587, -0.0888013 ,  0.14124539])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36919646, -0.35878421, -0.08706273, -0.35878421,  0.56817739,
       -0.81999743, -0.08706273, -0.81999743,  3.74839368,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010967873876342024
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75392706,  0.46934149, -0.45968745,  0.40072768,  0.88301674,
        0.2443333 ,  0.52058747,  0.        , -0.85380834])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10335415, -0.08818494,  0.14988669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.16722273,  -9.4031301 ,  -6.02395285,  -9.4031301 ,
        32.28308897, -32.96095478,  -6.02395285, -32.96095478,
        62.61784888,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00049720375883823
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.79116711e-14, -2.79116711e-14,  1.00000000e+00,  7.79061386e-28,
        1.00000000e+00,  2.79116711e-14, -1.00000000e+00,  0.00000000e+00,
        2.79116711e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08126538, -0.06128024,  0.06197886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.17234883e-05, 3.07194878e-05, 4.65554649e-05, 2.04615107e-06,
 -3.92376428e-05, 4.34572824e-06, 2.71185842e-05, 3.57050827e-05,
  2.30830347e-05, 8.77803235e-06,-2.80109091e-05, 4.15554226e-06,
  2.67649489e-01,-6.06005640e-04, 8.17058285e-02, 3.48749936e-02,
 -8.82970138e-05, 5.23483548e-05,-9.80993178e+00,-1.18254874e-02,
 -2.39751407e-02, 6.27194870e-05]


--- Step 418 ---
qpos:
[-1.35835926e-02, 1.35459037e-02, 1.00343497e-02, 1.47351871e-02,
 -1.90438052e-02,-9.06455087e-03,-1.74206999e-02, 1.63020785e-02,
 -1.21266566e-02,-6.71844219e-03,-1.43926753e-02, 1.51407581e-02,
  1.40404314e+00, 3.04879000e-02, 2.90238844e-01,-8.88649908e-03,
  9.49323067e-02,-7.03208772e-02, 1.04521358e-01, 9.99962837e-01,
  1.14083147e-03,-4.06904645e-04,-8.53563581e-03]

qacc:
[ 5.08781137e+00,-1.12243246e-01, 5.77207934e-01,-3.92392138e-01,
 -4.07792139e+00, 7.48596210e-01,-9.47879023e+00, 3.40175537e+01,
  2.45002440e+00, 6.80600913e-01,-1.53615432e+00,-1.90468490e+00,
  2.53307883e+00,-1.61394776e+01,-9.32610601e+01, 2.31383204e+02,
  9.03415572e-01, 4.28595276e-01, 8.71651270e-02,-7.80052951e+00,
  2.66207456e+01,-1.09740640e+01]

qfrc_actuator:
[ 5.79982443e-04,-4.95943190e-04,-1.40087049e-04,-8.88708531e-05,
 -6.27492604e-04,-7.10597760e-04,-2.01561327e-04, 9.81967772e-05,
 -5.42111645e-04,-4.80156706e-04,-2.07065015e-04,-7.40879882e-05,
  2.10000000e-01,-4.55873590e-03, 9.00000000e-02, 1.18428511e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.51277279,  0.32854225, -0.39369521,  0.32854225,  2.321753  ,
        1.50961051, -0.39369521,  1.50961051,  1.77255653,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004826217313250601
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63612369e-01,  2.67287836e-01, -2.90078046e-03,  2.67286624e-01,
        9.63616736e-01,  8.04617958e-04,  3.01030519e-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([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10344405, -0.08880617,  0.14124961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010892521780509442
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.54496067e-01,  4.69030552e-01, -4.59070829e-01,  4.00689473e-01,
        8.83181941e-01,  2.43798287e-01,  5.19791911e-01,  2.77555756e-17,
       -8.54292906e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10334917, -0.08818699,  0.14990104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.1546337 ,  -9.32492489,  -6.12140743,  -9.32492489,
        38.25880111, -41.28859716,  -6.12140743, -41.28859716,
        74.05080129,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004964131445206604
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.39780624e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.39780624e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08126752, -0.06128502,  0.0619789 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.02168241e-05, 2.56585875e-05, 1.39495888e-05, 3.10421817e-06,
 -2.43463561e-05,-1.27724619e-05, 3.74488584e-05, 7.54759934e-05,
  1.45210423e-05,-2.45875479e-05,-3.25241987e-05,-1.46982669e-05,
  2.67715275e-01,-5.44839194e-04, 8.40254375e-02, 3.47235398e-02,
 -4.86226886e-05, 3.86033589e-05,-9.80997410e+00,-1.18217231e-02,
 -2.39774604e-02, 6.46109503e-05]


--- Step 419 ---
qpos:
[-1.35822534e-02, 1.35466353e-02, 1.00347399e-02, 1.47344491e-02,
 -1.90437428e-02,-9.06535368e-03,-1.74198533e-02, 1.63053810e-02,
 -1.21275544e-02,-6.71844294e-03,-1.43932110e-02, 1.51391071e-02,
  1.40397326e+00, 3.05222299e-02, 2.90270277e-01,-9.32710380e-03,
  9.49358348e-02,-7.03190729e-02, 1.04525258e-01, 9.99963362e-01,
  1.10211587e-03,-3.93660237e-04,-8.47965886e-03]

qacc:
[-1.59376667e-02, 1.72251903e+00,-7.43883643e+00, 1.43564027e+01,
  5.97620903e-01,-7.79139989e-01,-1.45387863e-01, 8.78410699e+00,
 -1.49870373e+00,-2.47793141e+00, 1.16826459e+01,-2.62359154e+01,
  2.67076947e+00,-1.41429148e+01,-8.66721476e+01, 2.15154049e+02,
  7.75895897e-01, 2.55575809e-01, 2.81170942e-02,-7.07211822e+00,
  2.43045888e+01,-1.74268949e+01]

qfrc_actuator:
[ 5.79101455e-04,-4.96992189e-04,-1.57094725e-04,-7.06034464e-05,
 -6.23387042e-04,-7.41354720e-04,-1.82906735e-04, 1.22649574e-04,
 -5.51421955e-04,-5.12381881e-04,-2.07416695e-04,-1.17638420e-04,
  2.10000000e-01,-4.54852891e-03, 9.00000000e-02, 1.21547813e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.50872012,  0.34200123, -0.37660499,  0.34200123,  2.14206717,
        1.4832695 , -0.37660499,  1.4832695 ,  1.85570171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004767442662208865
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63719104e-01,  2.66901832e-01, -2.98323629e-03,  2.66900553e-01,
        9.63723722e-01,  8.26202793e-04,  3.09553062e-03,  0.00000000e+00,
       -9.99995209e-01])
  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([ 0.10344774, -0.08880645,  0.14125431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001081573434558425
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75473721,  0.46909899, -0.45860427,  0.40089252,  0.88314559,
        0.24359608,  0.51928501,  0.        , -0.85460112])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10335151, -0.08818571,  0.14991389])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.11750329,  -9.22012865,  -6.21193264,  -9.22012865,
        45.63401391, -51.23150672,  -6.21193264, -51.23150672,
        87.15842497,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004940642232464931
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.80890361e-14, -1.40445181e-14,  1.00000000e+00,  3.94496975e-28,
        1.00000000e+00,  1.40445181e-14, -1.00000000e+00,  0.00000000e+00,
        2.80890361e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08126875, -0.06128848,  0.061979  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.68103180e-08, 1.62783445e-05,-9.89774244e-06, 1.99058242e-05,
  3.40143972e-06,-2.69381536e-05, 2.32424000e-05, 2.66713083e-05,
 -8.90609937e-06,-5.32916340e-05,-9.93710111e-06,-4.60143727e-05,
  2.67718351e-01,-4.69731828e-04, 8.62202778e-02, 3.45726933e-02,
 -1.94333695e-05, 1.97668254e-05,-9.80999771e+00,-1.18190871e-02,
 -2.39781054e-02, 6.43213451e-05]


--- Step 420 ---
qpos:
[-1.35809353e-02, 1.35473591e-02, 1.00352631e-02, 1.47342769e-02,
 -1.90436319e-02,-9.06616697e-03,-1.74190981e-02, 1.63079122e-02,
 -1.21282119e-02,-6.71860399e-03,-1.43935991e-02, 1.51372580e-02,
  1.40390581e+00, 3.05559750e-02, 2.90264708e-01,-9.76019468e-03,
  9.49419974e-02,-7.03168696e-02, 1.04529067e-01, 9.99963516e-01,
  1.05113461e-03,-3.35705537e-04,-8.47046523e-03]

qacc:
[-1.78875676e-01, 7.83737701e-01,-5.19773556e+00, 1.47837830e+01,
  4.18237807e-01,-1.34676415e+00, 8.03806944e+00,-2.12345399e+01,
  2.10529774e+00,-1.03627323e+00, 4.21726710e+00,-7.75767753e+00,
  2.77445046e+00,-1.19512558e+01,-7.77675724e+01, 1.92044475e+02,
  6.58635269e-01, 9.97290353e-02,-2.25207802e-02,-6.33117137e+00,
  2.22764682e+01,-2.34146016e+01]

qfrc_actuator:
[ 5.78037529e-04,-4.98014630e-04,-1.49550011e-04,-4.18251215e-05,
 -6.20988434e-04,-7.41521309e-04,-1.90105487e-04, 8.24243065e-05,
 -5.38792751e-04,-4.95977864e-04,-1.89707429e-04,-1.24845764e-04,
  2.10000000e-01,-4.64432812e-03, 9.00000000e-02, 1.24064890e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.50611783,  0.35389602, -0.36181883,  0.35389602,  1.95724584,
        1.41935242, -0.36181883,  1.41935242,  1.89439046,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047288531059256397
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63830495e-01,  2.66499352e-01, -2.97871093e-03,  2.66498079e-01,
        9.63835098e-01,  8.23610321e-04,  3.09047776e-03,  1.08420217e-19,
       -9.99995224e-01])
  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([ 0.10345595, -0.08880374,  0.14125923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010738525075731933
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.54734949e-01,  4.69438648e-01, -4.58260311e-01,  4.01263602e-01,
        8.82965093e-01,  2.43639417e-01,  5.19001617e-01, -2.77555756e-17,
       -8.54773258e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10335987, -0.08818228,  0.14992535])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004904960171576433
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.41466876e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.41466876e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08126926, -0.06129089,  0.06197915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08891396e-06, 6.84310202e-06, 1.03623366e-05, 2.95179089e-05,
  2.49693736e-06,-9.28769629e-06,-8.97769906e-06,-4.00565330e-05,
  1.23678176e-05,-1.73908292e-05, 3.89688471e-06,-1.07276012e-05,
  2.67659428e-01,-5.19297874e-04, 8.82571575e-02, 3.43929169e-02,
 -2.99056955e-06, 2.96116376e-06,-9.81000278e+00,-1.18185130e-02,
 -2.39776037e-02, 6.20566859e-05]


--- Step 421 ---
qpos:
[-1.35799856e-02, 1.35481053e-02, 1.00358991e-02, 1.47341030e-02,
 -1.90438379e-02,-9.06659431e-03,-1.74188927e-02, 1.63095774e-02,
 -1.21283682e-02,-6.71850302e-03,-1.43940316e-02, 1.51359852e-02,
  1.40384182e+00, 3.05894813e-02, 2.90225654e-01,-1.01869025e-02,
  9.49504087e-02,-7.03147564e-02, 1.04532615e-01, 9.99963207e-01,
  9.88934085e-04,-2.36392397e-04,-8.51767458e-03]

qacc:
[-3.19097312e+00,-2.83187104e-01, 1.07071011e+00,-1.30919874e+00,
 -2.77578647e+00, 2.68972939e-01, 3.44745063e+00,-1.78528627e+01,
  4.36917799e+00, 1.64804361e+00,-7.82229775e+00, 1.76920505e+01,
  2.79779782e+00,-9.72419239e+00,-6.91116404e+01, 1.69372957e+02,
  5.62168457e-01,-2.25097531e-02,-6.55351836e-02,-5.79381841e+00,
  2.06012312e+01,-2.82222701e+01]

qfrc_actuator:
[ 5.59132000e-04,-4.98912960e-04,-1.45312275e-04,-4.25813812e-05,
 -6.37375376e-04,-7.05784394e-04,-2.12424656e-04, 3.99868573e-05,
 -5.13343840e-04,-4.50469586e-04,-1.79015202e-04,-9.28063639e-05,
  2.10000000e-01,-4.71495486e-03, 9.00000000e-02, 1.26907363e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.50445519,  0.36965618, -0.34326279,  0.36965618,  1.72227742,
        1.31146028, -0.34326279,  1.31146028,  1.91675333,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004703837837061294
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63946110e-01,  2.66081792e-01, -2.89426577e-03,  2.66080593e-01,
        9.63950455e-01,  7.98911832e-04,  3.00250470e-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([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10346777, -0.08879948,  0.14126415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010662663935298053
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.54563465e-01,  4.69951387e-01, -4.58017107e-01,  4.01734724e-01,
        8.82692299e-01,  2.43851425e-01,  5.18886489e-01, -2.77555756e-17,
       -8.54843150e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10337303, -0.08817775,  0.14993545])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004859964621869231
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.85553268e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.85553268e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0812692 , -0.06129249,  0.06197934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89681935e-05, 6.28854518e-06, 7.93486507e-06, 4.67328306e-07,
 -1.63012404e-05, 2.69692236e-05,-2.67310295e-05,-4.39260452e-05,
  2.58119178e-05, 3.61579284e-05, 7.21693540e-06, 3.12216502e-05,
  2.67538395e-01,-5.62806442e-04, 9.01078922e-02, 3.43013440e-02,
 -3.84300402e-06,-4.95574594e-06,-9.80998969e+00,-1.18206587e-02,
 -2.39763492e-02, 5.80087487e-05]


--- Step 422 ---
qpos:
[-1.35799600e-02, 1.35486160e-02, 1.00364194e-02, 1.47343164e-02,
 -1.90442386e-02,-9.06658088e-03,-1.74191165e-02, 1.63117410e-02,
 -1.21282180e-02,-6.71798674e-03,-1.43947285e-02, 1.51354461e-02,
  1.40378186e+00, 3.06229594e-02, 2.90155630e-01,-1.06084984e-02,
  9.49607480e-02,-7.03131000e-02, 1.04535759e-01, 9.99962341e-01,
  9.15906657e-04,-9.84293257e-05,-8.62948668e-03]

qacc:
[-8.00986254e+00, 8.25941594e-01,-5.00480527e+00, 1.20382149e+01,
 -1.71114937e+00, 2.81037685e+00,-1.12750868e+01, 2.02588890e+01,
  2.65891000e+00, 2.79262468e+00,-1.22684307e+01, 2.50954495e+01,
  2.77021692e+00,-8.22330467e+00,-6.15175153e+01, 1.48252350e+02,
  4.82002682e-01,-1.14194223e-01,-1.00741127e-01,-5.58521599e+00,
  1.92461343e+01,-3.23203879e+01]

qfrc_actuator:
[ 5.12124637e-04,-5.35269140e-04,-1.60844377e-04,-2.52118968e-05,
 -6.46935017e-04,-6.66650247e-04,-2.25568461e-04, 6.76358582e-05,
 -4.98312737e-04,-4.23362214e-04,-1.90152860e-04,-5.56667631e-05,
  2.10000000e-01,-4.71733225e-03, 9.00000000e-02, 1.30103854e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.50336029,  0.35400261, -0.35784596,  0.35400261,  1.5873038 ,
        1.0723017 , -0.35784596,  1.0723017 ,  1.5641452 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046872078322387047
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64065515e-01,  2.65650519e-01, -2.73578364e-03,  2.65649450e-01,
        9.64069397e-01,  7.53848580e-04,  2.83774555e-03,  0.00000000e+00,
       -9.99995974e-01])
  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([ 0.10348241, -0.08879479,  0.14126888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011022560969671461
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.54268145e-01,  4.70560956e-01, -4.57877660e-01,  4.02246393e-01,
        8.82367489e-01,  2.44183237e-01,  5.18919459e-01,  2.77555756e-17,
       -8.54823137e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10338991, -0.08817276,  0.14994383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048081017712148927
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.88633404e-14, -1.44316702e-14,  1.00000000e+00,  4.16546209e-28,
        1.00000000e+00,  1.44316702e-14, -1.00000000e+00,  0.00000000e+00,
        2.88633404e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08126871, -0.06129344,  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:
[-4.75866583e-05,-3.12184767e-05,-1.32485580e-05, 1.79215318e-05,
 -1.00072651e-05, 4.68133567e-05,-1.23830716e-05, 2.70259285e-05,
  1.57857468e-05, 5.01705697e-05,-1.69822940e-06, 3.95460032e-05,
  2.67366534e-01,-5.56004462e-04, 9.17827053e-02, 3.43016824e-02,
 -2.77942176e-05, 2.18813480e-06,-9.80995918e+00,-1.18259279e-02,
 -2.39745672e-02, 5.23259053e-05]


--- Step 423 ---
qpos:
[-1.35801541e-02, 1.35489511e-02, 1.00367098e-02, 1.47354278e-02,
 -1.90447508e-02,-9.06621838e-03,-1.74197370e-02, 1.63135373e-02,
 -1.21275437e-02,-6.71742827e-03,-1.43953902e-02, 1.51353838e-02,
  1.40373609e+00, 3.06591968e-02, 2.90151618e-01,-1.10402366e-02,
  9.49641598e-02,-7.03150276e-02, 1.04537890e-01, 9.99961841e-01,
  8.95018145e-04,-5.76048994e-05,-8.68974944e-03]

qacc:
[-1.90735945e+00, 2.26390282e+00,-1.21936222e+01, 2.82259929e+01,
 -9.87657189e-01, 8.15671162e-01,-6.85153908e-01,-5.29705392e+00,
  4.57601322e+00, 9.29786628e-01,-5.26295478e+00, 1.34442438e+01,
  2.13073878e+00, 1.59069138e+01, 1.28595812e+02,-3.07786659e+02,
 -1.73186129e+00,-8.96019398e-01,-2.53391200e-01, 2.64899734e+01,
 -4.83189025e+01, 2.58171916e+01]

qfrc_actuator:
[ 5.02217056e-04,-5.39393191e-04,-1.70302251e-04, 2.03972866e-05,
 -6.52393710e-04,-6.61192226e-04,-2.50860298e-04, 4.75555001e-05,
 -4.71785300e-04,-4.43058756e-04,-1.96398059e-04,-3.36076000e-05,
  2.10000000e-01,-4.73213302e-03, 9.00000000e-02, 1.34210039e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.50249946,  0.32810225, -0.38059771,  0.32810225,  1.39969214,
        0.77344381, -0.38059771,  0.77344381,  1.16926295,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046740444404100794
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64188535e-01,  2.65205917e-01, -2.50822173e-03,  2.65205020e-01,
        9.64191797e-01,  6.89899299e-04,  2.60137219e-03,  0.00000000e+00,
       -9.99996616e-01])
  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([ 0.10349927, -0.08879058,  0.14127326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010943430053513246
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.53923481e-01,  4.71204240e-01, -4.57783736e-01,  4.02768959e-01,
        8.82024129e-01,  2.44562059e-01,  5.19014980e-01, -5.55111512e-17,
       -8.54765143e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1034099 , -0.0881683 ,  0.14995136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.85589976,  9.62186985,  5.02694541,  9.62186985, 15.03946274,
       -8.00758618,  5.02694541, -8.00758618, 26.18289176,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047675091198386144
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.63863693e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.63863693e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09914044, -0.05179425,  0.06197973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13161291e-05,-2.35657946e-05,-1.69155791e-05, 4.41638966e-05,
 -5.73380625e-06, 3.02473438e-05,-1.62074869e-05,-1.79755215e-05,
  2.69861946e-05, 9.70198159e-06, 5.27504954e-06, 2.49191086e-05,
  2.67165921e-01,-5.72754408e-04, 9.33316376e-02, 3.44565233e-02,
 -8.06955526e-05, 2.93860254e-05,-9.80991162e+00,-1.18345718e-02,
 -2.39724582e-02, 4.50976649e-05]


--- Step 424 ---
qpos:
[-1.35801217e-02, 1.35494857e-02, 1.00367252e-02, 1.47366861e-02,
 -1.90446350e-02,-9.06583305e-03,-1.74205469e-02, 1.63154527e-02,
 -1.21269011e-02,-6.71752249e-03,-1.43951880e-02, 1.51352738e-02,
  1.40369904e+00, 3.06962091e-02, 2.90205454e-01,-1.14777189e-02,
  9.49618366e-02,-7.03194444e-02, 1.04539312e-01, 9.99962065e-01,
  9.06873966e-04,-1.17091441e-04,-8.66213147e-03]

qacc:
[ 1.95092260e+00, 1.33121575e+00,-4.99040777e+00, 7.83245708e+00,
  5.44840508e+00, 7.93487770e-01,-3.30696703e+00, 5.67431756e+00,
 -2.39222513e-01,-3.37363329e+00, 1.09795665e+01,-1.27055932e+01,
  1.84143388e+00, 4.23705062e+00, 1.03059685e+02,-2.36282102e+02,
 -1.43376173e+00,-6.22297266e-01,-1.77229113e-01, 1.68095883e+01,
 -4.99719521e+01, 4.39857845e+01]

qfrc_actuator:
[ 5.14234515e-04,-5.06391001e-04,-1.75955211e-04, 2.90268158e-05,
 -6.19891776e-04,-6.76024480e-04,-2.65549139e-04, 5.27617107e-05,
 -4.74205737e-04,-5.08383284e-04,-1.64396358e-04,-3.83858402e-05,
  2.10000000e-01,-4.75716398e-03, 9.00000000e-02, 1.40414347e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.49830093,  0.49714379, -0.03393913,  0.49714379,  0.50190312,
        0.05276523, -0.03393913,  0.05276523,  1.27121119,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004608693839370714
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64303300e-01,  2.64788948e-01, -2.44125174e-03,  2.64788099e-01,
        9.64306390e-01,  6.70343457e-04,  2.53161419e-03,  1.08420217e-19,
       -9.99996795e-01])
  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([ 0.10350621, -0.08879691,  0.14127526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36919646,  0.27745806,  0.24356324,  0.27745806,  1.22115504,
       -0.97051909,  0.24356324, -0.97051909,  1.4747752 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010880478130813082
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75425733,  0.47101669, -0.45742667,  0.40274119,  0.8821243 ,
        0.2442463 ,  0.51855126,  0.        , -0.85504654])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10341644, -0.08817211,  0.14995972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.84120346, -10.60167361,  -2.2663206 , -10.60167361,
        14.95604445, -19.24890994,  -2.2663206 , -19.24890994,
       100.88612496,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004757362628909148
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.83423585e-14,  2.91711793e-14,  1.00000000e+00, -1.70191540e-27,
        1.00000000e+00, -2.91711793e-14, -1.00000000e+00,  0.00000000e+00,
        5.83423585e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09914273, -0.05179805,  0.06197978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16637282e-05, 1.82269676e-05,-1.10726226e-05, 7.89509333e-06,
  3.23389040e-05,-2.01940382e-06,-1.10534806e-05, 5.59307010e-06,
 -1.65765939e-06,-5.77578130e-05, 3.55089411e-05,-3.69757311e-06,
  2.66455880e-01,-7.37914045e-04, 9.00316173e-02, 3.55839315e-02,
 -1.43307032e-05, 8.04237193e-06,-9.80998963e+00,-1.18285880e-02,
 -2.39664498e-02, 4.40097417e-05]


--- Step 425 ---
qpos:
[-1.35802908e-02, 1.35501062e-02, 1.00366861e-02, 1.47380369e-02,
 -1.90437856e-02,-9.06577659e-03,-1.74211222e-02, 1.63181226e-02,
 -1.21266372e-02,-6.71822157e-03,-1.43945276e-02, 1.51351304e-02,
  1.40366198e+00, 3.07305819e-02, 2.90293862e-01,-1.19154053e-02,
  9.49544982e-02,-7.03255736e-02, 1.04540193e-01, 9.99963205e-01,
  9.37612053e-04,-2.80109321e-04,-8.52232915e-03]

qacc:
[  -1.74977962,   0.46001623,  -1.86063811,   3.48088818,   6.38306124,
    0.45002667,  -5.44241749,  18.38993042,  -3.27960367,  -2.14191412,
    6.63001605,  -7.50919059,   1.87148492, -17.42604954,  51.58487875,
 -106.76733639,  -1.25379396,  -0.42808362,  -0.13518207,   9.89532799,
  -51.6310029 ,  56.13985985]

qfrc_actuator:
[ 5.03543553e-04,-5.04675926e-04,-1.79188205e-04, 3.36130940e-05,
 -5.83061232e-04,-7.02844302e-04,-2.56172251e-04, 9.05530675e-05,
 -4.93648590e-04,-5.47148688e-04,-1.45794524e-04,-4.11802596e-05,
  2.10000000e-01,-4.76969974e-03, 9.00000000e-02, 1.47519061e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.49157938,  0.39795901, -0.28858086,  0.39795901,  0.56623168,
        0.10294708, -0.28858086,  0.10294708,  0.63354555,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044998922165404335
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64411678e-01,  2.64392903e-01, -2.55108114e-03,  2.64391978e-01,
        9.64415052e-01,  6.99374968e-04,  2.64521082e-03, -1.08420217e-19,
       -9.99996501e-01])
  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([ 0.1035052 , -0.08880997,  0.14127534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36919646,  0.32376593,  0.17743068,  0.32376593,  0.47844564,
       -0.19935199,  0.17743068, -0.19935199,  0.73296322,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010827107464095413
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75511913,  0.47028586, -0.4567563 ,  0.40239791,  0.88251414,
        0.24340236,  0.51756258,  0.        , -0.85564536])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10341182, -0.08818083,  0.14997023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047338392678017427
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.32903412e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.32903412e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09914479, -0.0518004 ,  0.06197988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03704501e-05, 9.96369300e-06,-5.58539104e-07, 5.13767069e-06,
  3.77523446e-05,-2.99854470e-05, 7.78902818e-06, 3.74295681e-05,
 -1.95104972e-05,-6.39111598e-05, 1.09100643e-05,-4.11404827e-06,
  2.66020402e-01,-7.90206268e-04, 8.71400836e-02, 3.65814994e-02,
 -1.02396137e-05, 2.81428851e-06,-9.80998970e+00,-1.18276650e-02,
 -2.39682173e-02, 4.60295191e-05]


--- Step 426 ---
qpos:
[-1.35809318e-02, 1.35506234e-02, 1.00366969e-02, 1.47394496e-02,
 -1.90435356e-02,-9.06580292e-03,-1.74215957e-02, 1.63201659e-02,
 -1.21262634e-02,-6.71911001e-03,-1.43938151e-02, 1.51352747e-02,
  1.40362114e+00, 3.07627043e-02, 2.90340492e-01,-1.23383855e-02,
  9.49515016e-02,-7.03281756e-02, 1.04541792e-01, 9.99964392e-01,
  9.46957913e-04,-3.82801026e-04,-8.37686454e-03]

qacc:
[-4.08736649e+00,-1.40755487e-01, 5.68888801e-02, 9.93446982e-01,
 -5.20143826e+00,-1.67276741e+00, 8.46899619e+00,-1.94335949e+01,
  9.63530447e-01, 1.94242209e-01,-2.27376224e+00, 7.31270151e+00,
  1.81436432e+00,-2.03268336e+01,-1.06700260e+02, 2.82835232e+02,
  1.08543023e+00, 8.81770016e-01, 1.79382969e-01,-1.09520116e+01,
  3.00734829e+01, 2.80594986e+00]

qfrc_actuator:
[ 4.79564880e-04,-5.21699186e-04,-1.81079656e-04, 3.57689572e-05,
 -6.15000705e-04,-7.01008824e-04,-2.50456751e-04, 5.84494462e-05,
 -4.87440113e-04,-5.34260126e-04,-1.35172473e-04,-2.50268353e-05,
  2.10000000e-01,-4.77163409e-03, 9.00000000e-02, 1.54066440e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.48221363,  0.43570203, -0.2066246 ,  0.43570203,  1.00203699,
        1.09613324, -0.2066246 ,  1.09613324,  2.79359122,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043388718053809266
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64519092e-01,  2.63997714e-01, -2.85111787e-03,  2.63996561e-01,
        9.64523306e-01,  7.80373680e-04,  2.95598650e-03,  0.00000000e+00,
       -9.99995631e-01])
  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([ 0.103498  , -0.08882823,  0.14127387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36919646, -0.35813792, -0.08968424, -0.35813792,  0.4592049 ,
       -0.35943257, -0.08968424, -0.35943257,  1.804526  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001002821409047538
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7564759 ,  0.46916666, -0.4556609 ,  0.40189038,  0.88310964,
        0.24207742,  0.51597319,  0.        , -0.85660473])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10339771, -0.0881927 ,  0.14998519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.83586017,  9.49429023,  5.22248205,  9.49429023, 14.7529308 ,
       -7.12109779,  5.22248205, -7.12109779, 23.7817676 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004753661890179797
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.91938891e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.91938891e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08127525, -0.06130762,  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:
[-2.42994856e-05,-1.13419917e-05, 2.78960012e-07, 2.66468473e-06,
 -3.08661649e-05,-1.17372090e-05, 1.76515723e-06,-3.23940448e-05,
  5.64493800e-06,-2.07881421e-05,-1.37994614e-06, 1.37124103e-05,
  2.66020422e-01,-6.60470563e-04, 8.54122990e-02, 3.72463562e-02,
 -1.14309574e-04, 6.01938520e-05,-9.80990559e+00,-1.18376267e-02,
 -2.39773949e-02, 5.09161054e-05]


--- Step 427 ---
qpos:
[-1.35818555e-02, 1.35507111e-02, 1.00368755e-02, 1.47405663e-02,
 -1.90436704e-02,-9.06552562e-03,-1.74221463e-02, 1.63210805e-02,
 -1.21258179e-02,-6.72011545e-03,-1.43927482e-02, 1.51355803e-02,
  1.40357763e+00, 3.07927976e-02, 2.90346652e-01,-1.27461478e-02,
  9.49522879e-02,-7.03280972e-02, 1.04543865e-01, 9.99965514e-01,
  9.36211978e-04,-4.30853950e-04,-8.24061409e-03]

qacc:
[-2.43866823e+00,-1.64177304e+00, 6.28775633e+00,-1.13711876e+01,
 -3.34891390e+00,-1.69963615e+00, 1.14207408e+01,-3.10714906e+01,
  6.38740749e-01,-8.13836191e-01, 1.99417057e+00, 3.19985681e-01,
  2.09036681e+00,-1.95912117e+01,-1.06315222e+02, 2.84293131e+02,
  9.45752536e-01, 6.70118972e-01, 1.18545379e-01,-1.02761241e+01,
  2.72298899e+01,-4.62920016e+00]

qfrc_actuator:
[ 4.65717210e-04,-5.67563335e-04,-1.82248781e-04, 1.87077310e-05,
 -6.33904665e-04,-6.64342069e-04,-2.46899167e-04, 3.24054701e-06,
 -4.83930438e-04,-5.26057999e-04,-1.11362946e-04,-1.55651066e-05,
  2.10000000e-01,-4.78429337e-03, 9.00000000e-02, 1.59243498e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.47588614,  0.43849767, -0.18489838,  0.43849767,  0.88645274,
        0.97368349, -0.18489838,  0.97368349,  2.78503534,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004223171724691251
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64628919e-01,  2.63593954e-01, -3.04552061e-03,  2.63592640e-01,
        9.64633727e-01,  8.32213095e-04,  3.15717824e-03, -2.16840434e-19,
       -9.99995016e-01])
  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([ 0.10349783, -0.08883784,  0.14127353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36917597, -0.33735158, -0.14994936, -0.33735158,  0.9709845 ,
       -1.35393081, -0.14994936, -1.35393081,  3.41520896,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009948651457317393
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75731213,  0.46868397, -0.45476771,  0.40180412,  0.88336591,
        0.24128431,  0.51481238,  0.        , -0.85730287])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10339318, -0.08819823,  0.14999869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.85156819,  -8.90771999,  -6.19750408,  -8.90771999,
        35.98522554, -36.12479784,  -6.19750408, -36.12479784,
        62.77401628,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004764523435319898
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91273367e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.91273367e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08127865, -0.06131366,  0.06197975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45745228e-05,-5.20182321e-05,-3.37616647e-06,-1.74829345e-05,
 -1.97935297e-05, 2.90599343e-05, 2.28001124e-07,-5.62805064e-05,
  3.68710432e-06,-3.12955437e-06, 1.98156615e-05, 8.78896560e-06,
  2.66209532e-01,-5.61610566e-04, 8.75018719e-02, 3.70286274e-02,
 -7.82998120e-05, 5.47347010e-05,-9.80995672e+00,-1.18330616e-02,
 -2.39796376e-02, 5.42500972e-05]


--- Step 428 ---
qpos:
[-1.35829384e-02, 1.35503527e-02, 1.00370806e-02, 1.47414826e-02,
 -1.90433414e-02,-9.06501670e-03,-1.74229455e-02, 1.63213472e-02,
 -1.21253335e-02,-6.72087476e-03,-1.43918154e-02, 1.51356382e-02,
  1.40353279e+00, 3.08211911e-02, 2.90315159e-01,-1.31391650e-02,
  9.49563037e-02,-7.03261767e-02, 1.04546193e-01, 9.99966458e-01,
  9.07332546e-04,-4.29370044e-04,-8.12865830e-03]

qacc:
[-1.37159098e+00,-1.07372933e+00, 3.82367972e+00,-7.01099454e+00,
  4.01511109e+00,-3.40407484e-01, 4.38015949e+00,-1.53522000e+01,
  3.30805097e-01, 1.89363048e-01, 8.41691549e-01,-5.09493158e+00,
  2.31322469e+00,-1.79646685e+01,-1.00700075e+02, 2.70727309e+02,
  8.07352409e-01, 4.60537681e-01, 6.36810693e-02,-9.27569259e+00,
  2.46814349e+01,-1.21669347e+01]

qfrc_actuator:
[ 4.57947743e-04,-5.94859157e-04,-1.83122365e-04, 8.20188778e-06,
 -6.09457028e-04,-6.60387742e-04,-2.62250747e-04,-2.95733479e-05,
 -4.82045828e-04,-5.02911707e-04,-1.15469224e-04,-2.78597445e-05,
  2.10000000e-01,-4.82046136e-03, 9.00000000e-02, 1.63534422e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.47165659,  0.44084322, -0.16768185,  0.44084322,  0.80448229,
        0.87501393, -0.16768185,  0.87501393,  2.7721081 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004142391894872169
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64741162e-01,  2.63181690e-01, -3.14461337e-03,  2.63180292e-01,
        9.64746287e-01,  8.57846951e-04,  3.25952369e-03, -1.08420217e-19,
       -9.99994688e-01])
  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([ 0.10350362, -0.08884078,  0.14127402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009862206593300802
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75772989,  0.46871076, -0.45404365,  0.40205521,  0.8833517 ,
        0.2409178 ,  0.51400099,  0.        , -0.85778959])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10339668, -0.08819873,  0.15001084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.84370146,  -8.83765307,  -6.28345046,  -8.83765307,
        42.78075636, -44.91936607,  -6.28345046, -44.91936607,
        74.02264688,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000475909059581274
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.91605876e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.91605876e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08128094, -0.06131816,  0.06197977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.21479058e-06,-5.78024788e-05,-1.26277910e-05,-1.31891189e-05,
  2.38845638e-05, 1.78379035e-05,-1.12662643e-05,-3.26549263e-05,
  2.01120171e-06, 2.58531281e-05,-2.01315448e-06,-1.15732151e-05,
  2.66343835e-01,-4.98071803e-04, 8.95259151e-02, 3.66966788e-02,
 -4.81517970e-05, 3.78838704e-05,-9.80999058e+00,-1.18290173e-02,
 -2.39797479e-02, 5.50810312e-05]


--- Step 429 ---
qpos:
[-1.35841062e-02, 1.35496774e-02, 1.00374752e-02, 1.47425831e-02,
 -1.90427220e-02,-9.06477312e-03,-1.74234402e-02, 1.63212445e-02,
 -1.21258648e-02,-6.72107466e-03,-1.43916420e-02, 1.51352060e-02,
  1.40348793e+00, 3.08482474e-02, 2.90249367e-01,-1.35183509e-02,
  9.49630538e-02,-7.03231506e-02, 1.04548582e-01, 9.99967117e-01,
  8.62229140e-04,-3.82719130e-04,-8.05450126e-03]

qacc:
[-7.24076005e-01,-5.67934285e-01, 6.41842786e-01, 2.47432425e+00,
  2.53601401e+00,-1.96622503e+00, 8.05378934e+00,-1.47307462e+01,
 -8.89790573e+00, 1.86944150e+00,-3.49375200e+00,-4.21863199e+00,
  2.46694900e+00,-1.59373578e+01,-9.29461543e+01, 2.50849747e+02,
  6.83593222e-01, 2.76385017e-01, 1.53011421e-02,-8.30327380e+00,
  2.24995976e+01,-1.89169088e+01]

qfrc_actuator:
[ 4.53814732e-04,-5.93073036e-04,-1.65991795e-04, 1.94047146e-05,
 -5.95198307e-04,-6.93862950e-04,-2.53240193e-04,-4.89796516e-05,
 -5.34390028e-04,-4.71115264e-04,-1.53730916e-04,-5.28636827e-05,
  2.10000000e-01,-4.87025237e-03, 9.00000000e-02, 1.67770101e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.46886833,  0.44402826, -0.15058692,  0.44402826,  0.72691798,
        0.76089833, -0.15058692,  0.76089833,  2.71249186,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004087518524939222
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64855579e-01,  2.62761761e-01, -3.15725240e-03,  2.62760354e-01,
        9.64860745e-01,  8.59818585e-04,  3.27223635e-03,  0.00000000e+00,
       -9.99994646e-01])
  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([ 0.10351426, -0.08883899,  0.14127506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000977074455820333
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.57828591e-01,  4.69118767e-01, -4.53457174e-01,  4.02556324e-01,
        8.83135087e-01,  2.40875120e-01,  5.13462980e-01,  2.77555756e-17,
       -8.58111746e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10340674, -0.08819564,  0.15002178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047406221437527873
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.92741910e-14, -2.92741910e-14,  1.00000000e+00,  8.56978258e-28,
        1.00000000e+00,  2.92741910e-14, -1.00000000e+00,  0.00000000e+00,
        2.92741910e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08128235, -0.06132146,  0.06197985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.38045017e-06,-3.36756678e-05, 3.19172752e-06, 8.03508750e-06,
  1.49447068e-05,-2.72303396e-05, 1.01723511e-05,-1.96690350e-05,
 -5.22605639e-05, 4.53263630e-05,-3.35759336e-05,-2.41921832e-05,
  2.66411175e-01,-4.65321267e-04, 9.14089474e-02, 3.63828157e-02,
 -2.37546745e-05, 1.61645590e-05,-9.81000637e+00,-1.18265941e-02,
 -2.39785293e-02, 5.36604483e-05]


--- Step 430 ---
qpos:
[-1.35846245e-02, 1.35485937e-02, 1.00383714e-02, 1.47441441e-02,
 -1.90422811e-02,-9.06466350e-03,-1.74238527e-02, 1.63209087e-02,
 -1.21270190e-02,-6.72102445e-03,-1.43918536e-02, 1.51344917e-02,
  1.40344433e+00, 3.08743563e-02, 2.90153021e-01,-1.38850403e-02,
  9.49720977e-02,-7.03196686e-02, 1.04550863e-01, 9.99967392e-01,
  8.02748896e-04,-2.94636250e-04,-8.03022282e-03]

qacc:
[ 5.65259605e+00,-1.00470490e+00, 8.35987284e-01, 6.65292133e+00,
 -1.54634638e+00,-8.83121750e-01, 3.88145711e+00,-7.95385230e+00,
 -5.45336643e+00, 8.36224400e-01,-1.29225004e+00,-3.17987553e+00,
  2.55274162e+00,-1.35551926e+01,-8.33327642e+01, 2.25321929e+02,
  5.73428609e-01, 1.13965852e-01,-2.70580912e-02,-7.36441937e+00,
  2.06358257e+01,-2.49551338e+01]

qfrc_actuator:
[ 4.87358191e-04,-6.09293720e-04,-1.38232383e-04, 4.33282938e-05,
 -6.04817771e-04,-6.96133676e-04,-2.47818673e-04,-6.03607008e-05,
 -5.64974654e-04,-4.70045711e-04,-1.76301699e-04,-6.73991223e-05,
  2.10000000e-01,-4.92789985e-03, 9.00000000e-02, 1.71567738e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.46705552,  0.44733058, -0.13429896,  0.44733058,  0.66010164,
        0.64300893, -0.13429896,  0.64300893,  2.60882604,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004051116392698801
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64971822e-01,  2.62335335e-01, -3.09089186e-03,  2.62333990e-01,
        9.64976773e-01,  8.40279450e-04,  3.20307384e-03,  1.08420217e-19,
       -9.99994870e-01])
  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([ 0.10352875, -0.08883413,  0.14127641])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000967727236126241
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75769289,  0.46979444, -0.45298417,  0.40322797,  0.88277584,
        0.2410685 ,  0.51313612,  0.        , -0.85830724])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10342206, -0.08819018,  0.15003156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004711911476678529
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.47262824e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.47262824e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08128308, -0.06132379,  0.06197997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.34223482e-05,-3.40095655e-05, 2.14880049e-05, 2.27502359e-05,
 -9.20111117e-06,-1.62568825e-05, 3.61585797e-07,-1.25807262e-05,
 -3.20572432e-05, 1.84455824e-05,-1.81729081e-05,-1.42223386e-05,
  2.66412859e-01,-4.59183452e-04, 9.31241266e-02, 3.60708213e-02,
 -9.32236012e-06,-2.82895067e-06,-9.81000383e+00,-1.18266432e-02,
 -2.39765541e-02, 5.02218608e-05]


--- Step 431 ---
qpos:
[-1.35843915e-02, 1.35473211e-02, 1.00392583e-02, 1.47459867e-02,
 -1.90419590e-02,-9.06436918e-03,-1.74249423e-02, 1.63211414e-02,
 -1.21274966e-02,-6.72094885e-03,-1.43919998e-02, 1.51339518e-02,
  1.40340303e+00, 3.08998459e-02, 2.90029540e-01,-1.42409244e-02,
  9.49830496e-02,-7.03162739e-02, 1.04552893e-01, 9.99967185e-01,
  7.30344264e-04,-1.68284550e-04,-8.06645025e-03]

qacc:
[ 6.51585555e+00, 3.43574067e-01,-2.79857485e+00, 7.85107520e+00,
 -1.05475554e+00, 3.30717802e+00,-1.38356677e+01, 2.46189707e+01,
  5.90784997e+00, 1.98311160e-01,-1.41505513e+00, 4.33309894e+00,
  2.59961864e+00,-1.14450692e+01,-7.31221620e+01, 1.97002031e+02,
  4.77027523e-01,-2.18104566e-02,-6.26386588e-02,-6.62435702e+00,
  1.90575368e+01,-3.02673401e+01]

qfrc_actuator:
[ 5.25054554e-04,-6.18347678e-04,-1.39988824e-04, 5.67817717e-05,
 -6.10658612e-04,-6.79706945e-04,-2.79955337e-04,-3.14099400e-05,
 -5.29232087e-04,-4.69574122e-04,-1.71775844e-04,-5.79127097e-05,
  2.10000000e-01,-4.99011606e-03, 9.00000000e-02, 1.75060572e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.46587557,  0.44282657, -0.14472275,  0.44282657,  0.6685823 ,
        0.62024753, -0.14472275,  0.62024753,  2.36372568,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040271046433783774
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65089483e-01,  2.61903755e-01, -2.95177474e-03,  2.61902530e-01,
        9.65093997e-01,  8.01042063e-04,  3.05853600e-03,  0.00000000e+00,
       -9.99995323e-01])
  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([ 0.10354619, -0.08882766,  0.14127788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009830542894236855
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.57396837e-01,  4.70637181e-01, -4.52604326e-01,  4.03998947e-01,
        8.82326835e-01,  2.41421223e-01,  5.12966746e-01,  2.77555756e-17,
       -8.58408479e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10344148, -0.08818349,  0.15004023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004675339957536731
  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([ 0.08128326, -0.06132537,  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:
[ 3.86718871e-05,-2.26305605e-05,-5.34305893e-06, 1.31823809e-05,
 -6.10932031e-06, 6.85227369e-06,-3.58901817e-05, 2.80211800e-05,
  3.48343471e-05, 6.45396359e-06, 5.62031795e-06, 9.37527913e-06,
  2.66351126e-01,-4.77658347e-04, 9.46519263e-02, 3.57950577e-02,
 -1.10520049e-05,-1.19571027e-05,-9.80998319e+00,-1.18297263e-02,
 -2.39742166e-02, 4.49741174e-05]


--- Step 432 ---
qpos:
[-1.35843974e-02, 1.35462387e-02, 1.00399707e-02, 1.47475934e-02,
 -1.90417094e-02,-9.06409715e-03,-1.74263591e-02, 1.63217216e-02,
 -1.21271974e-02,-6.72085213e-03,-1.43920836e-02, 1.51335304e-02,
  1.40337381e+00, 3.09271331e-02, 2.89977869e-01,-1.46027714e-02,
  9.49869811e-02,-7.03165609e-02, 1.04554091e-01, 9.99967315e-01,
  7.05461821e-04,-1.42327828e-04,-8.05303823e-03]

qacc:
[-2.07975494e+00, 2.57581403e-01, 4.49471827e-01,-4.40137784e+00,
 -6.38742047e-01, 1.60044072e+00,-7.21451953e+00, 1.37652351e+01,
  6.78078801e+00, 8.43300427e-02,-7.83346649e-01, 2.74338735e+00,
  2.04031885e+00, 1.06773512e+01, 1.24450002e+02,-2.80969563e+02,
 -1.75513438e+00,-9.20417783e-01,-2.08079325e-01, 2.41692835e+01,
 -4.99860186e+01, 2.48529307e+01]

qfrc_actuator:
[ 5.11623134e-04,-5.87652334e-04,-1.41391880e-04, 4.61951880e-05,
 -6.14220729e-04,-6.87832086e-04,-2.98395241e-04,-1.44736606e-05,
 -4.90248927e-04,-4.69336652e-04,-1.69041118e-04,-5.21095835e-05,
  2.10000000e-01,-5.03727002e-03, 9.00000000e-02, 1.77627345e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.46504721,  0.42168902, -0.19607977,  0.42168902,  0.83712681,
        0.80019415, -0.19607977,  0.80019415,  2.18594422,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040100946723757894
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65208285e-01,  2.61467837e-01, -2.74522178e-03,  2.61466779e-01,
        9.65212189e-01,  7.43657413e-04,  2.84416402e-03, -1.08420217e-19,
       -9.99995955e-01])
  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([ 0.1035658 , -0.08882082,  0.14127929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009716503605290038
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75700375,  0.47156171, -0.45229953,  0.40480903,  0.88183306,
        0.24186794,  0.51290834,  0.        , -0.85844338])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.103464  , -0.08817649,  0.15004785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.70351189,   9.50311101,   4.92504294,   9.50311101,
        16.09805077, -10.40902635,   4.92504294, -10.40902635,
        30.78823684,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004659951339759799
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.3065536e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.3065536e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09914928, -0.05180457,  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:
[-1.22927605e-05, 1.75036179e-05,-6.28408296e-06,-1.14865500e-05,
 -3.73378171e-06,-1.05196628e-05,-2.04795657e-05, 1.65328286e-05,
  3.99828063e-05, 5.43865992e-06, 5.08892741e-06, 6.45637307e-06,
  2.66236667e-01,-4.97972274e-04, 9.60086493e-02, 3.55112361e-02,
 -3.61915819e-05,-4.65792288e-06,-9.80994490e+00,-1.18362009e-02,
 -2.39717633e-02, 3.80840633e-05]


--- Step 433 ---
qpos:
[-1.35845635e-02, 1.35455633e-02, 1.00405410e-02, 1.47486846e-02,
 -1.90418488e-02,-9.06434428e-03,-1.74271939e-02, 1.63221559e-02,
 -1.21264329e-02,-6.72070423e-03,-1.43921010e-02, 1.51324870e-02,
  1.40335262e+00, 3.09548359e-02, 2.89993423e-01,-1.49683934e-02,
  9.49849230e-02,-7.03196607e-02, 1.04554618e-01, 9.99968029e-01,
  7.13370273e-04,-2.17765132e-04,-7.96150318e-03]

qacc:
[-1.40078673e+00,-1.24084990e-01, 3.40469915e+00,-1.24061230e+01,
 -3.35219120e+00,-2.60465500e+00, 8.91912883e+00,-1.20035751e+01,
  4.06114028e+00,-1.40640753e+00, 7.72549842e+00,-1.86200909e+01,
  1.69660662e+00, 2.93250903e+00, 1.10959290e+02,-2.43801203e+02,
 -1.49737927e+00,-7.03223856e-01,-1.67476010e-01, 1.68085308e+01,
 -5.05357251e+01, 3.90960226e+01]

qfrc_actuator:
[ 5.03709986e-04,-5.51163642e-04,-1.42413907e-04, 2.15894757e-05,
 -6.34167022e-04,-7.28307879e-04,-2.73190954e-04,-2.25050228e-05,
 -4.67444746e-04,-4.69245523e-04,-1.67404145e-04,-8.40354789e-05,
  2.10000000e-01,-5.05980319e-03, 9.00000000e-02, 1.79230364e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.46175575,  0.46174082,  0.00371239,  0.46174082,  0.46180202,
       -0.00575551,  0.00371239, -0.00575551,  1.17761659,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039412178628637324
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65316708e-01,  2.61067650e-01, -2.70844288e-03,  2.61066623e-01,
        9.65320507e-01,  7.32489172e-04,  2.80574468e-03,  1.08420217e-19,
       -9.99996064e-01])
  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([ 0.1035751 , -0.08882427,  0.14127862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36897739,  0.30697548,  0.20472023,  0.30697548,  1.1144052 ,
       -1.11775985,  0.20472023, -1.11775985,  2.04504458,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000983206836626806
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7572815 ,  0.47166562, -0.45172587,  0.40507232,  0.88177749,
        0.24162963,  0.51229009,  0.        , -0.85881247])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10347259, -0.08817746,  0.15005666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004659405651243273
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.95689186e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.95689186e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0991505 , -0.05180682,  0.0619802 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.23355889e-06, 4.44801002e-05, 1.42270287e-06,-2.42958519e-05,
 -2.00518952e-05,-4.98903842e-05, 2.10779652e-05,-8.86948266e-06,
  2.39493093e-05, 4.46323621e-06, 3.60559742e-06,-3.13933388e-05,
  2.65633564e-01,-6.13161856e-04, 9.24183926e-02, 3.59694991e-02,
 -6.16534951e-07,-1.29457815e-06,-9.80999861e+00,-1.18346380e-02,
 -2.39688979e-02, 3.70519399e-05]


--- Step 434 ---
qpos:
[-1.35844781e-02, 1.35451168e-02, 1.00411400e-02, 1.47494832e-02,
 -1.90422261e-02,-9.06496855e-03,-1.74274768e-02, 1.63228198e-02,
 -1.21264352e-02,-6.72084187e-03,-1.43919449e-02, 1.51311056e-02,
  1.40333538e+00, 3.09814043e-02, 2.90068279e-01,-1.53350099e-02,
  9.49777054e-02,-7.03248675e-02, 1.04554599e-01, 9.99969479e-01,
  7.42011289e-04,-3.96058640e-04,-7.76742072e-03]

qacc:
[ 2.17751791e+00,-3.84524572e-01, 3.03742988e+00,-8.30697025e+00,
 -2.04139877e+00,-1.56406657e+00, 3.89174852e+00,-5.32095460e-01,
 -6.68116458e+00,-1.54434934e+00, 6.40897162e+00,-1.23511666e+01,
  1.60053290e+00,-6.57119122e+00, 9.07084716e+01,-1.90215153e+02,
 -1.28986162e+00,-5.26717485e-01,-1.36820044e-01, 1.07862984e+01,
 -5.13072701e+01, 5.13094345e+01]

qfrc_actuator:
[ 5.16877345e-04,-5.46997215e-04,-1.43170054e-04, 6.69893813e-06,
 -6.45845528e-04,-7.34430367e-04,-2.40330910e-04,-9.65747791e-06,
 -5.07605025e-04,-5.04785986e-04,-1.66454957e-04,-1.02400497e-04,
  2.10000000e-01,-5.01364309e-03, 9.00000000e-02, 1.80967208e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.45666951,  0.3762592 , -0.25879733,  0.3762592 ,  1.2382728 ,
        1.13635418, -0.25879733,  1.13635418,  2.10878746,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003830496959537581
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65415911e-01,  2.60699041e-01, -2.85094471e-03,  2.60697905e-01,
        9.65420121e-01,  7.69860226e-04,  2.95306121e-03,  0.00000000e+00,
       -9.99995640e-01])
  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([ 0.10357567, -0.08883481,  0.1412763 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.3688139 ,  0.30642346,  0.20525194,  0.30642346,  0.76270194,
       -0.58804091,  0.20525194, -0.58804091,  1.24670834,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009778036696760117
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.58091867e-01,  4.71180090e-01, -4.50872536e-01,  4.04969159e-01,
        8.82037030e-01,  2.40854018e-01,  5.11171891e-01,  2.77555756e-17,
       -8.59478504e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10346922, -0.0881837 ,  0.15006738])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046450094870321285
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.7345962e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -3.7345962e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09915169, -0.05180801,  0.06198026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29617265e-05, 2.82946548e-05, 7.76894323e-06,-1.34071310e-05,
 -1.22559091e-05,-3.00493427e-05, 2.48470497e-05, 1.12675564e-05,
 -3.94743900e-05,-3.36646989e-05, 1.21907364e-06,-1.86624902e-05,
  2.65232121e-01,-5.89215852e-04, 8.90576000e-02, 3.63317893e-02,
 -3.48000315e-05, 2.32072536e-05,-9.80997806e+00,-1.18381658e-02,
 -2.39726506e-02, 3.92067632e-05]


--- Step 435 ---
qpos:
[-1.35845801e-02, 1.35446683e-02, 1.00418363e-02, 1.47501224e-02,
 -1.90427405e-02,-9.06543885e-03,-1.74278940e-02, 1.63243017e-02,
 -1.21265733e-02,-6.72148391e-03,-1.43916881e-02, 1.51302394e-02,
  1.40331403e+00, 3.10055738e-02, 2.90106658e-01,-1.56888561e-02,
  9.49744567e-02,-7.03270584e-02, 1.04555408e-01, 9.99970865e-01,
  7.53626913e-04,-5.14925241e-04,-7.57871283e-03]

qacc:
[-1.62129842e+00,-5.99858386e-01, 2.81356700e+00,-5.73287448e+00,
 -1.19702169e+00, 2.26456225e+00,-1.12302244e+01, 2.54877932e+01,
 -1.17425517e+00, 1.14732506e-01,-3.54799762e+00, 1.26718791e+01,
  1.64979124e+00,-2.05128122e+01,-9.29736183e+01, 2.46214458e+02,
  9.92213062e-01, 7.53958578e-01, 2.07026056e-01,-8.74427364e+00,
  2.96444184e+01,-2.70613951e+00]

qfrc_actuator:
[ 5.06840036e-04,-5.62208612e-04,-1.43880513e-04,-2.37929892e-06,
 -6.52559021e-04,-7.02122609e-04,-2.38585617e-04, 3.31530605e-05,
 -5.13487675e-04,-5.43636505e-04,-1.66051855e-04,-7.71588833e-05,
  2.10000000e-01,-4.99589375e-03, 9.00000000e-02, 1.83126696e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.45027127,  0.42850245, -0.13831077,  0.42850245,  0.71195729,
        0.81073294, -0.13831077,  0.81073294,  2.96201378,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003683073294036338
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65507654e-01,  2.60355233e-01, -3.18168230e-03,  2.60353820e-01,
        9.65512896e-01,  8.57956057e-04,  3.29532864e-03,  0.00000000e+00,
       -9.99994570e-01])
  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([ 0.10356896, -0.08885003,  0.14127271])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36865734,  0.13798824,  0.34185886,  0.13798824,  2.72478814,
       -0.95103092,  0.34185886, -0.95103092,  0.75253239,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009736450602047506
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.59337527e-01,  4.70285556e-01, -4.49708812e-01,  4.04645534e-01,
        8.82514303e-01,  2.39646608e-01,  5.09576797e-01,  2.77555756e-17,
       -8.60425178e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10345555, -0.08819313,  0.15008089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.72726205,  9.39333173,  5.1806824 ,  9.39333173, 14.5908482 ,
       -7.0052444 ,  5.1806824 , -7.0052444 , 23.42879042,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046770640683597986
  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([ 0.08129279, -0.06134304,  0.06198012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.64599727e-06, 1.64230318e-06, 5.62607439e-06,-7.85837213e-06,
 -7.05378612e-06, 2.11287484e-05,-1.00586956e-06, 4.26033242e-05,
 -7.01815877e-06,-5.82369085e-05,-7.04434408e-06, 2.34798961e-05,
  2.65034069e-01,-5.14980957e-04, 8.60930559e-02, 3.65973628e-02,
 -1.73331577e-04, 1.06374386e-04,-9.80987774e+00,-1.18517034e-02,
 -2.39830645e-02, 4.42963882e-05]


--- Step 436 ---
qpos:
[-1.35844565e-02, 1.35441609e-02, 1.00425661e-02, 1.47506600e-02,
 -1.90433313e-02,-9.06562470e-03,-1.74283056e-02, 1.63252220e-02,
 -1.21260914e-02,-6.72228143e-03,-1.43915793e-02, 1.51300001e-02,
  1.40329011e+00, 3.10278226e-02, 2.90111298e-01,-1.60300443e-02,
  9.49746571e-02,-7.03271263e-02, 1.04556778e-01, 9.99972100e-01,
  7.49911216e-04,-5.79995860e-04,-7.40949296e-03]

qacc:
[ 1.95764662e+00,-3.84642471e-01, 1.68073034e+00,-3.44172945e+00,
 -6.68099202e-01,-7.94406706e-01, 5.75226400e+00,-1.56951153e+01,
  5.41078297e+00, 1.48777280e+00,-8.26825846e+00, 1.94889627e+01,
  1.81985550e+00,-1.79130359e+01,-8.85576238e+01, 2.36700711e+02,
  8.62272481e-01, 5.30730320e-01, 1.40289934e-01,-7.87424997e+00,
  2.68317304e+01,-9.76061712e+00]

qfrc_actuator:
[ 5.18723495e-04,-5.71154863e-04,-1.44643685e-04,-7.98626191e-06,
 -6.56299071e-04,-6.82642212e-04,-2.37290897e-04, 4.49787773e-06,
 -4.81375184e-04,-5.30882105e-04,-1.65973200e-04,-4.42239685e-05,
  2.10000000e-01,-5.01122519e-03, 9.00000000e-02, 1.85583625e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44600427,  0.44327121, -0.04929956,  0.44327121,  0.47819187,
        0.289411  , -0.04929956,  0.289411  ,  3.04820943,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003579132672328188
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65600915e-01,  2.60006291e-01, -3.40610282e-03,  2.60004673e-01,
        9.65606923e-01,  9.17151833e-04,  3.52742170e-03,  1.08420217e-19,
       -9.99993779e-01])
  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([ 0.1035685 , -0.08885776,  0.14127044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36281556, -0.31273854, -0.18392862, -0.31273854,  1.23150295,
       -1.47705143, -0.18392862, -1.47705143,  2.87428394,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009086404042162171
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.60111394e-01,  4.69932091e-01, -4.48769985e-01,  4.04667153e-01,
        8.82702572e-01,  2.38915603e-01,  5.08404528e-01, -2.77555756e-17,
       -8.61118363e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10345054, -0.08819721,  0.15009271])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.75925783,  -8.8820511 ,  -6.07213284,  -8.8820511 ,
        33.2213727 , -32.85660199,  -6.07213284, -32.85660199,
        58.82046224,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046999101109179015
  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([ 0.08129684, -0.06134986,  0.06198002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16126169e-05,-7.20270451e-06,-9.28421547e-10,-5.49404680e-06,
 -3.91881989e-06, 3.29296379e-05, 7.01560281e-06,-2.69539871e-05,
  3.19126238e-05,-2.02561192e-05,-1.20033662e-05, 3.06533785e-05,
  2.65239785e-01,-4.11215020e-04, 8.79173732e-02, 3.62044078e-02,
 -1.23238910e-04, 8.69458848e-05,-9.80993817e+00,-1.18447408e-02,
 -2.39856438e-02, 4.81211553e-05]


--- Step 437 ---
qpos:
[-1.35838463e-02, 1.35434275e-02, 1.00433679e-02, 1.47511454e-02,
 -1.90446520e-02,-9.06538919e-03,-1.74287577e-02, 1.63254319e-02,
 -1.21252279e-02,-6.72304227e-03,-1.43918557e-02, 1.51301486e-02,
  1.40326486e+00, 3.10484970e-02, 2.90084236e-01,-1.63592218e-02,
  9.49778386e-02,-7.03258025e-02, 1.04558481e-01, 9.99973110e-01,
  7.32010707e-04,-5.96071482e-04,-7.27244900e-03]

qacc:
[ 4.22358945e+00,-6.15601966e-01, 1.96755253e+00,-2.80392667e+00,
 -6.34674826e+00,-7.79240180e-01, 6.60751622e+00,-1.91705042e+01,
  3.31740670e+00, 1.91634063e+00,-8.41129022e+00, 1.57239333e+01,
  1.99228853e+00,-1.61032506e+01,-8.35626857e+01, 2.23640935e+02,
  7.45258962e-01, 3.47953198e-01, 8.32749301e-02,-7.28297078e+00,
  2.44321352e+01,-1.61025901e+01]

qfrc_actuator:
[ 5.43421392e-04,-5.94036970e-04,-1.45413653e-04,-1.15045521e-05,
 -6.93766230e-04,-6.53297676e-04,-2.36352814e-04,-3.04789658e-05,
 -4.62672552e-04,-5.22817167e-04,-1.83633362e-04,-2.47433912e-05,
  2.10000000e-01,-5.06367647e-03, 9.00000000e-02, 1.88879165e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44327217,  0.44218935, -0.03096432,  0.44218935,  0.4551597 ,
        0.16976118, -0.03096432,  0.16976118,  2.86756515,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003509973771570252
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65695479e-01,  2.59653135e-01, -3.53425732e-03,  2.59651397e-01,
        9.65701946e-01,  9.50273527e-04,  3.65978067e-03,  1.08420217e-19,
       -9.99993303e-01])
  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([ 0.1035732 , -0.08885992,  0.1412692 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009012955316692431
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76051142,  0.46999236, -0.44802852,  0.40494677,  0.88267048,
        0.23856013,  0.50758299,  0.        , -0.86160287])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10345275, -0.08819735,  0.15010292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.76637792,  -8.83383941,  -6.15452475,  -8.83383941,
        39.25140436, -40.88571567,  -6.15452475, -40.88571567,
        69.45130663,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00047049620319974256
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.94960676e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.94960676e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08129967, -0.061355  ,  0.06198   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.50391533e-05,-2.71467353e-05,-2.44961860e-06,-3.93451550e-06,
 -3.75581224e-05, 4.80728468e-05, 7.67836918e-06,-3.38460559e-05,
  1.96370193e-05,-4.43196867e-06,-2.22682358e-05, 1.87915437e-05,
  2.65368974e-01,-3.69108915e-04, 8.96046571e-02, 3.59009039e-02,
 -7.86371204e-05, 5.86526971e-05,-9.80997940e+00,-1.18387967e-02,
 -2.39863933e-02, 4.97256663e-05]


--- Step 438 ---
qpos:
[-1.35832891e-02, 1.35422967e-02, 1.00442331e-02, 1.47519534e-02,
 -1.90464116e-02,-9.06478992e-03,-1.74291959e-02, 1.63252246e-02,
 -1.21244908e-02,-6.72385100e-03,-1.43926054e-02, 1.51305464e-02,
  1.40323952e+00, 3.10679849e-02, 2.90028110e-01,-1.66774484e-02,
  9.49835766e-02,-7.03237368e-02, 1.04560314e-01, 9.99973823e-01,
  7.01189938e-04,-5.67262723e-04,-7.17913799e-03]

qacc:
[-4.49716031e-01,-3.73751085e-02,-1.98883306e+00, 7.76018995e+00,
 -3.81744280e+00,-4.09803500e-01, 3.93398311e+00,-1.14614065e+01,
 -1.11729361e+00, 1.77498882e+00,-7.47057295e+00, 1.25767742e+01,
  2.09808323e+00,-1.38429031e+01,-7.64272130e+01, 2.04393648e+02,
  6.39148347e-01, 1.85450843e-01, 3.25974358e-02,-6.63609134e+00,
  2.23785107e+01,-2.18795475e+01]

qfrc_actuator:
[ 5.39951523e-04,-6.25089907e-04,-1.46239506e-04, 3.97423406e-06,
 -7.15280317e-04,-6.36037978e-04,-2.35584779e-04,-5.11228824e-05,
 -4.69777911e-04,-5.35448506e-04,-2.11640433e-04,-1.33470609e-05,
  2.10000000e-01,-5.12022491e-03, 9.00000000e-02, 1.91923609e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44162592,  0.44137838, -0.01478421,  0.44137838,  0.44412069,
        0.07448074, -0.01478421,  0.07448074,  2.66522684,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034672505252554374
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65791367e-01,  2.59295691e-01, -3.57486448e-03,  2.59293915e-01,
        9.65797983e-01,  9.59773133e-04,  3.70146194e-03, -1.08420217e-19,
       -9.99993150e-01])
  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([ 0.10358215, -0.08885817,  0.14126871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008934644724730981
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76062237,  0.47035831, -0.44745578,  0.40541073,  0.88247553,
        0.23849335,  0.50704611,  0.        , -0.86191893])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10346089, -0.08819471,  0.15011158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.75324102,  -8.76057456,  -6.23574581,  -8.76057456,
        46.68801468, -50.48462099,  -6.23574581, -50.48462099,
        81.67888481,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046956319549092823
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.47773377e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.47773377e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08130154, -0.06135881,  0.06198004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.74087787e-06,-4.69230272e-05,-6.87933613e-06, 1.41518339e-05,
 -2.25812604e-05, 4.43123919e-05, 1.04892628e-05,-1.89723739e-05,
 -6.51387458e-06,-1.89258567e-05,-3.10251341e-05, 1.07989903e-05,
  2.65436106e-01,-3.48991992e-04, 9.11898812e-02, 3.56046406e-02,
 -4.15239359e-05, 2.88920099e-05,-9.81000210e+00,-1.18348159e-02,
 -2.39858053e-02, 4.93166994e-05]


--- Step 439 ---
qpos:
[-1.35831219e-02, 1.35408765e-02, 1.00453134e-02, 1.47532614e-02,
 -1.90473816e-02,-9.06398055e-03,-1.74292817e-02, 1.63247677e-02,
 -1.21245336e-02,-6.72460412e-03,-1.43937349e-02, 1.51307128e-02,
  1.40321528e+00, 3.10867140e-02, 2.89945891e-01,-1.69861072e-02,
  9.49914975e-02,-7.03214984e-02, 1.04562098e-01, 9.99974171e-01,
  6.58737869e-04,-4.97031852e-04,-7.13980505e-03]

qacc:
[-3.36931479e+00, 5.24658425e-02,-2.84202400e+00, 1.13538615e+01,
  6.86423711e+00,-1.23353668e+00, 5.83218817e+00,-1.08450272e+01,
 -6.81931036e+00, 6.71409410e-01,-1.28682725e+00,-2.17877367e+00,
  2.11852440e+00,-1.11260148e+01,-6.78061419e+01, 1.80691179e+02,
  5.45723549e-01, 4.32060457e-02,-1.24058306e-02,-5.97936689e+00,
  2.06497350e+01,-2.70008601e+01]

qfrc_actuator:
[ 5.19925813e-04,-6.25278327e-04,-1.29366514e-04, 3.04974576e-05,
 -6.73963662e-04,-6.26140112e-04,-2.17204468e-04,-6.31759000e-05,
 -5.09765355e-04,-5.24922451e-04,-2.27860766e-04,-2.45707282e-05,
  2.10000000e-01,-5.12573207e-03, 9.00000000e-02, 1.94602424e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.40744174e-01,  4.40744020e-01,  3.68859690e-04,  4.40744020e-01,
        4.40745579e-01, -1.67842861e-03,  3.68859690e-04, -1.67842861e-03,
        2.44626929e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.00034440284572079033
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65888467e-01,  2.58934300e-01, -3.53523564e-03,  2.58932565e-01,
        9.65894937e-01,  9.47715667e-04,  3.66006229e-03,  1.08420217e-19,
       -9.99993302e-01])
  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([ 0.10359447, -0.08885399,  0.14126873])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008854986656302453
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76051933,  0.47093253, -0.44702672,  0.4059916 ,  0.88216923,
        0.23863837,  0.50673579,  0.        , -0.86210141])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10347379, -0.08819035,  0.15011878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004674854569909001
  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([ 0.08130263, -0.06136157,  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:
[-2.00924425e-05,-2.72664846e-05, 6.81604478e-06, 2.45487814e-05,
  4.06662072e-05, 3.60868714e-05, 2.81903124e-05,-1.01555182e-05,
 -4.01427009e-05,-6.02871408e-06,-2.35844483e-05,-1.28992527e-05,
  2.65441194e-01,-2.97773917e-04, 9.26431877e-02, 3.53247813e-02,
 -1.62591793e-05, 4.33080944e-06,-9.81000669e+00,-1.18334421e-02,
 -2.39843180e-02, 4.70778880e-05]


--- Step 440 ---
qpos:
[-1.35831956e-02, 1.35394851e-02, 1.00464714e-02, 1.47544996e-02,
 -1.90478491e-02,-9.06341377e-03,-1.74286958e-02, 1.63252421e-02,
 -1.21250548e-02,-6.72512649e-03,-1.43951378e-02, 1.51300224e-02,
  1.40319649e+00, 3.11065509e-02, 2.89838281e-01,-1.72924053e-02,
  9.50013709e-02,-7.03204373e-02, 1.04563434e-01, 9.99974155e-01,
  6.19642204e-04,-3.87259280e-04,-7.15226361e-03]

qacc:
[ -2.08674616, -0.3187312 ,  1.49319134, -2.85395417,  4.38811134,
  -0.28887422, -3.38288268, 18.62461925, -4.18845989, -0.6866741 ,
   6.52285628,-21.1005803 ,  2.10037252,  0.34127043,-44.80482187,
 102.0446467 ,  0.48811702, -0.29435971, -0.11197977,  1.52424604,
  19.76517284,-25.91024055]

qfrc_actuator:
[ 5.08077532e-04,-6.06897013e-04,-1.19803968e-04, 2.78355256e-05,
 -6.49259491e-04,-6.56156469e-04,-1.88600730e-04,-1.68173120e-05,
 -5.33272801e-04,-5.00586311e-04,-2.36913287e-04,-6.67378396e-05,
  2.10000000e-01,-5.15382531e-03, 9.00000000e-02, 1.97741995e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44039201,  0.43927861,  0.03129577,  0.43927861,  0.44912568,
       -0.12258899,  0.03129577, -0.12258899,  2.16109506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003434685947422423
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65986590e-01,  2.58569531e-01, -3.42139948e-03,  2.58567909e-01,
        9.65992649e-01,  9.15814068e-04,  3.54184836e-03, -1.08420217e-19,
       -9.99993728e-01])
  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([ 0.10360941, -0.08884865,  0.14126905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008777563095769904
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76026583,  0.47162934, -0.44672322,  0.40662842,  0.88179689,
        0.23893005,  0.50660557,  0.        , -0.86217794])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10349046, -0.08818523,  0.15012453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046410903645662134
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19607995e-13, -6.61876409e-06,  1.00000000e+00, -7.91657101e-19,
        1.00000000e+00,  6.61876409e-06, -1.00000000e+00, -9.62964972e-35,
       -1.19607995e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08128049, -0.05925698,  0.06198027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24026972e-05, 5.57741215e-06, 5.61788553e-06,-3.11612400e-06,
  2.58595333e-05,-4.39963458e-06, 3.91885349e-05, 4.86833368e-05,
 -2.46178370e-05, 1.55316229e-05,-1.36452954e-05,-4.34905136e-05,
  2.65387376e-01,-2.90997677e-04, 9.39477572e-02, 3.51601356e-02,
 -8.79747512e-06,-8.71087149e-06,-9.80999378e+00,-1.18351027e-02,
 -2.39822341e-02, 4.31758476e-05]


--- Step 441 ---
qpos:
[-1.35830655e-02, 1.35381368e-02, 1.00474621e-02, 1.47553660e-02,
 -1.90480171e-02,-9.06296617e-03,-1.74279982e-02, 1.63259466e-02,
 -1.21255086e-02,-6.72537530e-03,-1.43964568e-02, 1.51291465e-02,
  1.40318351e+00, 3.11279193e-02, 2.89705587e-01,-1.75969600e-02,
  9.50130781e-02,-7.03206030e-02, 1.04564202e-01, 9.99973750e-01,
  5.82554083e-04,-2.39565534e-04,-7.21826792e-03]

qacc:
[ 1.76102397e+00,-2.44639127e-01, 2.51883972e+00,-8.71204790e+00,
  2.60704787e+00,-1.20156008e-03,-1.20422677e+00, 5.10359616e+00,
  5.86261171e-01,-2.56082676e-01, 2.21924773e+00,-5.76430372e+00,
  1.80552026e+00, 3.52730763e+00,-4.24390890e+01, 9.45299581e+01,
  4.58434989e-01,-3.06678406e-01,-1.41957527e-01, 8.57888118e-01,
  1.89506107e+01,-2.67857092e+01]

qfrc_actuator:
[ 5.18895251e-04,-6.13081501e-04,-1.32328841e-04, 8.03232188e-06,
 -6.34551411e-04,-6.74247449e-04,-1.89828521e-04,-7.50341244e-06,
 -5.29129112e-04,-4.68161491e-04,-2.23866987e-04,-7.34952566e-05,
  2.10000000e-01,-5.14377545e-03, 9.00000000e-02, 2.01901922e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4406575 ,  0.43787346,  0.04945561,  0.43787346,  0.45867563,
       -0.15953022,  0.04945561, -0.15953022,  1.85311705,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003441732599863329
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66087192e-01,  2.58195873e-01, -3.22940515e-03,  2.58194430e-01,
        9.66092589e-01,  8.63084027e-04,  3.34274912e-03,  1.08420217e-19,
       -9.99994413e-01])
  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([ 0.10362655, -0.08884436,  0.1412696 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008714539866899031
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75992421,  0.47226405, -0.44663393,  0.40714956,  0.88145713,
        0.23929598,  0.50669955,  0.        , -0.86212271])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10351039, -0.08818171,  0.15012724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046058449370093413
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.02616371e-14, -4.04074015e-06,  1.00000000e+00,  2.43501617e-19,
        1.00000000e+00,  4.04074015e-06, -1.00000000e+00,  0.00000000e+00,
        6.02616371e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08128041, -0.05925804,  0.06198042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04959528e-05,-2.04323905e-06,-1.07872718e-05,-1.94295725e-05,
  1.54189523e-05,-1.03445278e-05, 4.38002077e-06, 1.14289149e-05,
  3.48316679e-06, 3.64414086e-05, 1.30778754e-05,-7.40774559e-06,
  2.65115290e-01,-3.39904450e-04, 9.52171350e-02, 3.54578509e-02,
 -2.54999823e-05,-5.44361037e-06,-9.80996956e+00,-1.18388852e-02,
 -2.39792255e-02, 3.85250756e-05]


--- Step 442 ---
qpos:
[-1.35824612e-02, 1.35366931e-02, 1.00480749e-02, 1.47560215e-02,
 -1.90476630e-02,-9.06240389e-03,-1.74276532e-02, 1.63264147e-02,
 -1.21255641e-02,-6.72519594e-03,-1.43977451e-02, 1.51288698e-02,
  1.40318136e+00, 3.11513924e-02, 2.89644243e-01,-1.79098019e-02,
  9.50179015e-02,-7.03241700e-02, 1.04564140e-01, 9.99973693e-01,
  5.90842386e-04,-1.93965946e-04,-7.22674423e-03]

qacc:
[ 4.10060303e+00, 4.88195677e-01,-1.04657759e+00,-1.91522150e+00,
  4.52012229e+00, 6.41155646e-01,-1.08368720e+00,-2.51092266e+00,
  3.46977915e+00, 1.70708894e+00,-7.80814740e+00, 1.78299956e+01,
  1.09211238e+00, 1.47241761e+01, 1.30872000e+02,-3.04246233e+02,
 -1.72091760e+00,-8.50336923e-01,-2.07359819e-01, 2.30628768e+01,
 -5.08651705e+01, 2.87888030e+01]

qfrc_actuator:
[ 5.42964153e-04,-6.34031372e-04,-1.57892316e-04,-3.97308228e-06,
 -6.08086498e-04,-6.67456926e-04,-2.08663841e-04,-2.00874704e-05,
 -5.08749207e-04,-4.31018584e-04,-2.15561974e-04,-4.15827360e-05,
  2.10000000e-01,-5.14721180e-03, 9.00000000e-02, 2.06315743e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44143569,  0.44137226,  0.0074832 ,  0.44137226,  0.44172017,
       -0.01677938,  0.0074832 , -0.01677938,  1.43111292,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003462260912200282
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66190459e-01,  2.57812369e-01, -2.96303245e-03,  2.57811157e-01,
        9.66195002e-01,  7.90633791e-04,  3.06670232e-03,  0.00000000e+00,
       -9.99995298e-01])
  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([ 0.10364571, -0.08884133,  0.14127021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008664560018311888
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75951202,  0.47282955, -0.44673673,  0.40755619,  0.88115391,
        0.23972013,  0.50699058,  0.        , -0.86195159])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10353332, -0.08817987,  0.15012711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.61687768,  9.85608948,  3.94659244,  9.85608948, 14.13513972,
       -8.78639129,  3.94659244, -8.78639129, 32.55972081,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004596381550326517
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32093737e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.32093737e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09915483, -0.05181213,  0.06198046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.44074299e-05,-2.51575237e-05,-2.79886364e-05,-1.28449856e-05,
  2.68785648e-05, 2.41184642e-06,-2.00356081e-05,-1.26536091e-05,
  2.05185736e-05, 5.99248036e-05, 1.71937821e-05, 3.37838366e-05,
  2.64826618e-01,-4.23968638e-04, 9.64711157e-02, 3.58118127e-02,
 -6.18891428e-05, 1.39143487e-05,-9.80993497e+00,-1.18448686e-02,
 -2.39746332e-02, 3.30409312e-05]


--- Step 443 ---
qpos:
[-1.35815721e-02, 1.35351566e-02, 1.00486371e-02, 1.47565051e-02,
 -1.90473396e-02,-9.06184743e-03,-1.74272320e-02, 1.63267142e-02,
 -1.21253746e-02,-6.72467350e-03,-1.43991662e-02, 1.51289998e-02,
  1.40318526e+00, 3.11753722e-02, 2.89649051e-01,-1.82273299e-02,
  9.50169698e-02,-7.03301842e-02, 1.04563480e-01, 9.99974231e-01,
  6.28164728e-04,-2.51329027e-04,-7.14694313e-03]

qacc:
[ 2.46830339e+00,-3.40340106e-01, 1.75259372e+00,-4.56878954e+00,
 -2.63859308e-01,-5.66749710e-01, 2.72273128e+00,-5.75996130e+00,
  2.12880873e+00, 1.65684992e+00,-6.97393579e+00, 1.39789834e+01,
  6.62981983e-01, 5.73321098e+00, 1.12182450e+02,-2.50234589e+02,
 -1.43878996e+00,-6.11772808e-01,-1.49833481e-01, 1.48970661e+01,
 -5.13489336e+01, 4.41672943e+01]

qfrc_actuator:
[ 5.56879233e-04,-6.28214016e-04,-1.55496070e-04,-1.13119400e-05,
 -6.10415047e-04,-6.63676338e-04,-2.02138892e-04,-2.76833599e-05,
 -4.96737993e-04,-4.26814117e-04,-2.27834605e-04,-2.26841335e-05,
  2.10000000e-01,-5.17767826e-03, 9.00000000e-02, 2.09377494e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44025226,  0.43912119,  0.0315377 ,  0.43912119,  0.44376503,
       -0.0489108 ,  0.0315377 , -0.0489108 ,  1.12127126,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003430967604691797
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66284424e-01,  2.57461001e-01, -2.87128269e-03,  2.57459864e-01,
        9.66288690e-01,  7.65033599e-04,  2.97145431e-03, -1.08420217e-19,
       -9.99995585e-01])
  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([ 0.10365489, -0.088848  ,  0.14126876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35528123,  0.32226757,  0.14956058,  0.32226757,  0.7935423 ,
       -0.94434862,  0.14956058, -0.94434862,  2.39012845,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008637360261891252
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75975093,  0.47261879, -0.44655347,  0.40745039,  0.88126697,
        0.23948425,  0.50671759,  0.        , -0.86211211])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10354264, -0.0881855 ,  0.15012855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045976057036657
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.03696302e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.03696302e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09915607, -0.05181508,  0.06198046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46554895e-05,-1.46001466e-05,-6.70104016e-06,-9.63778402e-06,
 -1.57803827e-06, 4.45157441e-07, 4.11192456e-06,-8.43403484e-06,
  1.26269637e-05, 4.27236381e-05, 3.39326475e-06, 2.27185252e-05,
  2.64285243e-01,-5.62368053e-04, 9.29036079e-02, 3.65321393e-02,
 -5.54440502e-06, 1.91535690e-06,-9.80999533e+00,-1.18395990e-02,
 -2.39711892e-02, 3.29152584e-05]


--- Step 444 ---
qpos:
[-1.35812117e-02, 1.35337423e-02, 1.00491022e-02, 1.47568718e-02,
 -1.90470469e-02,-9.06120579e-03,-1.74270603e-02, 1.63269310e-02,
 -1.21250423e-02,-6.72414700e-03,-1.44002559e-02, 1.51290219e-02,
  1.40318911e+00, 3.11976080e-02, 2.89701231e-01,-1.85441782e-02,
  9.50109618e-02,-7.03380025e-02, 1.04562327e-01, 9.99975475e-01,
  6.83229650e-04,-4.13432767e-04,-6.95785995e-03]

qacc:
[-4.58855793e+00, 2.01066804e-01, 2.63789129e-02,-2.00078852e+00,
 -2.75880748e-01, 6.39612646e-01,-1.76737584e+00, 6.71615786e-01,
  1.25713551e+00,-1.14493126e+00, 4.54121484e+00,-6.93536005e+00,
  6.47262556e-01,-8.91265264e+00, 6.79652021e+01,-1.36277454e+02,
 -1.26908584e+00,-4.51058512e-01,-1.22922420e-01, 9.25886054e+00,
 -5.22711656e+01, 5.46728217e+01]

qfrc_actuator:
[ 5.29196539e-04,-6.06300642e-04,-1.54252900e-04,-1.58055977e-05,
 -6.11923153e-04,-6.61627075e-04,-2.16190672e-04,-3.22595168e-05,
 -4.89754078e-04,-4.42458887e-04,-2.16797499e-04,-2.93935156e-05,
  2.10000000e-01,-5.17034883e-03, 9.00000000e-02, 2.12690300e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43759451,  0.41967143, -0.12395504,  0.41967143,  0.47284416,
        0.11934383, -0.12395504,  0.11934383,  0.8416539 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003359050484428718
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66370069e-01,  2.57138297e-01, -2.96410160e-03,  2.57137087e-01,
        9.66374615e-01,  7.88704532e-04,  3.06723869e-03,  1.08420217e-19,
       -9.99995296e-01])
  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([ 0.1036558 , -0.08886085,  0.14126581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35500246,  0.32073071,  0.15217938,  0.32073071,  0.45519328,
       -0.21116049,  0.15217938, -0.21116049,  0.80004078,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008623266573720078
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76048968,  0.47188537, -0.44607134,  0.40703218,  0.88165991,
        0.238748  ,  0.50594491,  0.        , -0.8625658 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10354051, -0.08819563,  0.15013237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004585580228643818
  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([ 0.09915727, -0.05181685,  0.06198051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.72165171e-05, 1.19203412e-05,-2.94348151e-06,-5.54144595e-06,
 -1.57904055e-06, 2.77381277e-06,-1.37488826e-05,-4.57958935e-06,
  7.35684090e-06, 9.91807435e-06, 2.10642819e-05,-4.31981065e-06,
  2.63983101e-01,-5.81760362e-04, 8.95961872e-02, 3.70975612e-02,
 -2.68538763e-05, 1.37816367e-05,-9.80997762e+00,-1.18403008e-02,
 -2.39754099e-02, 3.58308040e-05]


--- Step 445 ---
qpos:
[-1.35808404e-02, 1.35327208e-02, 1.00491484e-02, 1.47571688e-02,
 -1.90467750e-02,-9.06037996e-03,-1.74276755e-02, 1.63271163e-02,
 -1.21253186e-02,-6.72359582e-03,-1.44009193e-02, 1.51292998e-02,
  1.40318778e+00, 3.12179034e-02, 2.89716265e-01,-1.88473294e-02,
  9.50090672e-02,-7.03423683e-02, 1.04561989e-01, 9.99976705e-01,
  7.18670217e-04,-5.15838492e-04,-6.76800954e-03]

qacc:
[ 7.56835608e-02, 1.54686844e+00,-4.46747347e+00, 3.64045764e+00,
 -2.08917106e-01, 2.37691424e+00,-7.98840609e+00, 8.56391835e+00,
 -5.29928931e+00,-6.21598760e-01, 1.20164044e+00, 2.50647539e+00,
  7.18545781e-01,-1.59841049e+01,-9.66919767e+01, 2.57968887e+02,
  1.02836193e+00, 8.63139693e-01, 2.03604748e-01,-1.00194611e+01,
  2.97802642e+01, 3.67228823e-01]

qfrc_actuator:
[ 5.30512645e-04,-5.74907566e-04,-1.71387463e-04,-1.85783662e-05,
 -6.12926683e-04,-6.60705288e-04,-2.60046062e-04,-3.50423377e-05,
 -5.21287655e-04,-4.34306161e-04,-1.92185586e-04,-1.56106935e-05,
  2.10000000e-01,-5.17379908e-03, 9.00000000e-02, 2.16296351e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43343921,  0.4298796 ,  0.05543533,  0.4298796 ,  0.46180336,
       -0.21995307,  0.05543533, -0.21995307,  2.13909045,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032417313419829904
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66451329e-01,  2.56829248e-01, -3.25060224e-03,  2.56827795e-01,
        9.66456796e-01,  8.63825193e-04,  3.36342220e-03, -1.08420217e-19,
       -9.99994344e-01])
  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([ 0.10365001, -0.0888784 ,  0.14126162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35471326,  0.16904867, -0.31183978,  0.16904867,  3.06282284,
        1.46806906, -0.31183978,  1.46806906,  1.15055505,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008608774697479912
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76168692,  0.47076753, -0.44520891,  0.40643185,  0.8822573 ,
        0.23756097,  0.50462479,  0.        , -0.86333876])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10352849, -0.08820872,  0.15014023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.64245054,  9.30561466,  5.16403809,  9.30561466, 14.38619184,
       -6.74623488,  5.16403809, -6.74623488, 22.79918936,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004615336761949612
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00688520e-14,  1.50344260e-14,  1.00000000e+00, -4.52067931e-28,
        1.00000000e+00, -1.50344260e-14, -1.00000000e+00,  0.00000000e+00,
        3.00688520e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08131152, -0.06138236,  0.06198038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.80625782e-07, 3.71870804e-05,-1.52305030e-05,-2.47142524e-06,
 -1.07310367e-06,-5.74401677e-07,-4.51379512e-05,-3.22944783e-06,
 -3.13264342e-05, 1.78547604e-05, 2.91021749e-05, 1.48517265e-05,
  2.63985327e-01,-4.98432038e-04, 8.72279755e-02, 3.74240573e-02,
 -1.60717279e-04, 8.90992408e-05,-9.80987754e+00,-1.18519024e-02,
 -2.39867617e-02, 4.15982338e-05]


--- Step 446 ---
qpos:
[-1.35801107e-02, 1.35318100e-02, 1.00493528e-02, 1.47574262e-02,
 -1.90465177e-02,-9.05956504e-03,-1.74284752e-02, 1.63269049e-02,
 -1.21259707e-02,-6.72318317e-03,-1.44014342e-02, 1.51294359e-02,
  1.40318253e+00, 3.12365563e-02, 2.89695653e-01,-1.91368987e-02,
  9.50107319e-02,-7.03441909e-02, 1.04562222e-01, 9.99977838e-01,
  7.35867296e-04,-5.64312259e-04,-6.59272114e-03]

qacc:
[ 3.10909507e+00,-3.83717940e-01, 1.73675156e+00,-2.74435058e+00,
 -1.32068960e-01,-3.14810752e-01, 2.77677768e+00,-9.33884996e+00,
 -3.27316547e+00,-8.83543251e-01, 3.49490743e+00,-6.09792081e+00,
  9.73914381e-01,-1.46904946e+01,-9.41144264e+01, 2.52189360e+02,
  8.89834700e-01, 6.35792176e-01, 1.42799528e-01,-9.30775774e+00,
  2.68983569e+01,-7.29584372e+00]

qfrc_actuator:
[ 5.48899794e-04,-5.73651492e-04,-1.63682619e-04,-2.03189280e-05,
 -6.13625011e-04,-6.60593054e-04,-2.67888415e-04,-5.45197913e-05,
 -5.39732074e-04,-4.65155063e-04,-1.95161487e-04,-2.53582692e-05,
  2.10000000e-01,-5.20057579e-03, 9.00000000e-02, 2.19412878e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43099144,  0.42595617,  0.06568838,  0.42595617,  0.46994009,
       -0.25256248,  0.06568838, -0.25256248,  2.06873238,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031695875352534043
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66534108e-01,  2.56515193e-01, -3.43136702e-03,  2.56513577e-01,
        9.66540199e-01,  9.10668562e-04,  3.55015448e-03,  0.00000000e+00,
       -9.99993698e-01])
  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([ 0.10365078, -0.08888759,  0.14125879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35415963, -0.28594045, -0.20896675, -0.28594045,  1.45487741,
       -1.50617142, -0.20896675, -1.50617142,  2.4151351 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008581383617894726
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.62376773e-01,  4.70251824e-01, -4.44572691e-01,  4.06227712e-01,
        8.82532278e-01,  2.36887788e-01,  5.03746664e-01,  2.77555756e-17,
       -8.63851433e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10352553, -0.08821567,  0.15014647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.67720888,  -8.88045979,  -5.92791898,  -8.88045979,
        32.29358362, -32.38292347,  -5.92791898, -32.38292347,
        59.18921633,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046408432006046774
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.49517956e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.49517956e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0813156 , -0.06138939,  0.06198028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.84533457e-05, 1.87830323e-05, 1.34197698e-05,-7.23069337e-07,
 -7.50681545e-07,-9.68098034e-06,-1.36362276e-05,-2.11274635e-05,
 -1.93501370e-05,-1.42188631e-05, 4.81542949e-06,-7.68447752e-06,
  2.64244989e-01,-4.29264675e-04, 8.90854787e-02, 3.70507029e-02,
 -1.22075025e-04, 7.71177050e-05,-9.80993595e+00,-1.18445226e-02,
 -2.39885125e-02, 4.62912618e-05]


--- Step 447 ---
qpos:
[-1.35795105e-02, 1.35310572e-02, 1.00493612e-02, 1.47576793e-02,
 -1.90462710e-02,-9.05901606e-03,-1.74289951e-02, 1.63264622e-02,
 -1.21261493e-02,-6.72327334e-03,-1.44017537e-02, 1.51291537e-02,
  1.40317467e+00, 3.12539174e-02, 2.89641715e-01,-1.94134793e-02,
  9.50154513e-02,-7.03442764e-02, 1.04562808e-01, 9.99978795e-01,
  7.36346485e-04,-5.63801782e-04,-6.44596351e-03]

qacc:
[-1.13090498e+00, 7.50211006e-01,-2.34981322e+00, 2.46827349e+00,
 -7.91770464e-02,-1.60898797e+00, 6.20449156e+00,-1.04609077e+01,
  4.14776890e+00,-2.07930974e+00, 8.20198873e+00,-1.53686907e+01,
  1.16607414e+00,-1.28715028e+01,-8.88700678e+01, 2.38857836e+02,
  7.63641318e-01, 4.34289384e-01, 8.81191797e-02,-8.52821477e+00,
  2.44259242e+01,-1.42789553e+01]

qfrc_actuator:
[ 5.41672606e-04,-5.72599902e-04,-1.76989057e-04,-2.14424945e-05,
 -6.14138203e-04,-6.78597771e-04,-2.54410598e-04,-6.58837616e-05,
 -5.14807116e-04,-5.19251613e-04,-1.96830163e-04,-4.89287518e-05,
  2.10000000e-01,-5.24087010e-03, 9.00000000e-02, 2.22714632e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42975152,  0.42330079,  0.07418091,  0.42330079,  0.47764133,
       -0.27327511,  0.07418091, -0.27327511,  1.98914964,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031321172279626
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66618525e-01,  2.56195742e-01, -3.51689207e-03,  2.56194046e-01,
        9.66624923e-01,  9.32122430e-04,  3.63832132e-03, -1.08420217e-19,
       -9.99993381e-01])
  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([ 0.10365702, -0.0888905 ,  0.14125702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008541660119737159
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.62668308e-01,  4.70205533e-01, -4.44121390e-01,  4.06331695e-01,
        8.82556942e-01,  2.36617407e-01,  5.03221230e-01, -2.77555756e-17,
       -8.64157621e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10353013, -0.08821797,  0.15015134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.68831608,  -8.83382203,  -6.01695014,  -8.83382203,
        38.17103029, -40.34891444,  -6.01695014, -40.34891444,
        69.92682085,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046489323179768616
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.49257796e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.49257796e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08131847, -0.06139472,  0.06198024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.65898116e-06, 1.42737497e-05,-7.80853919e-06, 1.29140629e-07,
 -5.56516670e-07,-2.71498623e-05, 9.06430351e-06,-1.26624246e-05,
  2.43566357e-05,-6.13663304e-05,-4.26994895e-06,-2.41604607e-05,
  2.64441574e-01,-3.89164784e-04, 9.08678223e-02, 3.67016145e-02,
 -8.53380029e-05, 5.37495730e-05,-9.80997689e+00,-1.18380147e-02,
 -2.39880621e-02, 4.85923417e-05]


--- Step 448 ---
qpos:
[-1.35786563e-02, 1.35307939e-02, 1.00487913e-02, 1.47575556e-02,
 -1.90456877e-02,-9.05886358e-03,-1.74292904e-02, 1.63262528e-02,
 -1.21260277e-02,-6.72389481e-03,-1.44015056e-02, 1.51289149e-02,
  1.40316552e+00, 3.12703777e-02, 2.89557429e-01,-1.96781472e-02,
  9.50227656e-02,-7.03433443e-02, 1.04563551e-01, 9.99979504e-01,
  7.21731447e-04,-5.18565639e-04,-6.34049458e-03]

qacc:
[ 2.17533620e+00, 1.48349715e+00,-2.76712030e+00,-3.18226250e+00,
  2.93688073e+00,-6.76506582e-01, 6.56764407e-01, 3.32525460e+00,
  2.64585288e+00,-2.20371919e+00, 6.64671172e+00,-6.40224312e+00,
  1.30033295e+00,-1.06212360e+01,-8.11797461e+01, 2.18402300e+02,
  6.48750383e-01, 2.54397362e-01, 3.94298523e-02,-7.70265192e+00,
  2.22984392e+01,-2.06569173e+01]

qfrc_actuator:
[ 5.54926504e-04,-5.36257386e-04,-2.02611312e-04,-3.99679229e-05,
 -5.96785783e-04,-7.07213259e-04,-2.46283894e-04,-5.46336401e-05,
 -5.00064871e-04,-5.33619143e-04,-1.62315522e-04,-4.49545957e-05,
  2.10000000e-01,-5.30672133e-03, 9.00000000e-02, 2.25724075e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42937308,  0.42180863,  0.08024159,  0.42180863,  0.48283901,
       -0.28105613,  0.08024159, -0.28105613,  1.90681012,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003120551430938838
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66704509e-01,  2.55871121e-01, -3.51601238e-03,  2.55869429e-01,
        9.66710903e-01,  9.30625720e-04,  3.63708775e-03,  0.00000000e+00,
       -9.99993386e-01])
  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([ 0.10366772, -0.08888896,  0.14125602])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008492793367081172
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76265499,  0.47050913, -0.44382263,  0.40666151,  0.88239513,
        0.2366543 ,  0.50297493,  0.        , -0.864301  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10354091, -0.08821694,  0.15015499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.68002017,  -8.7650034 ,  -6.10225746,  -8.7650034 ,
        45.3763601 , -49.83623517,  -6.10225746, -49.83623517,
        82.26250814,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004642893392575245
  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([ 0.08132038, -0.06139869,  0.06198027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30937078e-05, 4.26906969e-05,-2.36385100e-05,-1.81825896e-05,
  1.73142206e-05,-4.24771216e-05, 3.19435901e-06, 1.01533919e-05,
  1.54273403e-05,-5.05853090e-05, 2.04785400e-05, 7.26023998e-07,
  2.64572836e-01,-3.92771227e-04, 9.25340960e-02, 3.63529291e-02,
 -5.24439555e-05, 2.65398631e-05,-9.80999993e+00,-1.18334411e-02,
 -2.39861243e-02, 4.87290809e-05]


--- Step 449 ---
qpos:
[-1.35779941e-02, 1.35305585e-02, 1.00483671e-02, 1.47568746e-02,
 -1.90449009e-02,-9.05918100e-03,-1.74297561e-02, 1.63272532e-02,
 -1.21257299e-02,-6.72493425e-03,-1.44011468e-02, 1.51287424e-02,
  1.40315645e+00, 3.12863820e-02, 2.89446396e-01,-1.99325594e-02,
  9.50322522e-02,-7.03420579e-02, 1.04564278e-01, 9.99979895e-01,
  6.93835027e-04,-4.32286823e-04,-6.28819792e-03]

qacc:
[-1.66087888e+00,-1.51519854e+00, 7.81431536e+00,-1.77190458e+01,
  1.77103123e+00, 2.34057660e+00,-1.43615197e+01, 3.59253011e+01,
  1.54984082e+00,-7.28348363e-01, 1.51074060e+00,-2.28570292e-01,
  1.36206590e+00,-7.82308353e+00,-7.08000897e+01, 1.89896283e+02,
  5.43092874e-01, 8.85659739e-02,-4.10839672e-03,-6.78434223e+00,
  2.04595405e+01,-2.65979729e+01]

qfrc_actuator:
[ 5.44632134e-04,-5.50145528e-04,-1.99657076e-04,-6.85602567e-05,
 -5.86809625e-04,-7.41958274e-04,-2.59177046e-04, 5.31808100e-06,
 -4.91448183e-04,-5.59424933e-04,-1.59799167e-04,-4.25006616e-05,
  2.10000000e-01,-5.35227569e-03, 9.00000000e-02, 2.27806831e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42960324,  0.42125457,  0.08428247,  0.42125457,  0.48550829,
       -0.2794206 ,  0.08428247, -0.2794206 ,  1.82618314,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003127592946067575
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66791857e-01,  2.55541969e-01, -3.43616878e-03,  2.55540355e-01,
        9.66797964e-01,  9.08240777e-04,  3.55417461e-03,  0.00000000e+00,
       -9.99993684e-01])
  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([ 0.10368195, -0.08888458,  0.14125555])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008439082718948684
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76241762,  0.47105478, -0.44365163,  0.40714075,  0.88210396,
        0.23691564,  0.5029471 ,  0.        , -0.86431719])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10355662, -0.08821378,  0.15015748])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046255556594799324
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00024231e-14, -1.50012116e-14,  1.00000000e+00,  4.50072697e-28,
        1.00000000e+00,  1.50012116e-14, -1.00000000e+00,  0.00000000e+00,
        3.00024231e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08132153, -0.06140159,  0.06198034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.88371797e-06, 4.29496328e-06, 8.22070684e-06,-2.79373467e-05,
  1.04576625e-05,-5.74183558e-05,-2.09296159e-05, 5.84376011e-05,
  9.06022445e-06,-4.98292823e-05,-5.38634117e-06, 1.00821387e-06,
  2.64637719e-01,-3.96185663e-04, 9.40513475e-02, 3.59653628e-02,
 -2.81244266e-05, 2.74559207e-06,-9.81000501e+00,-1.18315369e-02,
 -2.39832410e-02, 4.69141138e-05]


--- Step 450 ---
qpos:
[-1.35784941e-02, 1.35299507e-02, 1.00481598e-02, 1.47562488e-02,
 -1.90450347e-02,-9.05975189e-03,-1.74304293e-02, 1.63285936e-02,
 -1.21256751e-02,-6.72631890e-03,-1.44007755e-02, 1.51285983e-02,
  1.40314847e+00, 3.13023374e-02, 2.89311524e-01,-2.01780128e-02,
  9.50436002e-02,-7.03408847e-02, 1.04564838e-01, 9.99979909e-01,
  6.53688832e-04,-3.07785983e-04,-6.29760439e-03]

qacc:
[-1.00621715e+01,-9.65293817e-01, 2.52847007e+00,-1.68272763e+00,
 -7.99717475e+00, 9.60494099e-01,-5.32024443e+00, 1.16967388e+01,
 -2.11589380e+00,-4.28497440e-01, 7.52971737e-01,-3.45582024e-02,
  1.33062604e+00,-5.10457299e+00,-6.25330029e+01, 1.67300761e+02,
  4.65311007e-01,-2.82966927e-02,-4.17275960e-02,-6.25814420e+00,
  1.90506257e+01,-3.08627380e+01]

qfrc_actuator:
[ 4.85047953e-04,-5.93906276e-04,-1.97802313e-04,-6.73562949e-05,
 -6.34518709e-04,-7.44643745e-04,-2.66624525e-04, 2.24105193e-05,
 -5.04255771e-04,-5.74241850e-04,-1.58499293e-04,-4.09990147e-05,
  2.10000000e-01,-5.35023117e-03, 9.00000000e-02, 2.30900231e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4302478 ,  0.42099456,  0.08875107,  0.42099456,  0.48684405,
       -0.26846674,  0.08875107, -0.26846674,  1.70373142,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031471921363146536
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66880291e-01,  2.55209172e-01, -3.28357902e-03,  2.55207700e-01,
        9.66885866e-01,  8.66699486e-04,  3.39603581e-03,  0.00000000e+00,
       -9.99994233e-01])
  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([ 0.10369884, -0.08887883,  0.14125539])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008385144788380984
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.62027528e-01,  4.71742555e-01, -4.43591036e-01,  4.07696496e-01,
        8.81736333e-01,  2.37328055e-01,  5.03088077e-01, -2.77555756e-17,
       -8.64235145e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10357613, -0.08820958,  0.15015879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004599342110308685
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.01734193e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.01734193e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08132209, -0.06140364,  0.06198045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.98519234e-05,-4.08867628e-05, 2.77965718e-06, 1.12743326e-06,
 -4.74148802e-05,-3.66374926e-05,-1.98730774e-05, 1.50427892e-05,
 -1.25314570e-05,-4.37555348e-05,-9.62444638e-06,-8.01292151e-07,
  2.64635110e-01,-3.74732196e-04, 9.53884733e-02, 3.57616943e-02,
 -1.89579450e-05,-1.06217244e-05,-9.80999238e+00,-1.18328046e-02,
 -2.39798080e-02, 4.33524185e-05]


--- Step 451 ---
qpos:
[-1.35793594e-02, 1.35290169e-02, 1.00482544e-02, 1.47559762e-02,
 -1.90457390e-02,-9.06047986e-03,-1.74312293e-02, 1.63297650e-02,
 -1.21261185e-02,-6.72780139e-03,-1.43999531e-02, 1.51284104e-02,
  1.40314576e+00, 3.13201007e-02, 2.89152850e-01,-2.04212764e-02,
  9.50566414e-02,-7.03410365e-02, 1.04564850e-01, 9.99979551e-01,
  6.15857202e-04,-1.45848488e-04,-6.36368936e-03]

qacc:
[ -3.15093155, -0.54170821, -0.17369289,  6.03048549, -4.95408004,
  -0.19158061,  1.11258472, -3.73890709, -4.33168196, -1.47124802,
   5.25812332, -6.68179704,  1.2533232 ,  6.43408001,-41.84538281,
  95.3210603 ,  0.42332465, -0.33125994, -0.13716639,  1.03077793,
  18.70665727,-28.35244056]

qfrc_actuator:
[ 4.67947430e-04,-6.01943462e-04,-1.78983991e-04,-4.86640854e-05,
 -6.62538162e-04,-7.45874596e-04,-2.70699163e-04, 1.41730987e-05,
 -5.29568958e-04,-5.46865748e-04,-1.22370148e-04,-4.00574492e-05,
  2.10000000e-01,-5.33760470e-03, 9.00000000e-02, 2.35104542e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43117035,  0.41745988,  0.10786622,  0.41745988,  0.50249556,
       -0.27604018,  0.10786622, -0.27604018,  1.4994909 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000317494176928884
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66969552e-01,  2.54873502e-01, -3.06315720e-03,  2.54872223e-01,
        9.66974404e-01,  8.07381871e-04,  3.16777486e-03,  1.08420217e-19,
       -9.99994983e-01])
  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([ 0.10371774, -0.08887272,  0.14125538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008334038522230962
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.61536143e-01,  4.72502264e-01, -4.43626321e-01,  4.08278141e-01,
        8.81329456e-01,  2.37838915e-01,  5.03360370e-01, -2.77555756e-17,
       -8.64076581e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1035986 , -0.08820511,  0.15015894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004562360051242488
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.08360044e-14, -6.48396967e-06,  1.00000000e+00,  3.94458807e-19,
        1.00000000e+00,  6.48396967e-06, -1.00000000e+00,  0.00000000e+00,
        6.08360044e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08129598, -0.05929671,  0.06198061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.88151984e-05,-3.02839764e-05, 1.07611116e-05, 1.70615358e-05,
 -2.93715465e-05,-2.51903416e-05,-1.35662618e-05,-1.02000810e-05,
 -2.56408851e-05, 8.83318027e-07, 2.58787807e-05,-1.28147079e-06,
  2.64581533e-01,-3.63491950e-04, 9.65800216e-02, 3.57339432e-02,
 -3.26832774e-05,-7.53297936e-06,-9.80996288e+00,-1.18374531e-02,
 -2.39759996e-02, 3.81788948e-05]


--- Step 452 ---
qpos:
[-1.35793886e-02, 1.35280419e-02, 1.00484620e-02, 1.47559056e-02,
 -1.90460839e-02,-9.06111994e-03,-1.74325232e-02, 1.63315130e-02,
 -1.21272063e-02,-6.72893915e-03,-1.43991707e-02, 1.51278658e-02,
  1.40315332e+00, 3.13401061e-02, 2.89066920e-01,-2.06735701e-02,
  9.50626169e-02,-7.03447137e-02, 1.04564128e-01, 9.99979482e-01,
  6.25186359e-04,-8.68059085e-05,-6.37470183e-03]

qacc:
[ 7.25179285e+00, 3.20600230e-02,-1.07118289e+00, 4.44560178e+00,
  3.10341241e+00, 2.67602948e+00,-1.18190233e+01, 2.25359812e+01,
 -5.63147356e+00,-1.56139428e-01, 2.74293038e+00,-9.12689699e+00,
  6.21523420e-01, 1.67709283e+01, 1.35209120e+02,-3.16339842e+02,
 -1.76643559e+00,-8.81334847e-01,-1.83241514e-01, 2.39112340e+01,
 -5.12793681e+01, 2.75648429e+01]

qfrc_actuator:
[ 5.11510245e-04,-5.88444072e-04,-1.67912068e-04,-3.75515339e-05,
 -6.43220658e-04,-7.28475032e-04,-2.90500483e-04, 4.43688049e-05,
 -5.62033281e-04,-5.12035751e-04,-1.19044857e-04,-5.71436829e-05,
  2.10000000e-01,-5.33821877e-03, 9.00000000e-02, 2.38409518e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43251284,  0.42855337,  0.05838972,  0.42855337,  0.44695955,
       -0.10603214,  0.05838972, -0.10603214,  1.21073943,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003214705670128769
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67061040e-01,  2.54529519e-01, -2.76911514e-03,  2.54528476e-01,
        9.67065005e-01,  7.28825407e-04,  2.86342193e-03, -1.08420217e-19,
       -9.99995900e-01])
  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([ 0.10373844, -0.08886817,  0.14125547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008295914339617105
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.60989241e-01,  4.73171372e-01, -4.43851582e-01,  4.08729195e-01,
        8.80970404e-01,  2.38393778e-01,  5.03821219e-01, -2.77555756e-17,
       -8.63807953e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10362379, -0.08820253,  0.15015633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.60171911,  9.84026184,  3.94533838,  9.84026184, 14.04320825,
       -8.58358675,  3.94533838, -8.58358675, 32.01046353,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045850687258155304
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02673496e-14, -1.51336748e-14,  1.00000000e+00,  4.58056226e-28,
        1.00000000e+00,  1.51336748e-14, -1.00000000e+00,  0.00000000e+00,
        3.02673496e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09915899, -0.05182222,  0.06198051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.30418327e-05,-4.59798818e-07, 6.74198209e-06, 1.05216894e-05,
  1.84972812e-05, 8.92828187e-08,-2.70191528e-05, 2.84510754e-05,
 -3.31549941e-05, 4.06254760e-05, 6.65808972e-06,-1.61755920e-05,
  2.64319469e-01,-4.58781580e-04, 9.77697007e-02, 3.59546961e-02,
 -7.20071176e-05, 1.43418729e-05,-9.80992460e+00,-1.18440796e-02,
 -2.39709378e-02, 3.23205438e-05]


--- Step 453 ---
qpos:
[-1.35795847e-02, 1.35272807e-02, 1.00481456e-02, 1.47556346e-02,
 -1.90461944e-02,-9.06153430e-03,-1.74338148e-02, 1.63325202e-02,
 -1.21286742e-02,-6.72990657e-03,-1.43983361e-02, 1.51278273e-02,
  1.40316637e+00, 3.13608113e-02, 2.89049181e-01,-2.09313163e-02,
  9.50626945e-02,-7.03509355e-02, 1.04562893e-01, 9.99979925e-01,
  6.65023096e-04,-1.31097571e-04,-6.29994552e-03]

qacc:
[-1.46626406e+00, 1.33729913e+00,-3.50703844e+00, 7.13296460e-01,
  2.03160508e+00,-1.23622830e+00, 7.96194344e+00,-2.09451785e+01,
 -3.31859943e+00, 1.12759859e+00,-5.81981597e+00, 1.43589198e+01,
  1.37836151e-01, 8.21649921e+00, 1.17554980e+02,-2.64547297e+02,
 -1.47445954e+00,-6.36144449e-01,-1.28424384e-01, 1.55864020e+01,
 -5.15419898e+01, 4.29161261e+01]

qfrc_actuator:
[ 5.01652745e-04,-5.79929701e-04,-1.96924930e-04,-4.87296623e-05,
 -6.31707754e-04,-7.00079364e-04,-2.83814769e-04, 8.18319549e-06,
 -5.80690125e-04,-5.08642129e-04,-1.17338722e-04,-3.14583233e-05,
  2.10000000e-01,-5.34793474e-03, 9.00000000e-02, 2.41100806e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4320359 ,  0.43009791,  0.04087549,  0.43009791,  0.43764411,
       -0.05901041,  0.04087549, -0.05901041,  1.05295215,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000320066131266013
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67143267e-01,  2.54218164e-01, -2.65071987e-03,  2.54217209e-01,
        9.67146899e-01,  6.96751589e-04,  2.74076242e-03,  1.08420217e-19,
       -9.99996244e-01])
  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([ 0.10374891, -0.08887376,  0.14125356])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34746638,  0.3272046 ,  0.11691894,  0.3272046 ,  0.66005387,
       -0.87479464,  0.11691894, -0.87479464,  2.79563113,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008279149500452922
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.61111963e-01,  4.73032011e-01, -4.43789698e-01,  4.08639995e-01,
        8.81045241e-01,  2.38270095e-01,  5.03708184e-01,  2.77555756e-17,
       -8.63873871e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10363503, -0.08820777,  0.15015535])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004593569612514406
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.51056683e-14, -3.02113367e-14,  1.00000000e+00,  4.56362432e-28,
        1.00000000e+00,  3.02113367e-14, -1.00000000e+00,  0.00000000e+00,
        1.51056683e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09916023, -0.05182548,  0.06198048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.58403365e-06, 1.01140013e-05,-2.79155628e-05,-1.07616663e-05,
  1.20799364e-05, 2.41028749e-05, 4.36362009e-06,-3.65630542e-05,
 -1.95586942e-05, 2.68242488e-05, 1.03725490e-05, 2.73458226e-05,
  2.63806957e-01,-5.83507028e-04, 9.41323607e-02, 3.66751228e-02,
 -9.23151792e-06, 2.97212795e-06,-9.80999219e+00,-1.18384052e-02,
 -2.39669076e-02, 3.19988016e-05]


--- Step 454 ---
qpos:
[-1.35805859e-02, 1.35266447e-02, 1.00474871e-02, 1.47552309e-02,
 -1.90468551e-02,-9.06160468e-03,-1.74348111e-02, 1.63327044e-02,
 -1.21300092e-02,-6.73074127e-03,-1.43974508e-02, 1.51281019e-02,
  1.40317958e+00, 3.13802641e-02, 2.89084037e-01,-2.11893963e-02,
  9.50576253e-02,-7.03590282e-02, 1.04561251e-01, 9.99980988e-01,
  7.23601835e-04,-2.80196578e-04,-6.11727423e-03]

qacc:
[-6.99291364e+00, 8.62555591e-01,-2.25120626e+00, 3.83339903e-01,
 -4.77484697e+00,-2.05494160e+00, 1.14789969e+01,-2.64686638e+01,
  1.15932628e+00, 6.75929248e-01,-3.48169471e+00, 8.72681200e+00,
  8.65862834e-02,-4.45370695e+00, 7.88238465e+01,-1.62888840e+02,
 -1.28672180e+00,-4.67747616e-01,-1.01701947e-01, 9.70782129e+00,
 -5.23076605e+01, 5.39919816e+01]

qfrc_actuator:
[ 4.60411505e-04,-5.74644850e-04,-2.13891781e-04,-5.52079040e-05,
 -6.60401745e-04,-6.65259017e-04,-2.61535419e-04,-3.12392915e-05,
 -5.73316364e-04,-5.06321186e-04,-1.16680162e-04,-1.63353606e-05,
  2.10000000e-01,-5.34471357e-03, 9.00000000e-02, 2.43601753e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.430179  ,  0.42155446, -0.08570771,  0.42155446,  0.45695696,
        0.13170774, -0.08570771,  0.13170774,  1.07798522,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031451083205307357
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67217019e-01,  2.53936713e-01, -2.71714936e-03,  2.53935711e-01,
        9.67220836e-01,  7.13367571e-04,  2.80923369e-03,  2.16840434e-19,
       -9.99996054e-01])
  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([ 0.10375091, -0.08888584,  0.14125023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.3473673 ,  0.31601607,  0.1442147 ,  0.31601607,  0.46549809,
       -0.25885869,  0.1442147 , -0.25885869,  0.91460146,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008274997588722455
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76174589,  0.47234465, -0.44343403,  0.40821523,  0.88141394,
        0.23763374,  0.50309396,  0.        , -0.86423172])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10363454, -0.08821777,  0.15015678])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004587426582887133
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.51258964e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.51258964e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09916142, -0.0518275 ,  0.0619805 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.14518242e-05, 4.71438597e-06,-1.86868235e-05,-7.21966883e-06,
 -2.83084806e-05, 4.76413341e-05, 2.65309523e-05,-3.89504700e-05,
  6.84670611e-06, 2.06839698e-05, 8.44136156e-06, 1.71676980e-05,
  2.63532115e-01,-6.16816845e-04, 9.07228358e-02, 3.71976895e-02,
 -2.22154357e-05, 1.13399572e-05,-9.80998148e+00,-1.18381970e-02,
 -2.39706142e-02, 3.47469231e-05]


--- Step 455 ---
qpos:
[-1.35813836e-02, 1.35260598e-02, 1.00466138e-02, 1.47550986e-02,
 -1.90478545e-02,-9.06088120e-03,-1.74363534e-02, 1.63331053e-02,
 -1.21309004e-02,-6.73138210e-03,-1.43968326e-02, 1.51282249e-02,
  1.40318715e+00, 3.13980735e-02, 2.89082777e-01,-2.14341261e-02,
  9.50565704e-02,-7.03637733e-02, 1.04560408e-01, 9.99982020e-01,
  7.62510776e-04,-3.70335408e-04,-5.93636542e-03]

qacc:
[ 1.75766332e+00, 1.22358877e+00,-5.41681508e+00, 1.04277754e+01,
 -2.97135501e+00, 3.02567521e+00,-1.01713282e+01, 1.41992407e+01,
  3.86194114e+00, 6.82989827e-01,-1.43642242e+00,-8.89188166e-01,
  1.80694926e-01,-1.30576337e+01,-9.40607844e+01, 2.51095473e+02,
  1.00358350e+00, 8.36912991e-01, 1.99932687e-01,-1.00152861e+01,
  2.94187239e+01,-8.99896420e-01]

qfrc_actuator:
[ 4.72055631e-04,-5.71294688e-04,-2.23603139e-04,-4.11010964e-05,
 -6.77023729e-04,-6.09039788e-04,-2.83451801e-04,-1.89673630e-05,
 -5.50685203e-04,-5.04674369e-04,-1.34422203e-04,-2.53119232e-05,
  2.10000000e-01,-5.36756322e-03, 9.00000000e-02, 2.46314170e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42700597,  0.41490756,  0.10092481,  0.41490756,  0.50681611,
       -0.32810399,  0.10092481, -0.32810399,  1.77585996,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000304677956755755
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67285415e-01,  2.53673141e-01, -2.97709059e-03,  2.53671940e-01,
        9.67289997e-01,  7.80746132e-04,  3.07776427e-03, -2.16840434e-19,
       -9.99995264e-01])
  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([ 0.10374597, -0.08890257,  0.14124576])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34731234,  0.16910793, -0.30336178,  0.16910793,  2.90525077,
        1.42591357, -0.30336178,  1.42591357,  1.14218273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008272698082581871
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76282935,  0.47126479, -0.44271987,  0.40759407,  0.88199178,
        0.23655355,  0.50195464,  0.        , -0.86489395])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10362396, -0.08823077,  0.15016199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.59777002,  9.25845989,  5.15690313,  9.25845989, 14.37015066,
       -6.77275372,  5.15690313, -6.77275372, 22.75725163,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004582112040544331
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02868801e-14, -3.02868801e-14,  1.00000000e+00,  9.17295108e-28,
        1.00000000e+00,  3.02868801e-14, -1.00000000e+00,  0.00000000e+00,
        3.02868801e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08133108, -0.06142241,  0.06198052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04830509e-05, 1.83603802e-06,-1.12769769e-05, 1.35253539e-05,
 -1.74060015e-05, 8.66851825e-05,-1.01466814e-05, 1.44761605e-05,
  2.28527498e-05, 1.57450128e-05,-1.18205109e-05,-7.46135713e-06,
  2.63524873e-01,-5.77537273e-04, 8.80933637e-02, 3.74855012e-02,
 -1.46054098e-04, 7.98984369e-05,-9.80988845e+00,-1.18485212e-02,
 -2.39815958e-02, 4.03649444e-05]


--- Step 456 ---
qpos:
[-1.35816904e-02, 1.35255939e-02, 1.00453264e-02, 1.47547962e-02,
 -1.90487006e-02,-9.05989364e-03,-1.74382501e-02, 1.63340504e-02,
 -1.21311679e-02,-6.73216220e-03,-1.43960293e-02, 1.51285967e-02,
  1.40319037e+00, 3.14145453e-02, 2.89046830e-01,-2.16656666e-02,
  9.50589932e-02,-7.03660585e-02, 1.04560127e-01, 9.99982951e-01,
  7.83097689e-04,-4.07140271e-04,-5.77215776e-03]

qacc:
[ 4.23974190e+00, 9.56485749e-01,-2.47801764e+00, 1.22884835e-01,
  1.31617991e+00, 2.45646160e+00,-1.05559430e+01, 2.03554949e+01,
  5.45148282e+00,-1.99751616e-01,-6.24024137e-01, 4.75766922e+00,
  4.32675623e-01,-1.17019435e+01,-9.14516756e+01, 2.45052380e+02,
  8.69420272e-01, 6.14979856e-01, 1.40332798e-01,-9.32220779e+00,
  2.66057351e+01,-8.36766561e+00]

qfrc_actuator:
[ 4.96991632e-04,-5.69081304e-04,-2.46704467e-04,-5.04996405e-05,
 -6.68641306e-04,-6.29331848e-04,-3.13409695e-04, 5.85814075e-06,
 -5.19263706e-04,-5.21298903e-04,-1.27401763e-04,-1.29034553e-05,
  2.10000000e-01,-5.36965812e-03, 9.00000000e-02, 2.49373017e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42531237,  0.41129819,  0.1082793 ,  0.41129819,  0.51513334,
       -0.34118433,  0.1082793 , -0.34118433,  1.72129873,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029924099629891613
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67355208e-01,  2.53404988e-01, -3.13257762e-03,  2.53403660e-01,
        9.67360280e-01,  8.20594779e-04,  3.23827397e-03,  0.00000000e+00,
       -9.99994757e-01])
  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([ 0.10374738, -0.08891118,  0.14124269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34699462, -0.27052815, -0.21730115, -0.27052815,  1.56279158,
       -1.51360126, -0.21730115, -1.51360126,  2.2313461 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000825945063643835
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76342035,  0.47076898, -0.44222838,  0.40735842,  0.88225652,
        0.23597151,  0.50124694,  0.        , -0.86530429])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10362221, -0.08823781,  0.15016568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.63343908,  -8.80365412,  -5.96369859,  -8.80365412,
        33.14515526, -33.23195496,  -5.96369859, -33.23195496,
        59.69068649,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046086757242377874
  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([ 0.08133514, -0.06142929,  0.06198041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52705740e-05, 1.52002487e-06,-2.36356333e-05,-9.44581097e-06,
  7.90226353e-06, 2.67367909e-05,-1.27893752e-05, 2.84737275e-05,
  3.20981289e-05,-1.05396481e-05, 8.56793294e-06, 1.25299458e-05,
  2.63806746e-01,-4.98591691e-04, 8.98992244e-02, 3.71237411e-02,
 -1.09178105e-04, 6.70568275e-05,-9.80994332e+00,-1.18411561e-02,
 -2.39828740e-02, 4.49181075e-05]


--- Step 457 ---
qpos:
[-1.35816952e-02, 1.35251151e-02, 1.00440983e-02, 1.47540225e-02,
 -1.90494397e-02,-9.05929143e-03,-1.74395787e-02, 1.63346157e-02,
 -1.21310562e-02,-6.73297892e-03,-1.43948722e-02, 1.51287440e-02,
  1.40319072e+00, 3.14300855e-02, 2.88979040e-01,-2.18851539e-02,
  9.50643652e-02,-7.03667501e-02, 1.04560190e-01, 9.99983709e-01,
  7.87359405e-04,-3.95619925e-04,-5.63959335e-03]

qacc:
[ 2.62063435e+00,-1.15905557e+00, 6.08927798e+00,-1.43238490e+01,
  9.53151479e-01,-2.87979233e+00, 1.11305365e+01,-1.83268415e+01,
  3.32081155e+00,-1.50581053e+00, 6.23636764e+00,-1.06511885e+01,
  6.26017375e-01,-9.48161557e+00,-8.37814842e+01, 2.24372321e+02,
  7.37318517e-01, 3.98389336e-01, 8.59309802e-02,-8.30830415e+00,
  2.41026517e+01,-1.58374564e+01]

qfrc_actuator:
[ 5.11781489e-04,-5.67638287e-04,-2.42049120e-04,-7.36683419e-05,
 -6.63365410e-04,-6.77565827e-04,-2.94907811e-04,-1.54564786e-05,
 -5.00678002e-04,-5.13125385e-04,-1.05869272e-04,-2.35090548e-05,
  2.10000000e-01,-5.37670114e-03, 9.00000000e-02, 2.51345246e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42467876,  0.40935854,  0.11303819,  0.40935854,  0.52087514,
       -0.34836731,  0.11303819, -0.34836731,  1.68626241,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029717104834320844
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67426534e-01,  2.53131786e-01, -3.19387288e-03,  2.53130406e-01,
        9.67431806e-01,  8.35687581e-04,  3.30139330e-03,  0.00000000e+00,
       -9.99994550e-01])
  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([ 0.1037541 , -0.0889137 ,  0.14124071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008235457758012112
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76362383,  0.47072792, -0.44192067,  0.40742133,  0.88227843,
        0.23578089,  0.50088572,  0.        , -0.86551343])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10362782, -0.08824034,  0.15016804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.6461668 ,  -8.75814226,  -6.05275242,  -8.75814226,
        39.22017585, -41.34569183,  -6.05275242, -41.34569183,
        70.47208168,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046180779055542825
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00510041e-14, -1.50255021e-14,  1.00000000e+00,  4.51531424e-28,
        1.00000000e+00,  1.50255021e-14, -1.00000000e+00,  0.00000000e+00,
        3.00510041e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08133801, -0.06143451,  0.06198037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55531303e-05,-2.97703955e-06, 1.73204974e-06,-2.41060043e-05,
  5.49634564e-06,-3.46708633e-05, 2.34439069e-05,-2.00557403e-05,
  1.95186480e-05, 4.60890715e-06, 2.08461742e-05,-1.05177223e-05,
  2.64025029e-01,-4.40518628e-04, 9.16335452e-02, 3.66613405e-02,
 -7.47014092e-05, 4.43165710e-05,-9.80998076e+00,-1.18348785e-02,
 -2.39819994e-02, 4.70919408e-05]


--- Step 458 ---
qpos:
[-1.35815216e-02, 1.35244667e-02, 1.00435307e-02, 1.47533004e-02,
 -1.90501098e-02,-9.05918287e-03,-1.74403044e-02, 1.63352789e-02,
 -1.21310670e-02,-6.73367803e-03,-1.43938008e-02, 1.51287735e-02,
  1.40318966e+00, 3.14451266e-02, 2.88882746e-01,-2.20941481e-02,
  9.50722155e-02,-7.03666044e-02, 1.04560403e-01, 9.99984228e-01,
  7.77230227e-04,-3.40043186e-04,-5.55197801e-03]

qacc:
[ 1.56891119e+00,-1.96719459e+00, 6.46492663e+00,-6.49486809e+00,
  6.26372990e-01,-2.13583719e+00, 6.25410712e+00,-5.15914576e+00,
 -1.07326486e+00, 1.54738601e-01, 1.74440957e-01,-2.16526710e+00,
  7.58714365e-01,-6.91788234e+00,-7.40870488e+01, 1.97691131e+02,
  6.19571447e-01, 2.09338910e-01, 3.75588803e-02,-7.32835673e+00,
  2.19695155e+01,-2.24893356e+01]

qfrc_actuator:
[ 5.20476046e-04,-5.66573263e-04,-2.03295032e-04,-6.92246014e-05,
 -6.59968445e-04,-7.06515883e-04,-2.65863582e-04,-1.04908607e-05,
 -5.07551372e-04,-5.07872624e-04,-1.11377549e-04,-2.97965303e-05,
  2.10000000e-01,-5.42208939e-03, 9.00000000e-02, 2.52979160e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42480336,  0.40888175,  0.11521115,  0.40888175,  0.52181495,
       -0.34429189,  0.11521115, -0.34429189,  1.64668746,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002975797142922854
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67499316e-01,  2.52853765e-01, -3.16971931e-03,  2.52852408e-01,
        9.67504508e-01,  8.28394550e-04,  3.27618041e-03,  0.00000000e+00,
       -9.99994633e-01])
  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([ 0.10376505, -0.08891209,  0.14123954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008204197238441456
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63537748e-01,  4.71012883e-01, -4.41765743e-01,  4.07692303e-01,
        8.82126331e-01,  2.35881584e-01,  5.00796459e-01, -2.77555756e-17,
       -8.65565079e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10363933, -0.08823978,  0.1501692 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046135293061455585
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00806322e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.00806322e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08133993, -0.0614384 ,  0.06198039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.17641155e-06,-1.27231411e-06, 3.75158802e-05, 3.90583455e-06,
  3.53546434e-06,-4.43261540e-05, 2.40852311e-05, 3.90226454e-06,
 -6.29734055e-06, 1.16894273e-05,-2.35485594e-06,-5.57446556e-06,
  2.64169146e-01,-4.41686162e-04, 9.32255884e-02, 3.62219024e-02,
 -4.42492492e-05, 1.87532501e-05,-9.81000019e+00,-1.18306884e-02,
 -2.39797094e-02, 4.71376419e-05]


--- Step 459 ---
qpos:
[-1.35808997e-02, 1.35238310e-02, 1.00430862e-02, 1.47529959e-02,
 -1.90510787e-02,-9.05941853e-03,-1.74410294e-02, 1.63370551e-02,
 -1.21315043e-02,-6.73459899e-03,-1.43926490e-02, 1.51287600e-02,
  1.40318842e+00, 3.14600801e-02, 2.88760960e-01,-2.22940684e-02,
  9.50821712e-02,-7.03661993e-02, 1.04560597e-01, 9.99984452e-01,
  7.54050867e-04,-2.43822876e-04,-5.51967012e-03]

qacc:
[ 3.89102661e+00, 5.25045793e-01,-3.62373417e+00, 1.06586426e+01,
 -2.58830170e+00, 1.83853776e+00,-1.19073749e+01, 3.14160413e+01,
 -3.71593641e+00,-5.99059523e-01, 1.90460869e+00,-2.62725677e+00,
  8.08189637e-01,-4.32423227e+00,-6.53030575e+01, 1.73496515e+02,
  5.26328789e-01, 6.48439265e-02,-4.71862646e-03,-6.64710288e+00,
  2.02636945e+01,-2.76676824e+01]

qfrc_actuator:
[ 5.43269033e-04,-5.65573124e-04,-1.97964436e-04,-4.85479506e-05,
 -6.75456271e-04,-7.23633151e-04,-2.66261053e-04, 4.54224249e-05,
 -5.29350261e-04,-5.40017149e-04,-1.15059627e-04,-3.35101910e-05,
  2.10000000e-01,-5.45503936e-03, 9.00000000e-02, 2.55265107e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42546459,  0.40924798,  0.11634519,  0.40924798,  0.51870475,
       -0.3279753 ,  0.11634519, -0.3279753 ,  1.57912837,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002997353166099558
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67573379e-01,  2.52571468e-01, -3.06744456e-03,  2.52570199e-01,
        9.67578242e-01,  8.00709383e-04,  3.17022896e-03, -1.08420217e-19,
       -9.99994975e-01])
  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([ 0.10377927, -0.08890801,  0.14123891])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008169940887840701
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63245646e-01,  4.71510634e-01, -4.41739523e-01,  4.08090043e-01,
        8.81860375e-01,  2.36188050e-01,  5.00917758e-01,  2.77555756e-17,
       -8.65494887e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10365548, -0.0882374 ,  0.15016919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045977943523307224
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.01835766e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.01835766e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08134111, -0.06144124,  0.06198046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.30872210e-05, 8.19975653e-06, 9.81991504e-06, 2.19951226e-05,
 -1.53995304e-05,-3.67366494e-05,-6.44346710e-06, 5.49245719e-05,
 -2.19621500e-05,-2.63337753e-05,-1.75051887e-06,-3.40251162e-06,
  2.64240394e-01,-4.52563519e-04, 9.46505526e-02, 3.59256564e-02,
 -2.37500492e-05,-1.63555426e-06,-9.81000163e+00,-1.18293274e-02,
 -2.39765221e-02, 4.52872817e-05]


--- Step 460 ---
qpos:
[-1.35803534e-02, 1.35231459e-02, 1.00424818e-02, 1.47529696e-02,
 -1.90522255e-02,-9.05988385e-03,-1.74417424e-02, 1.63387814e-02,
 -1.21321991e-02,-6.73568329e-03,-1.43912529e-02, 1.51283383e-02,
  1.40318804e+00, 3.14753662e-02, 2.88616652e-01,-2.24864453e-02,
  9.50939215e-02,-7.03660097e-02, 1.04560623e-01, 9.99984327e-01,
  7.18948188e-04,-1.09751057e-04,-5.55127958e-03]

qacc:
[-6.59796577e-01, 9.55937502e-01,-4.67532852e+00, 9.77939852e+00,
 -1.54089482e+00,-4.36608197e-01, 1.33260638e+00,-2.05314933e+00,
 -2.23834395e+00,-1.73458418e+00, 7.60347162e+00,-1.49495853e+01,
  7.79882190e-01,-1.50293999e+00,-5.62376024e+01, 1.48241491e+02,
  4.48666113e-01,-5.38758152e-02,-4.18497405e-02,-6.07369142e+00,
  1.88684131e+01,-3.19719636e+01]

qfrc_actuator:
[ 5.38674384e-04,-5.82479024e-04,-2.12414788e-04,-3.62706831e-05,
 -6.84182111e-04,-7.33602716e-04,-2.66209984e-04, 4.20868173e-05,
 -5.41998803e-04,-5.41049731e-04,-1.00025223e-04,-5.34598593e-05,
  2.10000000e-01,-5.44523289e-03, 9.00000000e-02, 2.57381913e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42650237,  0.41023845,  0.11665625,  0.41023845,  0.51347021,
       -0.3058349 ,  0.11665625, -0.3058349 ,  1.50201471,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030307551519067667
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67648525e-01,  2.52285479e-01, -2.89299060e-03,  2.52284352e-01,
        9.67652849e-01,  7.54257603e-04,  2.98969884e-03,  0.00000000e+00,
       -9.99995531e-01])
  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([ 0.103796  , -0.08890278,  0.14123863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000813614344437818
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76281047,  0.47213467, -0.44182468,  0.40855186,  0.88152644,
        0.23663584,  0.50120412,  0.        , -0.86532909])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10367525, -0.08823415,  0.15016803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004573256348094981
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03455279e-14, -1.51727639e-14,  1.00000000e+00,  4.60425532e-28,
        1.00000000e+00,  1.51727639e-14, -1.00000000e+00,  0.00000000e+00,
        3.03455279e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08134169, -0.06144326,  0.06198056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.89842309e-06,-9.36646358e-06,-1.07953286e-05, 1.33938854e-05,
 -9.17093744e-06,-2.94600419e-05,-6.41810537e-06,-4.06107520e-06,
 -1.32667061e-05,-1.62559249e-05, 9.26736881e-06,-2.12030762e-05,
  2.64251031e-01,-4.41725087e-04, 9.59248581e-02, 3.56834396e-02,
 -2.09134130e-05,-9.71819619e-06,-9.80998572e+00,-1.18312079e-02,
 -2.39727413e-02, 4.17134365e-05]


--- Step 461 ---
qpos:
[-1.35809000e-02, 1.35222804e-02, 1.00420579e-02, 1.47530843e-02,
 -1.90527782e-02,-9.06058424e-03,-1.74421488e-02, 1.63400893e-02,
 -1.21326953e-02,-6.73654795e-03,-1.43904163e-02, 1.51276871e-02,
  1.40319774e+00, 3.14929539e-02, 2.88546639e-01,-2.26889110e-02,
  9.50986085e-02,-7.03695235e-02, 1.04559859e-01, 9.99984435e-01,
  7.31271703e-04,-7.78235674e-05,-5.53066705e-03]

qacc:
[-9.46523739e+00,-4.34110833e-01, 6.38440834e-01, 1.61205147e+00,
  5.17294135e+00,-2.03803351e+00, 8.56566069e+00,-1.61058277e+01,
  1.71307956e+00, 1.37796131e+00,-3.52933818e+00, 2.97902218e-01,
  4.01773030e-01, 1.78305232e+01, 1.40722377e+02,-3.32249188e+02,
 -1.76583910e+00,-9.25851416e-01,-1.97683481e-01, 2.39990230e+01,
 -5.09209413e+01, 2.61453496e+01]

qfrc_actuator:
[ 4.82486580e-04,-5.92318868e-04,-2.02994677e-04,-2.90606831e-05,
 -6.53346850e-04,-7.39260528e-04,-2.48148669e-04, 2.16722903e-05,
 -5.31402765e-04,-5.23384930e-04,-1.27214903e-04,-6.50159770e-05,
  2.10000000e-01,-5.44566294e-03, 9.00000000e-02, 2.59021190e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42779345,  0.41114436,  0.11818438,  0.41114436,  0.50637273,
       -0.27336462,  0.11818438, -0.27336462,  1.3787848 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030716009767217076
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67724536e-01,  2.51996416e-01, -2.65118215e-03,  2.51995471e-01,
        9.67728168e-01,  6.90367837e-04,  2.73959387e-03,  0.00000000e+00,
       -9.99996247e-01])
  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([ 0.1038146 , -0.08889741,  0.14123852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008105596958182795
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76228325,  0.47281386, -0.44200826,  0.40902575,  0.88116233,
        0.23717268,  0.50161956,  0.        , -0.86508833])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1036978 , -0.0882308 ,  0.15016568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.61051735,  9.39157714,  4.9377482 ,  9.39157714, 15.85170518,
       -9.96871808,  4.9377482 , -9.96871808, 29.57097888,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004591641862841181
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02240206e-14, -1.51120103e-14,  1.00000000e+00,  4.56745709e-28,
        1.00000000e+00,  1.51120103e-14, -1.00000000e+00,  0.00000000e+00,
        3.02240206e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0991631 , -0.05183202,  0.06198048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.62717170e-05,-1.67575821e-05, 6.61156329e-06, 6.69443230e-06,
  3.05828079e-05,-2.35930190e-05, 1.10589294e-05,-2.19751363e-05,
  1.02347471e-05, 9.60273756e-06,-3.01311869e-05,-1.23425618e-05,
  2.64208191e-01,-4.62549688e-04, 9.70505534e-02, 3.54699819e-02,
 -4.27396385e-05, 7.90037994e-08,-9.80995308e+00,-1.18365422e-02,
 -2.39685800e-02, 3.65550805e-05]


--- Step 462 ---
qpos:
[-1.35814258e-02, 1.35215216e-02, 1.00419083e-02, 1.47532406e-02,
 -1.90529566e-02,-9.06134743e-03,-1.74421319e-02, 1.63411116e-02,
 -1.21330600e-02,-6.73741303e-03,-1.43904133e-02, 1.51269504e-02,
  1.40321300e+00, 3.15114097e-02, 2.88546426e-01,-2.28982774e-02,
  9.50973851e-02,-7.03757722e-02, 1.04558510e-01, 9.99984960e-01,
  7.74997923e-04,-1.48393098e-04,-5.42750204e-03]

qacc:
[ 1.86368600e-01,-5.40795921e-01, 1.95635922e+00,-1.75291523e+00,
  3.26345353e+00,-1.85957239e+00, 7.70548441e+00,-1.32679718e+01,
  1.12090433e+00, 2.15038111e+00,-7.31104427e+00, 7.16783071e+00,
 -8.60048334e-02, 9.91896139e+00, 1.24338980e+02,-2.84764771e+02,
 -1.47758807e+00,-6.83744066e-01,-1.46370968e-01, 1.59876069e+01,
 -5.11306733e+01, 4.13130035e+01]

qfrc_actuator:
[ 4.85153501e-04,-5.62263078e-04,-1.79528720e-04,-2.48651707e-05,
 -6.34981158e-04,-7.24481391e-04,-2.19580664e-04, 9.15142586e-06,
 -5.24965918e-04,-5.48077233e-04,-1.79032920e-04,-7.15515299e-05,
  2.10000000e-01,-5.40107922e-03, 9.00000000e-02, 2.60342573e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42740615,  0.42555995,  0.03968306,  0.42555995,  0.43271562,
       -0.05693861,  0.03968306, -0.05693861,  1.03801403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030594289599727737
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67791258e-01,  2.51740750e-01, -2.58370875e-03,  2.51739853e-01,
        9.67794707e-01,  6.72068955e-04,  2.66968679e-03,  1.08420217e-19,
       -9.99996436e-01])
  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([ 0.1038229 , -0.08890237,  0.1412365 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34292177,  0.32533922,  0.10839619,  0.32533922,  0.61300449,
       -0.81062354,  0.10839619, -0.81062354,  2.77591909,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000809590869789184
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.62424380e-01,  4.72666362e-01, -4.41922589e-01,  4.08937136e-01,
        8.81241459e-01,  2.37031452e-01,  5.01477301e-01, -2.77555756e-17,
       -8.65170802e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10370635, -0.08823549,  0.15016481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045972384549660544
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01872264e-14,  1.50936132e-14,  1.00000000e+00, -4.55634319e-28,
        1.00000000e+00, -1.50936132e-14, -1.00000000e+00,  0.00000000e+00,
        3.01872264e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09916423, -0.05183451,  0.06198046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07376549e-06, 2.23344203e-05, 2.10577216e-05, 3.83979053e-06,
  1.92657578e-05, 2.95930485e-06, 2.43019004e-05,-1.35769015e-05,
  6.75809836e-06,-2.60516237e-05,-5.39676337e-05,-7.40610875e-06,
  2.63705249e-01,-5.35396353e-04, 9.33356463e-02, 3.61063927e-02,
 -4.51380340e-06, 3.48273588e-07,-9.80999780e+00,-1.18334750e-02,
 -2.39667596e-02, 3.68574351e-05]


--- Step 463 ---
qpos:
[-1.35812260e-02, 1.35208254e-02, 1.00420573e-02, 1.47534493e-02,
 -1.90532576e-02,-9.06205219e-03,-1.74418223e-02, 1.63419687e-02,
 -1.21333439e-02,-6.73843698e-03,-1.43909779e-02, 1.51257984e-02,
  1.40322841e+00, 3.15288171e-02, 2.88599797e-01,-2.31092652e-02,
  9.50910301e-02,-7.03840454e-02, 1.04556692e-01, 9.99985979e-01,
  8.38181618e-04,-3.22968697e-04,-5.21862409e-03]

qacc:
[ 6.29977639e+00,-6.56031735e-01, 2.21659163e+00,-1.80940142e+00,
 -1.05641105e+00,-1.07801009e+00, 4.65716165e+00,-8.03122493e+00,
  6.90185707e-01, 5.20097924e-01,-4.08287363e-01,-5.75140541e+00,
 -1.71979605e-01,-2.56029693e+00, 8.42137949e+01,-1.79547078e+02,
 -1.28289000e+00,-5.06088559e-01,-1.16940870e-01, 1.00184898e+01,
 -5.19084496e+01, 5.28958812e+01]

qfrc_actuator:
[ 5.22456826e-04,-5.61742638e-04,-1.65553942e-04,-2.24353245e-05,
 -6.41867527e-04,-7.15270953e-04,-2.02700650e-04, 1.40133735e-06,
 -5.21036770e-04,-5.62546329e-04,-2.09624740e-04,-9.28794684e-05,
  2.10000000e-01,-5.31122157e-03, 9.00000000e-02, 2.62546852e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42574808,  0.41920349, -0.07436307,  0.41920349,  0.44546485,
        0.11114841, -0.07436307,  0.11114841,  1.05231989,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003006529250021564
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67849499e-01,  2.51515530e-01, -2.69916982e-03,  2.51514552e-01,
        9.67853263e-01,  7.01431872e-04,  2.78882132e-03,  0.00000000e+00,
       -9.99996111e-01])
  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([ 0.10382263, -0.08891407,  0.14123315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.3430161 ,  0.31280106,  0.14076767,  0.31280106,  0.45352619,
       -0.24556544,  0.14076767, -0.24556544,  0.88868919,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008099576782399328
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63077967e-01,  4.71947276e-01, -4.41562888e-01,  4.08486424e-01,
        8.81626774e-01,  2.36374857e-01,  5.00850134e-01,  2.77555756e-17,
       -8.65534022e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1037031 , -0.08824522,  0.15016612])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045886667658290303
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.89022603e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.89022603e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09916533, -0.05183592,  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:
[ 3.73699729e-05, 1.75413486e-05, 2.13200722e-05, 4.19129704e-06,
 -6.30581368e-06, 1.53162993e-05, 2.00163930e-05,-7.04695358e-06,
  4.14907306e-06,-4.04835131e-05,-4.28719934e-05,-2.44550952e-05,
  2.63427785e-01,-4.89906711e-04, 8.98457905e-02, 3.66717452e-02,
 -4.33513329e-05, 2.28212969e-05,-9.80996610e+00,-1.18359148e-02,
 -2.39722894e-02, 4.02858219e-05]


--- Step 464 ---
qpos:
[-1.35809248e-02, 1.35202869e-02, 1.00420984e-02, 1.47533564e-02,
 -1.90539834e-02,-9.06218134e-03,-1.74420755e-02, 1.63423736e-02,
 -1.21335776e-02,-6.73960497e-03,-1.43917038e-02, 1.51247149e-02,
  1.40323775e+00, 3.15446357e-02, 2.88616869e-01,-2.33081067e-02,
  9.50887495e-02,-7.03889881e-02, 1.04555810e-01, 9.99986959e-01,
  8.83357493e-04,-4.36900556e-04,-5.01105139e-03]

qacc:
[ 8.71674970e-01,-1.12816039e-01, 1.97532430e+00,-7.13632018e+00,
 -3.71596878e+00, 1.40886650e+00,-1.99739495e+00,-5.36883053e+00,
  4.35581946e-01, 3.99970319e-01,-1.99273622e+00, 3.54207572e+00,
 -9.70818653e-02,-1.21226882e+01,-9.06592948e+01, 2.38851217e+02,
  1.01859057e+00, 8.32588013e-01, 2.33658296e-01,-9.16221665e+00,
  3.02739039e+01,-6.75227061e-01]

qfrc_actuator:
[ 5.26570788e-04,-5.61189524e-04,-1.75160433e-04,-3.88449946e-05,
 -6.63558026e-04,-6.73992575e-04,-2.28377297e-04,-2.12450918e-05,
 -5.18614220e-04,-5.52970261e-04,-2.09660748e-04,-8.72136958e-05,
  2.10000000e-01,-5.31689884e-03, 9.00000000e-02, 2.65788257e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42287621,  0.40556749,  0.11974682,  0.40556749,  0.53649294,
       -0.38480563,  0.11974682, -0.38480563,  1.72616478,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029117031862322426
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67902436e-01,  2.51308248e-01, -3.00633750e-03,  2.51307036e-01,
        9.67907105e-01,  7.80568100e-04,  3.10601862e-03,  1.08420217e-19,
       -9.99995176e-01])
  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([ 0.10381537, -0.08893059,  0.14122872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34319304,  0.18848094, -0.28680376,  0.18848094,  2.7144979 ,
        1.55836794, -0.28680376,  1.55836794,  1.36731722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008106471865621202
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76417981,  0.47081812, -0.44086225,  0.40781834,  0.8822303 ,
        0.2352741 ,  0.49971334,  0.        , -0.86619084])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10368974, -0.08825817,  0.15017101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.64791777,  9.29999846,  5.18538152,  9.29999846, 14.44504511,
       -6.81016012,  5.18538152, -6.81016012, 22.8619619 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004619368257745768
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.00426098e-14, -1.50213049e-14,  1.00000000e+00, -4.51279202e-28,
        1.00000000e+00,  1.50213049e-14, -1.00000000e+00,  0.00000000e+00,
       -3.00426098e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08135309, -0.06146301,  0.06198036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.21974532e-06, 1.49498474e-05,-3.21638735e-06,-1.48407488e-05,
 -2.18471573e-05, 5.36844072e-05,-2.02873678e-05,-2.14336436e-05,
  2.57627664e-06,-2.29500487e-05,-1.45204059e-05, 1.97247414e-06,
  2.63419954e-01,-4.43061892e-04, 8.71668480e-02, 3.70768826e-02,
 -1.93469124e-04, 1.06242356e-04,-9.80985325e+00,-1.18488569e-02,
 -2.39849224e-02, 4.66130761e-05]


--- Step 465 ---
qpos:
[-1.35802313e-02, 1.35201502e-02, 1.00419063e-02, 1.47530449e-02,
 -1.90546186e-02,-9.06192362e-03,-1.74423499e-02, 1.63428357e-02,
 -1.21341245e-02,-6.74076492e-03,-1.43922734e-02, 1.51240103e-02,
  1.40324240e+00, 3.15591910e-02, 2.88599040e-01,-2.34951194e-02,
  9.50899999e-02,-7.03915060e-02, 1.04555600e-01, 9.99987846e-01,
  9.11747504e-04,-4.96086403e-04,-4.81990294e-03]

qacc:
[ 3.38705380e+00, 7.26432767e-01,-9.08713305e-01,-2.78345210e+00,
  7.79587126e-01, 6.86864054e-01,-1.95208203e+00, 2.69672083e+00,
 -2.72785968e+00, 3.59416556e-01,-2.85695165e+00, 9.15002415e+00,
  1.73574626e-01,-1.06747205e+01,-8.76219938e+01, 2.31244441e+02,
  8.82734652e-01, 6.06236830e-01, 1.68207150e-01,-8.53353702e+00,
  2.73233177e+01,-8.23276796e+00]

qfrc_actuator:
[ 5.46610575e-04,-5.25231684e-04,-1.80876036e-04,-4.84726593e-05,
 -6.58274517e-04,-6.49519259e-04,-2.25591755e-04,-1.69708530e-05,
 -5.34849961e-04,-5.28918361e-04,-1.91542668e-04,-6.56692266e-05,
  2.10000000e-01,-5.30792673e-03, 9.00000000e-02, 2.68100536e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42144416,  0.40204277,  0.12639932,  0.40204277,  0.546048  ,
       -0.39633184,  0.12639932, -0.39633184,  1.68207085,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028627916268721473
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67956956e-01,  2.51095718e-01, -3.20484122e-03,  2.51094342e-01,
        9.67962262e-01,  8.31356695e-04,  3.31091546e-03, -1.08420217e-19,
       -9.99994519e-01])
  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([ 0.10381458, -0.08893897,  0.14122586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34314447, -0.26060348, -0.22323521, -0.26060348,  1.64112926,
       -1.51525984, -0.22323521, -1.51525984,  2.11204994,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008104577641455782
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64782118e-01,  4.70269034e-01, -4.40403620e-01,  4.07528533e-01,
        8.82523108e-01,  2.34677350e-01,  4.99027862e-01, -2.77555756e-17,
       -8.66585941e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10368538, -0.08826524,  0.15017422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.69233448,  -8.81774874,  -6.04758826,  -8.81774874,
        32.10392722, -31.21939471,  -6.04758826, -31.21939471,
        56.21209651,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046518515513407216
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.98328260e-14, -2.98328260e-14,  1.00000000e+00,  8.89997509e-28,
        1.00000000e+00,  2.98328260e-14, -1.00000000e+00,  0.00000000e+00,
        2.98328260e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08135763, -0.0614704 ,  0.06198023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02154883e-05, 4.30068015e-05,-3.54137715e-06,-9.38814076e-06,
  4.68171251e-06, 4.94033356e-05, 1.06427975e-05, 5.45809039e-06,
 -1.61162485e-05, 8.31745302e-06, 1.16619775e-05, 2.00979266e-05,
  2.63723361e-01,-3.55200684e-04, 8.89819407e-02, 3.67007075e-02,
 -1.49031443e-04, 9.12380562e-05,-9.80991775e+00,-1.18402337e-02,
 -2.39870515e-02, 5.21017284e-05]


--- Step 466 ---
qpos:
[-1.35793026e-02, 1.35202000e-02, 1.00416686e-02, 1.47533255e-02,
 -1.90548407e-02,-9.06166259e-03,-1.74424400e-02, 1.63437259e-02,
 -1.21348610e-02,-6.74155739e-03,-1.43925218e-02, 1.51235103e-02,
  1.40324374e+00, 3.15728702e-02, 2.88548518e-01,-2.36710949e-02,
  9.50942872e-02,-7.03924020e-02, 1.04555826e-01, 9.99988592e-01,
  9.24769297e-04,-5.05562452e-04,-4.65893235e-03]

qacc:
[ 2.03479965e+00, 1.58924235e+00,-7.81503219e+00, 1.80044622e+01,
  3.59262852e+00, 3.63336632e-01,-3.10870634e+00, 1.02330793e+01,
 -1.65154890e+00, 1.25720813e-02,-1.98483560e-01, 2.95008343e+00,
  3.63949183e-01,-8.60735221e+00,-8.19385272e+01, 2.16145043e+02,
  7.59247861e-01, 4.05453156e-01, 1.08970771e-01,-7.81123527e+00,
  2.48037683e+01,-1.51079328e+01]

qfrc_actuator:
[ 5.58121647e-04,-5.21595919e-04,-1.84088574e-04,-1.84883291e-05,
 -6.37152072e-04,-6.70675739e-04,-2.23797938e-04, 3.12706152e-06,
 -5.44184802e-04,-4.78522798e-04,-1.62785075e-04,-5.26880526e-05,
  2.10000000e-01,-5.27210226e-03, 9.00000000e-02, 2.70520033e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42104968,  0.40000253,  0.13145651,  0.40000253,  0.55200784,
       -0.39848611,  0.13145651, -0.39848611,  1.63358342,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002849117224155294
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68013280e-01,  2.50877187e-01, -3.30556265e-03,  2.50875724e-01,
        9.68018924e-01,  8.56688066e-04,  3.41477069e-03, -1.08420217e-19,
       -9.99994170e-01])
  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([ 0.10381919, -0.08894129,  0.1412242 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008093439572609041
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64993298e-01,  4.70168736e-01, -4.40143855e-01,  4.07529448e-01,
        8.82576546e-01,  2.34474710e-01,  4.98703321e-01,  2.77555756e-17,
       -8.66772748e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10368854, -0.08826789,  0.150176  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.71103222,  -8.78041667,  -6.13436992,  -8.78041667,
        37.90319908, -38.92144725,  -6.13436992, -38.92144725,
        66.42115873,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004665384332400227
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.97462906e-14, -2.97462906e-14,  1.00000000e+00,  8.84841804e-28,
        1.00000000e+00,  2.97462906e-14, -1.00000000e+00,  0.00000000e+00,
        2.97462906e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08136087, -0.061476  ,  0.06198017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21174599e-05, 2.65329842e-05, 4.90093613e-06, 3.15195439e-05,
  2.12666537e-05, 8.92662814e-06, 1.35053941e-05, 2.26906981e-05,
 -9.74465527e-06, 5.83353558e-05, 3.26165608e-05, 1.41346549e-05,
  2.63958701e-01,-2.57408130e-04, 9.07270523e-02, 3.63510999e-02,
 -1.06304883e-04, 6.49063174e-05,-9.80996421e+00,-1.18325384e-02,
 -2.39868821e-02, 5.52591653e-05]


--- Step 467 ---
qpos:
[-1.35782426e-02, 1.35199789e-02, 1.00418779e-02, 1.47543335e-02,
 -1.90554975e-02,-9.06153770e-03,-1.74426551e-02, 1.63445449e-02,
 -1.21353583e-02,-6.74187938e-03,-1.43924774e-02, 1.51231575e-02,
  1.40324305e+00, 3.15860538e-02, 2.88467691e-01,-2.38369123e-02,
  9.51011900e-02,-7.03923306e-02, 1.04556280e-01, 9.99989159e-01,
  9.23553579e-04,-4.69529767e-04,-4.53969022e-03]

qacc:
[ 1.15715199e+00,-1.11400039e-01,-3.19736608e+00, 1.52760063e+01,
 -3.77641871e+00, 3.03914298e-02,-5.65017824e-02,-8.87705937e-01,
  2.08821634e+00, 1.02576125e-01,-9.23740865e-02, 1.83439097e+00,
  5.01249046e-01,-6.45034381e+00,-7.57190352e+01, 1.99566513e+02,
  6.53871976e-01, 2.41855481e-01, 5.69691827e-02,-7.23515096e+00,
  2.27016021e+01,-2.08818507e+01]

qfrc_actuator:
[ 5.64515687e-04,-5.55051589e-04,-1.68141128e-04, 1.67874654e-05,
 -6.60142853e-04,-7.01228657e-04,-2.40548795e-04,-3.17968352e-06,
 -5.31624665e-04,-4.48188971e-04,-1.45623865e-04,-4.48221159e-05,
  2.10000000e-01,-5.29105897e-03, 9.00000000e-02, 2.73497042e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42141509,  0.39959715,  0.1338387 ,  0.39959715,  0.55094206,
       -0.38672379,  0.1338387 , -0.38672379,  1.57604174,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028617872426061404
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68071433e-01,  2.50652537e-01, -3.31761081e-03,  2.50651065e-01,
        9.68077118e-01,  8.58988971e-04,  3.42701088e-03,  1.08420217e-19,
       -9.99994128e-01])
  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([ 0.10382819, -0.08893936,  0.14122346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008075379454838265
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76490611,  0.47039886, -0.4400495 ,  0.40773909,  0.88245392,
        0.23457178,  0.4986657 ,  0.        , -0.86679439])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10369784, -0.08826744,  0.15017651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.70840383,  -8.71982596,  -6.21566954,  -8.71982596,
        45.00634386, -48.11582497,  -6.21566954, -48.11582497,
        78.20903537,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000466348699637735
  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([ 0.08136306, -0.06148019,  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:
[ 6.75154466e-06,-1.62845139e-05, 2.31111091e-05, 3.71932625e-05,
 -2.23872703e-05,-2.17837549e-05,-1.24564171e-05,-5.01565183e-06,
  1.23321827e-05, 7.03240031e-05, 3.37277956e-05, 1.17718351e-05,
  2.64124588e-01,-2.34376881e-04, 9.23616517e-02, 3.60968091e-02,
 -6.73480265e-05, 3.48938334e-05,-9.80999251e+00,-1.18268163e-02,
 -2.39850990e-02, 5.63068117e-05]


--- Step 468 ---
qpos:
[-1.35767693e-02, 1.35196708e-02, 1.00422796e-02, 1.47554053e-02,
 -1.90560799e-02,-9.06152393e-03,-1.74431213e-02, 1.63463244e-02,
 -1.21353561e-02,-6.74191469e-03,-1.43921220e-02, 1.51229243e-02,
  1.40324173e+00, 3.15991754e-02, 2.88359918e-01,-2.39942494e-02,
  9.51102933e-02,-7.03919352e-02, 1.04556777e-01, 9.99989502e-01,
  9.09686339e-04,-3.91757312e-04,-4.47375352e-03]

qacc:
[ 3.59038937e+00,-5.28834339e-01, 1.43692070e+00,-5.62123429e-01,
  6.41215916e-01, 2.52969688e+00,-1.32914002e+01, 3.04015558e+01,
  4.36524661e+00,-2.52734305e-01, 9.31555257e-01, 4.44760697e-01,
  6.00020481e-01,-3.78572585e+00,-6.56411291e+01, 1.71586563e+02,
  5.50125392e-01, 8.09967174e-02, 1.08182100e-02,-6.43284575e+00,
  2.08162738e+01,-2.66692376e+01]

qfrc_actuator:
[ 5.85601963e-04,-5.57121322e-04,-1.58924442e-04, 1.93607180e-05,
 -6.55661123e-04,-7.01776054e-04,-2.50438265e-04, 4.60091930e-05,
 -5.06280474e-04,-4.47894789e-04,-1.35520576e-04,-4.00498052e-05,
  2.10000000e-01,-5.36066694e-03, 9.00000000e-02, 2.74997937e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4223417 ,  0.40085394,  0.13299861,  0.40085394,  0.54545474,
       -0.37105914,  0.13299861, -0.37105914,  1.54070315,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028935787846232
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68131330e-01,  2.50421991e-01, -3.24860142e-03,  2.50420581e-01,
        9.68136781e-01,  8.40295764e-04,  3.35551906e-03, -2.16840434e-19,
       -9.99994370e-01])
  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([ 0.10384076, -0.08893469,  0.14122337])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008053398642069666
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64595903e-01,  4.70862011e-01, -4.40093253e-01,  4.08089277e-01,
        8.82206873e-01,  2.34891838e-01,  4.98854936e-01, -2.77555756e-17,
       -8.66685498e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10371214, -0.08826497,  0.15017582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004649197665400201
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.49249277e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.49249277e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08136444, -0.06148325,  0.06198024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12760840e-05,-4.84463445e-06, 9.97386581e-06, 3.39649345e-06,
  3.82644635e-06,-1.55005911e-05,-1.60883705e-05, 4.77291348e-05,
  2.57320816e-05, 4.71139310e-05, 2.91968424e-05, 9.18278797e-06,
  2.64226740e-01,-2.81575332e-04, 9.38766793e-02, 3.57388501e-02,
 -3.74464281e-05, 8.66084059e-06,-9.81000296e+00,-1.18237776e-02,
 -2.39821841e-02, 5.54294329e-05]


--- Step 469 ---
qpos:
[-1.35753996e-02, 1.35195845e-02, 1.00424250e-02, 1.47558005e-02,
 -1.90566047e-02,-9.06117487e-03,-1.74436212e-02, 1.63482607e-02,
 -1.21353948e-02,-6.74181945e-03,-1.43912552e-02, 1.51227567e-02,
  1.40324099e+00, 3.16126732e-02, 2.88228404e-01,-2.41448196e-02,
  9.51212590e-02,-7.03917315e-02, 1.04557155e-01, 9.99989578e-01,
  8.84423202e-04,-2.75293448e-04,-4.47049840e-03]

qacc:
[-9.09698432e-01,-3.81819721e-01, 4.64697325e+00,-1.61155767e+01,
  4.93811311e-01, 8.58497609e-01,-3.08202880e+00, 5.60487475e+00,
 -3.43460953e-01,-1.12061625e+00, 3.97010198e+00,-3.74886297e+00,
  6.05144389e-01,-8.94460310e-01,-5.56742294e+01, 1.43682879e+02,
  4.65580528e-01,-4.79147422e-02,-2.97711225e-02,-5.79659316e+00,
  1.92914475e+01,-3.13564314e+01]

qfrc_actuator:
[ 5.79663802e-04,-5.40435096e-04,-1.71423332e-04,-1.50676475e-05,
 -6.52783810e-04,-6.48785430e-04,-2.38282144e-04, 5.64818348e-05,
 -5.09127242e-04,-4.47876171e-04,-1.12034762e-04,-3.71648365e-05,
  2.10000000e-01,-5.37213783e-03, 9.00000000e-02, 2.76476941e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42366655,  0.40275808,  0.13145065,  0.40275808,  0.53685807,
       -0.34681305,  0.13145065, -0.34681305,  1.48628399,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002938221727514247
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68192781e-01,  2.50186127e-01, -3.10507534e-03,  2.50184840e-01,
        9.68197760e-01,  8.02363738e-04,  3.20706727e-03,  0.00000000e+00,
       -9.99994857e-01])
  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([ 0.10385603, -0.0889287 ,  0.1412237 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008031277880153541
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76413336,  0.47146135, -0.44025492,  0.40850978,  0.88188672,
        0.23536264,  0.49921936,  0.        , -0.86647564])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10373032, -0.08826155,  0.15017397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004625111273936569
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00053058e-14, -3.00053058e-14,  1.00000000e+00,  9.00318375e-28,
        1.00000000e+00,  3.00053058e-14, -1.00000000e+00,  0.00000000e+00,
        3.00053058e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08136516, -0.06148543,  0.06198034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.32281801e-06, 1.61366201e-05,-1.21714258e-05,-3.42287015e-05,
  2.98173860e-06, 4.30674339e-05, 8.63090357e-06, 1.01817250e-05,
 -2.09713608e-06, 3.27977721e-05, 3.71304307e-05, 6.09185352e-06,
  2.64259088e-01,-2.92817992e-04, 9.52237587e-02, 3.54625735e-02,
 -2.22103103e-05,-7.42593315e-06,-9.80999581e+00,-1.18239046e-02,
 -2.39785455e-02, 5.28190051e-05]


--- Step 470 ---
qpos:
[-1.35744561e-02, 1.35195925e-02, 1.00421665e-02, 1.47558070e-02,
 -1.90577804e-02,-9.06098231e-03,-1.74431852e-02, 1.63496120e-02,
 -1.21354672e-02,-6.74169908e-03,-1.43903115e-02, 1.51230146e-02,
  1.40324177e+00, 3.16269477e-02, 2.88075872e-01,-2.42901224e-02,
  9.51338293e-02,-7.03920914e-02, 1.04557276e-01, 9.99989341e-01,
  8.48475015e-04,-1.22526082e-04,-4.53687736e-03]

qacc:
[-3.70996477e+00, 4.60302997e-01, 1.92970116e-01,-6.35721885e+00,
 -5.62150435e+00,-4.01352739e+00, 1.65006441e+01,-2.80280728e+01,
 -2.91667130e-01, 6.94925657e-01,-4.22538727e+00, 1.14478017e+01,
  5.46493387e-01, 1.87129364e+00,-4.70686015e+01, 1.19506651e+02,
  4.01176449e-01,-1.40914803e-01,-6.43585540e-02,-5.43306307e+00,
  1.80968423e+01,-3.48319552e+01]

qfrc_actuator:
[ 5.57862494e-04,-5.48274659e-04,-1.96579587e-04,-3.54767325e-05,
 -6.86387367e-04,-6.70589742e-04,-1.95263106e-04, 2.63915705e-05,
 -5.10795256e-04,-4.65734057e-04,-1.16349497e-04,-1.76535885e-05,
  2.10000000e-01,-5.38464523e-03, 9.00000000e-02, 2.78281075e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42526519,  0.4053173 ,  0.12871815,  0.4053173 ,  0.52530644,
       -0.31501737,  0.12871815, -0.31501737,  1.41721537,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029908754137517924
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68255576e-01,  2.49945544e-01, -2.89231705e-03,  2.49944428e-01,
        9.68259896e-01,  7.46619541e-04,  2.98712884e-03,  0.00000000e+00,
       -9.99995539e-01])
  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([ 0.10387332, -0.08892254,  0.14122425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000801198648256613
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63574198e-01,  4.72119355e-01, -4.40519874e-01,  4.08943838e-01,
        8.81534636e-01,  2.35927155e-01,  4.99719303e-01,  2.77555756e-17,
       -8.66187403e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10375146, -0.08825802,  0.15017091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004593455576717212
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02120867e-14, -3.02120867e-14,  1.00000000e+00,  9.12770182e-28,
        1.00000000e+00,  3.02120867e-14, -1.00000000e+00,  0.00000000e+00,
        3.02120867e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08136538, -0.06148691,  0.06198047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.19467907e-05,-2.84834188e-06,-2.45221258e-05,-2.08076311e-05,
 -3.35145958e-05, 4.51802951e-06, 5.33363131e-05,-2.77468525e-05,
 -1.73160262e-06, 8.41277351e-06, 7.24401462e-06, 2.23201435e-05,
  2.64231364e-01,-3.27458375e-04, 9.64104622e-02, 3.53044650e-02,
 -2.93808269e-05,-7.04679661e-06,-9.80997181e+00,-1.18274612e-02,
 -2.39744095e-02, 4.86296586e-05]


--- Step 471 ---
qpos:
[-1.35737814e-02, 1.35197966e-02, 1.00412366e-02, 1.47559198e-02,
 -1.90586602e-02,-9.06109374e-03,-1.74426683e-02, 1.63510169e-02,
 -1.21355592e-02,-6.74173645e-03,-1.43896172e-02, 1.51242422e-02,
  1.40325353e+00, 3.16440808e-02, 2.87997718e-01,-2.44478420e-02,
  9.51391883e-02,-7.03962310e-02, 1.04556494e-01, 9.99989259e-01,
  8.63230647e-04,-7.14701139e-05,-4.55321450e-03]

qacc:
[-2.35368680e+00, 2.35997480e+00,-8.47944300e+00, 1.12411144e+01,
  2.57775894e+00,-5.22466487e-01, 1.04519275e+00,-1.45695936e-02,
 -1.75179256e-01, 2.48453789e+00,-1.32555488e+01, 3.05538397e+01,
  2.02575238e-01, 2.17961792e+01, 1.47932731e+02,-3.57181389e+02,
 -1.80284608e+00,-9.44931650e-01,-2.25653391e-01, 2.55853652e+01,
 -5.07188994e+01, 2.50610396e+01]

qfrc_actuator:
[ 5.44660100e-04,-5.35285469e-04,-2.29080231e-04,-2.97389544e-05,
 -6.70183334e-04,-7.19160724e-04,-2.05692842e-04, 2.59004823e-05,
 -5.11746905e-04,-4.94264640e-04,-1.37114537e-04, 2.91999637e-05,
  2.10000000e-01,-5.46933610e-03, 9.00000000e-02, 2.80090688e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42704215,  0.40965982,  0.12059777,  0.40965982,  0.49115165,
       -0.21777423,  0.12059777, -0.21777423,  1.16680169,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003047926063783286
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68319526e-01,  2.49700741e-01, -2.61457456e-03,  2.49699831e-01,
        9.68323056e-01,  6.74218382e-04,  2.70010566e-03, -1.08420217e-19,
       -9.99996355e-01])
  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([ 0.1038921 , -0.08891703,  0.14122487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000799736103994777
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76295926,  0.47278025, -0.44087641,  0.409351  ,  0.88118037,
        0.23654369,  0.50032482,  0.        , -0.86583779])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10377485, -0.08825499,  0.15016665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.58901196,  9.35220951,  4.96622105,  9.35220951, 15.02047958,
       -8.34518102,  4.96622105, -8.34518102, 26.30435778,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004575540786120255
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.79129715e-15,  3.03303772e-14,  1.00000000e+00, -1.14991473e-28,
        1.00000000e+00, -3.03303772e-14, -1.00000000e+00,  0.00000000e+00,
        3.79129715e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09916681, -0.05183829,  0.06198055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.38317756e-05, 5.39716117e-06,-3.68397563e-05, 4.36101152e-06,
  1.52245683e-05,-3.61857203e-05,-3.87128954e-06, 1.01222247e-06,
 -1.01550109e-06,-2.13727601e-05,-1.73628548e-05, 4.78990992e-05,
  2.64156167e-01,-4.54704957e-04, 9.74609075e-02, 3.52218684e-02,
 -6.57295807e-05, 1.44159231e-05,-9.80993175e+00,-1.18345199e-02,
 -2.39699123e-02, 4.29629913e-05]


--- Step 472 ---
qpos:
[-1.35732702e-02, 1.35200594e-02, 1.00402297e-02, 1.47557314e-02,
 -1.90589948e-02,-9.06100998e-03,-1.74427032e-02, 1.63516948e-02,
 -1.21360070e-02,-6.74180603e-03,-1.43891705e-02, 1.51253153e-02,
  1.40327123e+00, 3.16624716e-02, 2.87988994e-01,-2.46140886e-02,
  9.51385811e-02,-7.04030831e-02, 1.04555075e-01, 9.99989512e-01,
  9.10837898e-04,-1.22695430e-04,-4.48679542e-03]

qacc:
[-1.42211135e+00,-3.25176118e-01, 2.54908821e+00,-7.69036917e+00,
  4.71289132e+00, 2.94235883e-01, 2.37888117e+00,-1.42056988e+01,
 -3.11332107e+00, 3.37645841e-01,-6.02874434e-01,-1.66264032e+00,
 -3.34972210e-01, 1.28950683e+01, 1.28751498e+02,-3.00894963e+02,
 -1.49153988e+00,-6.78104457e-01,-1.59113516e-01, 1.66613001e+01,
 -5.10295717e+01, 4.14213980e+01]

qfrc_actuator:
[ 5.36630001e-04,-5.27691284e-04,-2.30053204e-04,-4.41578987e-05,
 -6.42533956e-04,-6.94818446e-04,-2.29958620e-04,-1.04935212e-05,
 -5.30022019e-04,-4.93520766e-04,-1.49701692e-04, 2.07339942e-05,
  2.10000000e-01,-5.51096631e-03, 9.00000000e-02, 2.82236888e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42711638,  0.42547065,  0.03745832,  0.42547065,  0.43154874,
       -0.05034496,  0.03745832, -0.05034496,  0.99895996,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030502768796824626
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68374741e-01,  2.49487606e-01, -2.50889801e-03,  2.49486769e-01,
        9.68377991e-01,  6.46378754e-04,  2.59082510e-03,  1.08420217e-19,
       -9.99996644e-01])
  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([ 0.10390046, -0.08892233,  0.14122345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34043539,  0.32684018,  0.09524573,  0.32684018,  0.56777955,
       -0.78014211,  0.09524573, -0.78014211,  3.01752953,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008000982071700921
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76303026,  0.47258026, -0.44096794,  0.40916611,  0.88128764,
        0.23646393,  0.50036778,  0.        , -0.86581296])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10378409, -0.08826044,  0.15016368])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045819239712803495
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.05762465e-14, -3.02881233e-14,  1.00000000e+00,  1.83474082e-27,
        1.00000000e+00,  3.02881233e-14, -1.00000000e+00,  0.00000000e+00,
        6.05762465e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09916834, -0.05184152,  0.06198052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.42260545e-06, 3.15976150e-06,-4.25273334e-06,-1.53785667e-05,
  2.80700694e-05, 3.38836384e-06,-3.21721893e-05,-3.80575669e-05,
 -1.83224542e-05,-1.27394800e-05,-1.74829119e-05,-9.05057389e-06,
  2.63607732e-01,-6.41556556e-04, 9.37419439e-02, 3.60571933e-02,
 -7.41367809e-06, 4.15131354e-06,-9.80999383e+00,-1.18290135e-02,
 -2.39661950e-02, 4.30513821e-05]


--- Step 473 ---
qpos:
[-1.35728593e-02, 1.35201581e-02, 1.00395971e-02, 1.47550233e-02,
 -1.90589956e-02,-9.06053283e-03,-1.74429326e-02, 1.63522258e-02,
 -1.21363259e-02,-6.74162582e-03,-1.43886962e-02, 1.51251869e-02,
  1.40328556e+00, 3.16796094e-02, 2.87985042e-01,-2.47797654e-02,
  9.51378445e-02,-7.04091879e-02, 1.04554823e-01, 9.99989938e-01,
  9.65981076e-04,-1.83138820e-04,-4.37696143e-03]

qacc:
[-8.54477808e-01,-2.33201090e+00, 1.01965051e+01,-1.96700003e+01,
  2.88634133e+00, 7.54711109e-01,-1.32579325e+00,-1.18657427e+00,
  1.12097806e+00,-2.22281349e+00, 1.34744166e+01,-3.44948927e+01,
 -4.08689873e-01,-6.33542908e+00, 5.28460476e+00,-8.36746485e+00,
 -3.23585692e-02, 1.86828535e-01, 2.91515213e-01, 3.79118847e+00,
 -4.57230044e+00, 2.17113512e+01]

qfrc_actuator:
[ 5.31705677e-04,-5.41027717e-04,-2.12435401e-04,-7.03056906e-05,
 -6.26137576e-04,-6.44858441e-04,-2.26420397e-04,-1.44122928e-05,
 -5.22841794e-04,-4.57522027e-04,-1.39531378e-04,-3.79400316e-05,
  2.10000000e-01,-5.52630271e-03, 9.00000000e-02, 2.83530652e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42588647,  0.41128755,  0.11055241,  0.41128755,  0.67790922,
       -0.93759888,  0.11055241, -0.93759888,  3.91403066,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030109945316383576
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68422032e-01,  2.49303197e-01, -2.58515062e-03,  2.49302309e-01,
        9.68425483e-01,  6.65499129e-04,  2.66943680e-03,  0.00000000e+00,
       -9.99996437e-01])
  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([ 0.10390026, -0.0889345 ,  0.1412206 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34082879, -0.24721819, -0.23462188, -0.24721819,  1.66437735,
       -1.39460686, -0.23462188, -1.39460686,  1.8103089 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008015784922945729
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76361944,  0.47179968, -0.44078386,  0.40861183,  0.88170577,
        0.2358629 ,  0.49992171,  0.        , -0.8660706 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10378151, -0.08827108,  0.15016284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.58161409,   9.09274945,   5.4122513 ,   9.09274945,
        18.48324216, -13.27497938,   5.4122513 , -13.27497938,
        32.88398972,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000456997491683247
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03673172e-14,  4.72703696e-06,  1.00000000e+00, -1.43547431e-19,
        1.00000000e+00, -4.72703696e-06, -1.00000000e+00,  0.00000000e+00,
        3.03673172e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08866946, -0.0575369 ,  0.06198057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.16265243e-06,-1.31286378e-05, 1.72081446e-05,-2.64598035e-05,
  1.72044818e-05, 4.36006146e-05,-1.03921453e-06,-5.62797162e-06,
  6.64692444e-06, 2.48851315e-05, 5.07752650e-06,-5.99995805e-05,
  2.63311171e-01,-7.20713265e-04, 9.02704591e-02, 3.66128306e-02,
 -2.05694086e-05, 9.18207710e-06,-9.80997820e+00,-1.18284435e-02,
 -2.39703644e-02, 4.62584217e-05]


--- Step 474 ---
qpos:
[-1.35728553e-02, 1.35198741e-02, 1.00395602e-02, 1.47543656e-02,
 -1.90587997e-02,-9.05971229e-03,-1.74434272e-02, 1.63527160e-02,
 -1.21355221e-02,-6.74117355e-03,-1.43881817e-02, 1.51246974e-02,
  1.40329578e+00, 3.16960127e-02, 2.87947838e-01,-2.49358482e-02,
  9.51404931e-02,-7.04131367e-02, 1.04554866e-01, 9.99990296e-01,
  1.00091125e-03,-1.93227636e-04,-4.28580663e-03]

qacc:
[-3.50208054e+00,-2.06070943e+00, 6.41288051e+00,-6.22522674e+00,
  1.69276187e+00, 1.10749121e+00,-3.12438897e+00, 2.59738639e+00,
  9.79542912e+00,-5.15155039e-01, 3.85057851e+00,-1.03307135e+01,
 -1.75149276e-01,-6.57218966e+00,-7.83530707e+01, 2.02496454e+02,
  8.46314374e-01, 5.38972470e-01, 7.39950465e-02,-1.02182795e+01,
  2.51237701e+01,-9.36211994e+00]

qfrc_actuator:
[ 5.10894200e-04,-5.66723202e-04,-1.84083650e-04,-6.76467841e-05,
 -6.16499772e-04,-6.33061958e-04,-2.41841696e-04,-1.68877258e-05,
 -4.65225545e-04,-4.36144740e-04,-1.33635607e-04,-5.46195819e-05,
  2.10000000e-01,-5.57711325e-03, 9.00000000e-02, 2.83723514e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42495243,  0.4074069 ,  0.12084779,  0.4074069 ,  0.52409855,
       -0.33424534,  0.12084779, -0.33424534,  1.55177365,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002980675662219191
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68468556e-01,  2.49121453e-01, -2.67547349e-03,  2.49120502e-01,
        9.68472251e-01,  6.88215737e-04,  2.76257114e-03, -1.08420217e-19,
       -9.99996184e-01])
  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([ 0.10390049, -0.08894504,  0.14121838])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008035925393090219
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76415481,  0.4711015 , -0.44060277,  0.40812044,  0.88207901,
        0.2353175 ,  0.49950488,  0.        , -0.86631107])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10377936, -0.08828066,  0.15016252])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.59043813,   9.28161872,   5.09989547,   9.28161872,
        21.59276651, -20.02382553,   5.09989547, -20.02382553,
        47.03305053,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004576612181710696
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.51616384e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.51616384e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08137208, -0.06149969,  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:
[-2.09591500e-05,-3.06335255e-05, 2.68384513e-05, 2.17584513e-06,
  1.01327972e-05, 3.57280299e-05,-6.73891842e-06,-7.53257709e-07,
  5.78058563e-05, 3.37835885e-05, 9.58802224e-06,-1.66048391e-05,
  2.63479777e-01,-7.09705053e-04, 9.00319873e-02, 3.66035457e-02,
 -4.64724371e-05, 2.39377352e-05,-9.80996352e+00,-1.18279434e-02,
 -2.39746155e-02, 5.02454582e-05]


--- Step 475 ---
qpos:
[-1.35734455e-02, 1.35195279e-02, 1.00394881e-02, 1.47537474e-02,
 -1.90588347e-02,-9.05903144e-03,-1.74435966e-02, 1.63528490e-02,
 -1.21343787e-02,-6.74088309e-03,-1.43877091e-02, 1.51244187e-02,
  1.40330329e+00, 3.17120722e-02, 2.87879797e-01,-2.50833207e-02,
  9.51460330e-02,-7.04157000e-02, 1.04555023e-01, 9.99990534e-01,
  1.01779844e-03,-1.57285844e-04,-4.22734857e-03]

qacc:
[-5.15219549e+00, 1.07851778e-01,-6.53124443e-01, 1.42001117e+00,
 -1.99204809e+00,-1.82413134e+00, 7.75187344e+00,-1.43598143e+01,
  2.96469537e+00, 3.31744004e-01,-2.39372945e+00, 6.24111898e+00,
  5.21512061e-03,-4.42962611e+00,-7.17774969e+01, 1.84728525e+02,
  7.22814719e-01, 3.46407211e-01, 2.82229380e-02,-9.12314031e+00,
  2.29600413e+01,-1.63697590e+01]

qfrc_actuator:
[ 4.80897172e-04,-5.64044669e-04,-1.85167894e-04,-6.58185591e-05,
 -6.28665989e-04,-6.62023584e-04,-2.32984862e-04,-3.62972690e-05,
 -4.49403619e-04,-4.76920402e-04,-1.48080646e-04,-4.64621558e-05,
  2.10000000e-01,-5.59596752e-03, 9.00000000e-02, 2.84761051e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42496858,  0.40725305,  0.12142179,  0.40725305,  0.52282913,
       -0.32822779,  0.12142179, -0.32822779,  1.52585637,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002981203672530683
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68517419e-01,  2.48931388e-01, -2.67815201e-03,  2.48930436e-01,
        9.68521122e-01,  6.88344407e-04,  2.76519732e-03,  0.00000000e+00,
       -9.99996177e-01])
  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([ 0.10390573, -0.08894991,  0.14121715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008047495232698636
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64328033e-01,  4.70831816e-01, -4.40590580e-01,  4.07912694e-01,
        8.82222988e-01,  2.35137902e-01,  4.99409544e-01,  2.77555756e-17,
       -8.66366036e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10378419, -0.08828598,  0.15016098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004572777075822626
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.03487084e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.03487084e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08137389, -0.06150312,  0.06198056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.06011446e-05,-8.82333872e-06,-4.03087047e-06, 1.48716761e-06,
 -1.18868273e-05,-1.04104127e-05, 1.53776562e-05,-1.81272356e-05,
  1.74685706e-05,-2.06257306e-05,-6.87295248e-06, 9.60945670e-06,
  2.63685887e-01,-6.93272511e-04, 9.16946351e-02, 3.62274971e-02,
 -2.64986161e-05, 1.27167609e-05,-9.80998842e+00,-1.18235213e-02,
 -2.39731987e-02, 5.24566874e-05]


--- Step 476 ---
qpos:
[-1.35740462e-02, 1.35195447e-02, 1.00389233e-02, 1.47531327e-02,
 -1.90586708e-02,-9.05861675e-03,-1.74432843e-02, 1.63527542e-02,
 -1.21337438e-02,-6.74111136e-03,-1.43869527e-02, 1.51246096e-02,
  1.40330919e+00, 3.17281700e-02, 2.87783012e-01,-2.52228997e-02,
  9.51540806e-02,-7.04174545e-02, 1.04555131e-01, 9.99990607e-01,
  1.01810317e-03,-7.87270758e-05,-4.21227458e-03]

qacc:
[-1.11656089e-01, 1.86450740e+00,-5.96635277e+00, 6.54775142e+00,
  1.74728123e+00,-2.16903598e+00, 8.17967416e+00,-1.26894134e+01,
 -4.42000726e+00,-5.03524982e-01,-1.16699459e+00, 9.20561250e+00,
  7.32631541e-02,-2.12892072e+00,-6.64892403e+01, 1.70773811e+02,
  6.26907157e-01, 2.02189644e-01,-1.20674174e-02,-8.38455915e+00,
  2.12511457e+01,-2.17125664e+01]

qfrc_actuator:
[ 4.81244277e-04,-5.26756495e-04,-2.03521030e-04,-6.44980333e-05,
 -6.18060593e-04,-6.79589091e-04,-2.10045502e-04,-4.77818593e-05,
 -4.76076775e-04,-5.19157537e-04,-1.39158885e-04,-2.38301462e-05,
  2.10000000e-01,-5.52473438e-03, 9.00000000e-02, 2.87164485e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42567734,  0.40764302,  0.12259025,  0.40764302,  0.51990172,
       -0.31331946,  0.12259025, -0.31331946,  1.46754238,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003004243238326183
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68568548e-01,  2.48733199e-01, -2.60054015e-03,  2.48732303e-01,
        9.68572039e-01,  6.67829180e-04,  2.68492176e-03,  0.00000000e+00,
       -9.99996396e-01])
  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([ 0.10391504, -0.08895091,  0.14121661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008052393488965802
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64229344e-01,  4.70871863e-01, -4.40718955e-01,  4.07904598e-01,
        8.82201614e-01,  2.35232120e-01,  4.99567160e-01, -2.77555756e-17,
       -8.66275160e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10379468, -0.08828838,  0.1501583 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004558210830321874
  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([ 0.08137499, -0.0615056 ,  0.06198062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.23589894e-07, 3.15945683e-05,-2.06131833e-05, 8.34274181e-07,
  1.02366084e-05,-2.09903398e-05, 2.20569687e-05,-1.17507794e-05,
 -2.61955378e-05,-5.48155743e-05, 4.13248455e-06, 2.16939656e-05,
  2.63822196e-01,-6.06869981e-04, 9.32363215e-02, 3.60372069e-02,
 -1.42202512e-05, 1.77263207e-06,-9.80999695e+00,-1.18212556e-02,
 -2.39703649e-02, 5.25087192e-05]


--- Step 477 ---
qpos:
[-1.35746382e-02, 1.35198122e-02, 1.00383959e-02, 1.47528611e-02,
 -1.90587263e-02,-9.05833010e-03,-1.74430046e-02, 1.63525407e-02,
 -1.21327438e-02,-6.74173483e-03,-1.43858470e-02, 1.51253952e-02,
  1.40331612e+00, 3.17443801e-02, 2.87696643e-01,-2.53650143e-02,
  9.51606752e-02,-7.04201205e-02, 1.04555839e-01, 9.99990662e-01,
  1.03471153e-03,-1.50289498e-05,-4.19573845e-03]

qacc:
[  0.07245208,  0.93355886, -4.29645401,  9.98994835, -1.90484888,
  -0.31899505,  1.40010655, -3.31741429,  3.20486995, -0.28011109,
  -2.28094528, 12.31823033,  0.06013621,  1.31821895, 23.11257864,
 -58.44423881, -0.36321909, -0.22789186,  0.14995215,  8.18310458,
  -7.39517028,  0.73795032]

qfrc_actuator:
[ 4.81699047e-04,-5.04608096e-04,-1.96258820e-04,-4.57093478e-05,
 -6.29634978e-04,-6.90134565e-04,-2.14448416e-04,-5.44981004e-05,
 -4.56524247e-04,-5.26344637e-04,-1.16526101e-04, 7.14361905e-06,
  2.10000000e-01,-5.48845663e-03, 9.00000000e-02, 2.88762448e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42689985,  0.40881881,  0.12292543,  0.40881881,  0.70250049,
       -0.91657785,  0.12292543, -0.91657785,  3.47520539,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030434126998713304
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68621808e-01,  2.48527259e-01, -2.44855372e-03,  2.48526465e-01,
        9.68624902e-01,  6.28243546e-04,  2.52786575e-03,  0.00000000e+00,
       -9.99996805e-01])
  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([ 0.10392766, -0.08894941,  0.14121656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008052822170344328
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63926454e-01,  4.71132315e-01, -4.40965662e-01,  4.08032784e-01,
        8.82062550e-01,  2.35531112e-01,  4.99925615e-01,  2.77555756e-17,
       -8.66068346e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10380981, -0.08828885,  0.15015455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.53670831,   9.62847478,   4.27956722,   9.62847478,
        26.5934012 , -36.12548991,   4.27956722, -36.12548991,
        91.81440545,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045358873818703504
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05955299e-14,  1.11427122e-06,  1.00000000e+00, -3.40917186e-20,
        1.00000000e+00, -1.11427122e-06, -1.00000000e+00, -6.01853108e-36,
        3.05955299e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08867497, -0.05754426,  0.06198072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.58883482e-07, 3.56150282e-05, 1.12849783e-05, 1.94467246e-05,
 -1.13059074e-05,-1.82332087e-05,-6.43039746e-06,-7.08193641e-06,
  1.87809224e-05,-3.60889854e-05, 1.25630296e-05, 2.91895359e-05,
  2.63903049e-01,-5.75074602e-04, 9.46733937e-02, 3.58022005e-02,
 -1.56469441e-05,-2.01834366e-06,-9.80998888e+00,-1.18217491e-02,
 -2.39666060e-02, 5.05873417e-05]


--- Step 478 ---
qpos:
[-1.35755650e-02, 1.35203595e-02, 1.00379794e-02, 1.47521167e-02,
 -1.90596101e-02,-9.05791323e-03,-1.74426015e-02, 1.63518588e-02,
 -1.21315176e-02,-6.74236976e-03,-1.43849263e-02, 1.51268783e-02,
  1.40332916e+00, 3.17619034e-02, 2.87678280e-01,-2.55149728e-02,
  9.51612306e-02,-7.04256789e-02, 1.04555617e-01, 9.99990994e-01,
  1.08225001e-03,-5.41174554e-05,-4.10336108e-03]

qacc:
[-2.90448999e+00,-9.08455963e-01, 5.78142421e+00,-1.43576259e+01,
 -7.19188919e+00,-1.12239494e+00, 6.25430120e+00,-1.46816498e+01,
  1.96943450e+00, 1.93357270e+00,-9.86861166e+00, 2.22538602e+01,
 -2.59812040e-01, 1.29653898e+01, 1.24565968e+02,-2.89321128e+02,
 -1.50981222e+00,-7.23098263e-01,-2.32505634e-01, 1.56809742e+01,
 -5.12887094e+01, 3.79737947e+01]

qfrc_actuator:
[ 4.64450852e-04,-4.91576458e-04,-1.91712893e-04,-7.00385653e-05,
 -6.71930977e-04,-6.60994428e-04,-1.99429889e-04,-7.61237747e-05,
 -4.45411817e-04,-5.12417749e-04,-1.21350850e-04, 4.28094774e-05,
  2.10000000e-01,-5.54425190e-03, 9.00000000e-02, 2.90127371e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42776877, -0.41827457,  0.08962422, -0.41827457,  0.58265606,
        0.72285609,  0.08962422,  0.72285609,  3.8013246 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003070827470302822
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68673874e-01,  2.48325501e-01, -2.31739305e-03,  2.48324791e-01,
        9.68676646e-01,  5.94076252e-04,  2.39232881e-03,  0.00000000e+00,
       -9.99997138e-01])
  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([ 0.1039383 , -0.08895089,  0.14121634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34205969,  0.32946113,  0.09197934,  0.32946113,  0.57030755,
       -0.81756181,  0.09197934, -0.81756181,  3.27048717,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000806261785952782
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63788616e-01,  4.71169218e-01, -4.41164956e-01,  4.08000234e-01,
        8.82042838e-01,  2.35661283e-01,  5.00162733e-01, -2.77555756e-17,
       -8.65931430e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1038222 , -0.08829174,  0.15015121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004528653273290495
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.12888069e-14,  1.53222017e-14,  1.00000000e+00, -9.39079464e-28,
        1.00000000e+00, -1.53222017e-14, -1.00000000e+00,  0.00000000e+00,
        6.12888069e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09917257, -0.05184595,  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:
[-1.72266860e-05, 3.61342131e-05, 1.39722847e-05,-2.20328552e-05,
 -4.26405368e-05, 1.73105642e-05, 1.02163180e-05,-2.27667616e-05,
  1.16439636e-05,-2.43723554e-06,-9.73468948e-06, 3.51189195e-05,
  2.63852611e-01,-6.38861968e-04, 9.41524111e-02, 3.60653411e-02,
 -1.23993564e-05, 1.14908946e-06,-9.80999180e+00,-1.18211717e-02,
 -2.39642289e-02, 4.99478097e-05]


--- Step 479 ---
qpos:
[-1.35770363e-02, 1.35209604e-02, 1.00377077e-02, 1.47514592e-02,
 -1.90606499e-02,-9.05726134e-03,-1.74420566e-02, 1.63502168e-02,
 -1.21305124e-02,-6.74277633e-03,-1.43841727e-02, 1.51283993e-02,
  1.40333938e+00, 3.17783425e-02, 2.87663987e-01,-2.56640630e-02,
  9.51615082e-02,-7.04306994e-02, 1.04556253e-01, 9.99991458e-01,
  1.13667336e-03,-1.03986773e-04,-3.97263259e-03]

qacc:
[ -4.71621033, -0.1459297 ,  0.27261608,  0.94138473, -1.35377606,
  -2.05830092, 11.84853455,-28.86956976, -1.93856188,  0.85059139,
  -2.74858276,  3.49704454, -0.30563707, -5.6246394 ,  3.34578137,
  -3.08197056, -0.06945548,  0.13449736,  0.21449805,  3.46548966,
  -5.3554755 , 19.18130226]

qfrc_actuator:
[ 4.36920948e-04,-5.01896928e-04,-1.88885331e-04,-6.63020760e-05,
 -6.78705354e-04,-6.43755222e-04,-1.90654027e-04,-1.24050614e-04,
 -4.57123238e-04,-4.86048143e-04,-1.24503020e-04, 4.54445915e-05,
  2.10000000e-01,-5.55002111e-03, 9.00000000e-02, 2.91060645e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42718695,  0.41402864,  0.10520921,  0.41402864,  0.67386065,
       -0.9707323 ,  0.10520921, -0.9707323 ,  4.24729913,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003052509332633274
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68718353e-01,  2.48151437e-01, -2.37016179e-03,  2.48150694e-01,
        9.68721252e-01,  6.07149945e-04,  2.44669123e-03,  0.00000000e+00,
       -9.99997007e-01])
  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([ 0.10394021, -0.08895971,  0.14121455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34254929, -0.26948194, -0.21146986, -0.26948194,  1.18900934,
       -1.07866768, -0.21146986, -1.07866768,  1.71712564,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008081473308941282
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7641924 ,  0.47060076, -0.44107244,  0.40758321,  0.88234626,
        0.23524668,  0.49988588,  0.        , -0.86609128])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1038225 , -0.08830008,  0.15015012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.50458496,   9.02308305,   5.37868734,   9.02308305,
        18.15017199, -12.82594848,   5.37868734, -12.82594848,
        32.02091247,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004511178748669031
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.79632613e-14, -1.44359503e-06,  1.00000000e+00, -1.26983326e-19,
        1.00000000e+00,  1.44359503e-06, -1.00000000e+00, -2.40741243e-35,
       -8.79632613e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08867755, -0.05754753,  0.06198082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.80269831e-05, 1.18568793e-05, 1.12618148e-05, 5.34229206e-06,
 -8.01380927e-06, 2.80710746e-05, 1.28341700e-05,-4.72708438e-05,
 -1.13709194e-05, 2.44613032e-05,-3.65485425e-06, 2.87373144e-06,
  2.63546965e-01,-7.11354650e-04, 9.07521925e-02, 3.65507885e-02,
 -3.11338356e-05, 1.60529931e-05,-9.80997718e+00,-1.18217235e-02,
 -2.39683906e-02, 5.28725542e-05]


--- Step 480 ---
qpos:
[-1.35784816e-02, 1.35213872e-02, 1.00375842e-02, 1.47512264e-02,
 -1.90614189e-02,-9.05628276e-03,-1.74420610e-02, 1.63487404e-02,
 -1.21303448e-02,-6.74329651e-03,-1.43830116e-02, 1.51292534e-02,
  1.40334598e+00, 3.17942286e-02, 2.87615910e-01,-2.58031157e-02,
  9.51650251e-02,-7.04337097e-02, 1.04556917e-01, 9.99991846e-01,
  1.17057662e-03,-1.05248685e-04,-3.86348236e-03]

qacc:
[ 2.32517301e-01, 2.30154703e-01,-2.94897993e+00, 1.01942331e+01,
  2.32896598e+00, 2.30201626e+00,-8.28875861e+00, 1.17997689e+01,
 -7.29589600e+00,-2.64744682e+00, 1.20630430e+01,-2.42021140e+01,
 -9.66033183e-02,-5.73182801e+00,-8.04739629e+01, 2.08789502e+02,
  8.09839619e-01, 5.02530556e-01, 6.88472981e-03,-1.03575855e+01,
  2.42504679e+01,-1.08157413e+01]

qfrc_actuator:
[ 4.39070812e-04,-5.26114384e-04,-1.87166991e-04,-4.60965905e-05,
 -6.64507906e-04,-6.33813473e-04,-2.21196817e-04,-1.16068710e-04,
 -4.99924777e-04,-5.05706037e-04,-1.08842829e-04, 1.08892423e-05,
  2.10000000e-01,-5.59491300e-03, 9.00000000e-02, 2.92211759e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42676098,  0.41024957,  0.11755946,  0.41024957,  0.52310348,
       -0.33620831,  0.11755946, -0.33620831,  1.60003373,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003038998921064867
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68762312e-01,  2.47979087e-01, -2.44036142e-03,  2.47978300e-01,
        9.68765386e-01,  6.24669923e-04,  2.51904275e-03,  0.00000000e+00,
       -9.99996827e-01])
  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([ 0.10394226, -0.08896746,  0.14121321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008102922067738802
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7645723 ,  0.47008099, -0.44096833,  0.40720759,  0.88262329,
        0.23485764,  0.49961103,  0.        , -0.86624986])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382284, -0.08830774,  0.15014959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.5029551 ,   9.19138751,   5.0823677 ,   9.19138751,
        21.18885513, -19.3252936 ,   5.0823677 , -19.3252936 ,
        45.45246537,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000450991776424603
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.15434185e-14,  4.23111002e-14,  1.00000000e+00,  2.60396974e-27,
        1.00000000e+00, -4.23111002e-14, -1.00000000e+00,  0.00000000e+00,
       -6.15434185e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08138028, -0.06151669,  0.06198083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.32801528e-06,-1.49867273e-05, 5.75808587e-06, 2.12116275e-05,
  1.39515859e-05, 2.62992840e-05,-2.47869073e-05, 8.71161033e-06,
 -4.31162168e-05,-6.65104698e-06, 2.03501430e-05,-3.35798042e-05,
  2.63688899e-01,-7.02995190e-04, 9.05487740e-02, 3.66224068e-02,
 -5.87784768e-05, 3.12290699e-05,-9.80996361e+00,-1.18210795e-02,
 -2.39721204e-02, 5.65784325e-05]


--- Step 481 ---
qpos:
[-1.35795458e-02, 1.35217945e-02, 1.00374662e-02, 1.47508827e-02,
 -1.90616672e-02,-9.05539585e-03,-1.74426028e-02, 1.63484607e-02,
 -1.21306916e-02,-6.74387117e-03,-1.43819440e-02, 1.51297144e-02,
  1.40335026e+00, 3.18099191e-02, 2.87536317e-01,-2.59328350e-02,
  9.51713257e-02,-7.04354097e-02, 1.04557470e-01, 9.99992117e-01,
  1.18587556e-03,-6.18682261e-05,-3.78884847e-03]

qacc:
[ 3.30485072e+00,-2.76198175e-01, 1.40474105e+00,-3.30824787e+00,
  4.50654076e+00, 3.83364183e+00,-1.89148471e+01, 4.05734984e+01,
 -4.49125513e+00,-6.11156657e-01, 3.74955403e+00,-1.03795775e+01,
  7.05574540e-02,-3.77931095e+00,-7.49680560e+01, 1.94438809e+02,
  6.95906605e-01, 3.27598202e-01,-2.75329942e-02,-9.39006883e+00,
  2.22648570e+01,-1.72834109e+01]

qfrc_actuator:
[ 4.58675949e-04,-5.22958498e-04,-1.86175525e-04,-5.18877357e-05,
 -6.38091696e-04,-6.63941133e-04,-2.56943749e-04,-5.75303742e-05,
 -5.25170181e-04,-5.17224523e-04,-1.17908323e-04,-9.78542926e-06,
  2.10000000e-01,-5.64562334e-03, 9.00000000e-02, 2.94463571e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42719772,  0.4107593 ,  0.11736561,  0.4107593 ,  0.52028304,
       -0.32578249,  0.11736561, -0.32578249,  1.56737999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030528498455398707
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68808751e-01,  2.47797733e-01, -2.42641859e-03,  2.47796956e-01,
        9.68811789e-01,  6.20616959e-04,  2.50453041e-03,  0.00000000e+00,
       -9.99996864e-01])
  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([ 0.1039491 , -0.08896999,  0.14121268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000811371371061821
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7646149 ,  0.46996323, -0.44101997,  0.40709934,  0.88268599,
        0.23480963,  0.49963404,  0.        , -0.86623659])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382982, -0.08831142,  0.15014788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044976131771171796
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.85698682e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.85698682e-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([ 0.08138168, -0.06151962,  0.06198088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.96236684e-05,-3.07244439e-06,-6.44023634e-07,-5.81813434e-06,
  2.67955272e-05,-2.01348532e-05,-3.30581959e-05, 5.89782620e-05,
 -2.64788818e-05,-1.24940736e-05,-9.09560785e-06,-2.09078861e-05,
  2.63869674e-01,-7.27636294e-04, 9.22379737e-02, 3.63456206e-02,
 -3.64659631e-05, 1.61925917e-05,-9.80998845e+00,-1.18163456e-02,
 -2.39700075e-02, 5.85076228e-05]


--- Step 482 ---
qpos:
[-1.35803670e-02, 1.35222862e-02, 1.00375852e-02, 1.47504425e-02,
 -1.90619417e-02,-9.05519439e-03,-1.74432829e-02, 1.63489346e-02,
 -1.21309937e-02,-6.74432192e-03,-1.43813754e-02, 1.51302749e-02,
  1.40335352e+00, 3.18258411e-02, 2.87428248e-01,-2.60545598e-02,
  9.51799874e-02,-7.04364583e-02, 1.04557788e-01, 9.99992226e-01,
  1.18469547e-03, 2.27019380e-05,-3.76091132e-03]

qacc:
[ 2.11182165e+00,-7.53854309e-01, 3.24958833e+00,-5.35136258e+00,
 -2.19300339e-01, 1.03182323e+00,-8.17495773e+00, 2.19424956e+01,
  3.71790622e-01, 1.76242023e+00,-6.46802717e+00, 8.89843695e+00,
  1.43946130e-01,-1.12195519e+00,-6.63857401e+01, 1.71011504e+02,
  5.90306380e-01, 1.62821451e-01,-5.88750000e-02,-8.31883370e+00,
  2.05357786e+01,-2.33724043e+01]

qfrc_actuator:
[ 4.70636001e-04,-5.03463490e-04,-1.67784065e-04,-5.51583223e-05,
 -6.40207655e-04,-7.35575379e-04,-2.77852796e-04,-2.30135614e-05,
 -5.22117480e-04,-5.06120440e-04,-1.41471256e-04,-4.38619063e-06,
  2.10000000e-01,-5.61119789e-03, 9.00000000e-02, 2.95922483e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42826741,  0.41202422,  0.11682903,  0.41202422,  0.5171303 ,
       -0.31339525,  0.11682903, -0.31339525,  1.53352724,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030864046404276005
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68857537e-01,  2.47607794e-01, -2.33512456e-03,  2.47607075e-01,
        9.68860351e-01,  5.96778515e-04,  2.41017661e-03,  0.00000000e+00,
       -9.99997096e-01])
  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([ 0.10395985, -0.08896893,  0.1412127 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008116315924339611
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64402828e-01,  4.70139686e-01, -4.41199493e-01,  4.07182590e-01,
        8.82592021e-01,  2.35018430e-01,  4.99890643e-01,  2.77555756e-17,
       -8.66088532e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10384222, -0.08831235,  0.1501451 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004477285293299771
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23983949e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.23983949e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08138248, -0.06152173,  0.06198096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25126226e-05, 1.74409798e-05, 1.74880267e-05,-3.53621919e-06,
 -1.37786520e-06,-8.71761370e-05,-2.70974908e-05, 3.36572984e-05,
  2.29838733e-06, 1.34663067e-06,-2.79830398e-05, 4.14387841e-06,
  2.63986664e-01,-6.85610220e-04, 9.38136653e-02, 3.60247330e-02,
 -2.12920178e-05, 2.16947516e-06,-9.80999685e+00,-1.18139545e-02,
 -2.39666442e-02, 5.82876536e-05]


--- Step 483 ---
qpos:
[-1.35806940e-02, 1.35230011e-02, 1.00375804e-02, 1.47499734e-02,
 -1.90625841e-02,-9.05565969e-03,-1.74435609e-02, 1.63487432e-02,
 -1.21316019e-02,-6.74468676e-03,-1.43811160e-02, 1.51308873e-02,
  1.40335929e+00, 3.18422570e-02, 2.87341256e-01,-2.61809295e-02,
  9.51861686e-02,-7.04389766e-02, 1.04558505e-01, 9.99992339e-01,
  1.20609353e-03, 7.67882017e-05,-3.72310123e-03]

qacc:
[ 4.27779093e+00, 5.73304654e-01,-1.50829010e+00, 1.05632787e+00,
 -3.17135271e+00,-3.36673293e+00, 1.35461715e+01,-2.52242937e+01,
 -2.68198624e+00, 1.08919113e+00,-3.92891378e+00, 5.24784193e+00,
  6.95816814e-02, 4.35359915e+00, 4.53110795e+01,-1.13122614e+02,
 -6.20159227e-01,-3.67407952e-01, 9.96843322e-02, 1.13462026e+01,
 -1.51935264e+01, 4.95475224e+00]

qfrc_actuator:
[ 4.95747410e-04,-4.92013837e-04,-1.74691690e-04,-5.68867876e-05,
 -6.59104380e-04,-7.60472612e-04,-2.54537896e-04,-5.62030094e-05,
 -5.37944408e-04,-4.99352034e-04,-1.55536934e-04,-1.43053985e-06,
  2.10000000e-01,-5.59705033e-03, 9.00000000e-02, 2.96349130e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42978999,  0.40654088,  0.13944156,  0.40654088,  0.66346971,
       -0.68129157,  0.13944156, -0.68129157,  2.41609073,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000313328948407154
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68908441e-01,  2.47410014e-01, -2.17216024e-03,  2.47409392e-01,
        9.68910876e-01,  5.54658028e-04,  2.24185763e-03,  0.00000000e+00,
       -9.99997487e-01])
  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([ 0.10397366, -0.08896579,  0.14121306])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008114260801799421
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64009482e-01,  4.70508652e-01, -4.41487395e-01,  4.07383220e-01,
        8.82395381e-01,  2.35408802e-01,  5.00328316e-01,  2.77555756e-17,
       -8.65835767e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10385889, -0.08831164,  0.15014126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.43078568,   9.42149546,   4.47623874,   9.42149546,
        23.92809929, -28.40886878,   4.47623874, -28.40886878,
        70.22518985,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00044533561178696206
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.21677943e-06,  3.89531722e-15,  1.00000000e+00, -4.73974186e-21,
        1.00000000e+00, -3.89531722e-15, -1.00000000e+00, -7.52316385e-37,
        1.21677943e-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([ 0.09048115, -0.05657284,  0.06198107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54596107e-05, 2.46994290e-05,-1.26363240e-06,-4.43419635e-07,
 -1.89675108e-05,-7.77911590e-05, 3.13837391e-06,-3.72071248e-05,
 -1.57512312e-05, 1.93139671e-06,-1.70878799e-05, 2.12612793e-06,
  2.64038827e-01,-6.85750118e-04, 9.52372362e-02, 3.56675481e-02,
 -1.91676953e-05,-4.03964186e-06,-9.80998841e+00,-1.18144848e-02,
 -2.39625159e-02, 5.61382575e-05]


--- Step 484 ---
qpos:
[-1.35810623e-02, 1.35237321e-02, 1.00375813e-02, 1.47495052e-02,
 -1.90634480e-02,-9.05635538e-03,-1.74434574e-02, 1.63477549e-02,
 -1.21320500e-02,-6.74501053e-03,-1.43810522e-02, 1.51318734e-02,
  1.40335657e+00, 3.18536313e-02, 2.87342071e-01,-2.62839767e-02,
  9.51836860e-02,-7.04394474e-02, 1.04559208e-01, 9.99992688e-01,
  1.19643606e-03, 2.06764339e-05,-3.63218694e-03]

qacc:
[-3.59460255e-01, 7.73221297e-03, 9.02901562e-04,-8.14966329e-03,
 -1.90825822e+00,-3.00630971e+00, 1.36498936e+01,-2.78921391e+01,
  1.39086428e+00, 1.36722946e+00,-6.37924344e+00, 1.31359942e+01,
 -4.25199304e-01,-2.53713061e+01, 5.90593667e+01,-1.86494442e+01,
 -2.16593581e+00, 5.11868388e-01,-3.37969637e-03,-1.53246908e+01,
 -5.51243898e+01, 2.66175994e+01]

qfrc_actuator:
[ 4.92895791e-04,-5.03316527e-04,-1.78760010e-04,-5.77188437e-05,
 -6.69964708e-04,-7.39319517e-04,-2.22926404e-04,-9.33936658e-05,
 -5.29261052e-04,-4.95196597e-04,-1.63894628e-04, 1.78194246e-05,
  2.10000000e-01,-5.57767188e-03, 9.00000000e-02, 2.97315993e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067297,  0.43042373,  0.01464975,  0.43042373,  0.43445951,
       -0.11125207,  0.01464975, -0.11125207,  3.69936568,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003160024523805204
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68957140e-01,  2.47220204e-01, -2.05725404e-03,  2.47219647e-01,
        9.68959324e-01,  5.24887629e-04,  2.12315831e-03,  0.00000000e+00,
       -9.99997746e-01])
  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([ 0.103984  , -0.08896716,  0.14121295])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34361974,  0.34329852, -0.01485434,  0.34329852,  0.34962755,
        0.13884628, -0.01485434,  0.13884628,  3.55249423,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008123176048617485
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76388016,  0.47053448, -0.44168361,  0.40734297,  0.88238161,
        0.23553003,  0.5005585 ,  0.        , -0.86570271])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10387079, -0.08831451,  0.15013808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.41256829, -9.93971488,  3.10220027, -9.93971488, 15.81766505,
       17.31839213,  3.10220027, 17.31839213, 65.90217729,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004438849519860145
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.56321900e-14,  6.89856969e-06,  1.00000000e+00,  1.07839752e-19,
        1.00000000e+00, -6.89856969e-06, -1.00000000e+00,  1.20370622e-35,
       -1.56321900e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10177944, -0.06229202,  0.06198113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.13347091e-06, 2.25231559e-06, 8.66236394e-07, 1.73753345e-07,
 -1.14115277e-05,-2.32769412e-05, 1.46508654e-05,-4.11374724e-05,
  8.24226144e-06, 1.81425169e-06,-9.98233579e-06, 1.87847138e-05,
  2.63913804e-01,-6.93390649e-04, 9.41832861e-02, 3.59963662e-02,
 -1.36666057e-05, 1.00026090e-06,-9.80999363e+00,-1.18138113e-02,
 -2.39608800e-02, 5.59780407e-05]


--- Step 485 ---
qpos:
[-1.35814619e-02, 1.35238937e-02, 1.00381166e-02, 1.47487247e-02,
 -1.90640905e-02,-9.05686385e-03,-1.74434903e-02, 1.63466551e-02,
 -1.21320455e-02,-6.74531702e-03,-1.43811079e-02, 1.51334255e-02,
  1.40335365e+00, 3.18639787e-02, 2.87366046e-01,-2.63882899e-02,
  9.51797487e-02,-7.04407272e-02, 1.04560569e-01, 9.99993108e-01,
  1.20576000e-03,-6.27215544e-05,-3.51089520e-03]

qacc:
[ -0.24401793, -2.88920552, 10.52869269,-16.36923386,  1.91507099,
   0.39524885, -0.58561137, -1.25835765,  3.9453781 ,  1.51414365,
  -7.76906388, 17.75842099,  0.36028895, -5.45404814, 38.0513367 ,
 -83.52486549, -0.36368254, -0.20224671,  0.16453551,  9.53982818,
 -13.590367  , 15.20526337]

qfrc_actuator:
[ 4.91357041e-04,-5.63658128e-04,-1.63452203e-04,-7.57839434e-05,
 -6.58249796e-04,-7.08458511e-04,-2.21982482e-04,-9.70819529e-05,
 -5.06215258e-04,-4.92598475e-04,-1.68817462e-04, 4.65033459e-05,
  2.10000000e-01,-5.62082743e-03, 9.00000000e-02, 2.99055997e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42872603,  0.18548307,  0.3865256 ,  0.18548307,  2.98454016,
       -1.22646533,  0.3865256 , -1.22646533,  1.01727321,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031006333728404674
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68987573e-01,  2.47099921e-01, -2.17084445e-03,  2.47099301e-01,
        9.68990005e-01,  5.53582071e-04,  2.24031666e-03,  0.00000000e+00,
       -9.99997490e-01])
  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([ 0.10398341, -0.08896986,  0.14121024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34292988,  0.190171  ,  0.28536975,  0.190171  ,  1.60482141,
       -0.84092715,  0.28536975, -0.84092715,  0.9033255 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008096223892925488
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64261890e-01,  4.70514635e-01, -4.41043922e-01,  4.07524464e-01,
        8.82392190e-01,  2.35176175e-01,  4.99827544e-01, -2.77555756e-17,
       -8.66124948e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10386768, -0.08831464,  0.15014499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.40911141,  9.2958976 , -4.68357643,  9.2958976 , 18.08555491,
       15.23609868, -4.68357643, 15.23609868, 40.64950894,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004436086155256476
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.76908612e-07,  2.34628916e-14,  1.00000000e+00, -1.11896551e-20,
        1.00000000e+00, -2.34628916e-14, -1.00000000e+00,  0.00000000e+00,
        4.76908612e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09048137, -0.05657558,  0.06198114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.62494827e-06,-5.88808899e-05, 1.58908164e-05,-1.79342639e-05,
  1.14056629e-05, 1.91353595e-05,-3.47218084e-06,-4.97697612e-06,
  2.32909411e-05, 2.37556201e-06,-5.12271152e-06, 2.87823398e-05,
  2.64337843e-01,-4.84948178e-04, 8.97930977e-02, 3.50042097e-02,
 -2.66245027e-05, 2.19431076e-05,-9.80998932e+00,-1.18180019e-02,
 -2.39621332e-02, 5.67603770e-05]


--- Step 486 ---
qpos:
[-1.35825664e-02, 1.35234076e-02, 1.00386586e-02, 1.47477818e-02,
 -1.90642427e-02,-9.05698123e-03,-1.74436426e-02, 1.63454913e-02,
 -1.21321098e-02,-6.74527325e-03,-1.43813578e-02, 1.51349258e-02,
  1.40334794e+00, 3.18732642e-02, 2.87363046e-01,-2.64837207e-02,
  9.51789944e-02,-7.04407071e-02, 1.04562023e-01, 9.99993427e-01,
  1.19975358e-03,-9.93112977e-05,-3.41991114e-03]

qacc:
[-6.10097342e+00,-1.19784312e+00, 3.73526615e+00,-6.10373878e+00,
  4.24782445e+00, 7.10313651e-01,-1.52725206e+00, 3.39360281e-01,
 -6.11805854e-01, 9.00325725e-01,-2.31800864e+00, 1.47290377e+00,
  6.19953851e-01,-9.86060705e+00,-6.69572860e+01, 1.75974464e+02,
  7.95753038e-01, 3.24979274e-01, 2.32683392e-02,-7.74817805e+00,
  2.33587746e+01,-1.51816521e+01]

qfrc_actuator:
[ 4.55107030e-04,-6.17338775e-04,-1.72554865e-04,-8.61234735e-05,
 -6.33344056e-04,-6.72098226e-04,-2.21321062e-04,-9.87880230e-05,
 -5.10413673e-04,-4.55422106e-04,-1.71677157e-04, 4.50006511e-05,
  2.10000000e-01,-5.68574891e-03, 9.00000000e-02, 2.99459690e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42678436,  0.41634614,  0.09381252,  0.41634614,  0.50588886,
       -0.35107093,  0.09381252, -0.35107093,  1.98486018,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003039742786495497
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69014302e-01,  2.46993651e-01, -2.32796832e-03,  2.46992938e-01,
        9.69017098e-01,  5.93377966e-04,  2.40240170e-03,  0.00000000e+00,
       -9.99997114e-01])
  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([ 0.10398056, -0.08897436,  0.14120792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.3425726 , -0.29294811, -0.17758771, -0.29294811,  0.97442099,
       -1.04229505, -0.17758771, -1.04229505,  2.06193914,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008082374301511672
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64757317e-01,  4.70303732e-01, -4.40409635e-01,  4.07553924e-01,
        8.82504617e-01,  2.34702789e-01,  4.99045134e-01, -2.77555756e-17,
       -8.66575995e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10386159, -0.0883166 ,  0.15015194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.41786411,   8.73724685,   5.67383557,   8.73724685,
        24.003397  , -20.9206194 ,   5.67383557, -20.9206194 ,
        42.63392216,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004443076307472857
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.24692751e-14,  2.34259782e-14,  1.00000000e+00,  1.46340387e-27,
        1.00000000e+00, -2.34259782e-14, -1.00000000e+00,  0.00000000e+00,
       -6.24692751e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08138522, -0.06153246,  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:
[-3.63276588e-05,-8.40785988e-05,-1.99235908e-05,-1.26609925e-05,
  2.52624900e-05, 4.61575786e-05, 4.02100907e-06,-1.10213122e-06,
 -3.52311371e-06, 3.86887301e-05,-2.00496519e-06,-1.01921398e-06,
  2.64348435e-01,-4.98534319e-04, 8.86352875e-02, 3.51078663e-02,
 -5.40662190e-05, 3.68169474e-05,-9.80997059e+00,-1.18202805e-02,
 -2.39667619e-02, 5.90562431e-05]


--- Step 487 ---
qpos:
[-1.35837522e-02, 1.35226315e-02, 1.00389626e-02, 1.47463483e-02,
 -1.90640948e-02,-9.05671827e-03,-1.74438108e-02, 1.63443097e-02,
 -1.21322239e-02,-6.74477548e-03,-1.43814274e-02, 1.51360110e-02,
  1.40334107e+00, 3.18819913e-02, 2.87335357e-01,-2.65720796e-02,
  9.51809613e-02,-7.04401007e-02, 1.04563407e-01, 9.99993614e-01,
  1.18063736e-03,-9.25585385e-05,-3.37193422e-03]

qacc:
[-7.06588431e-01,-7.27159784e-01, 4.11021339e+00,-1.20096114e+01,
  2.59816917e+00, 5.05215439e-01,-1.00607740e+00, 4.54398192e-01,
 -4.36923360e-01,-7.57737115e-01, 5.32674445e+00,-1.31357636e+01,
  7.68871442e-01,-6.92106776e+00,-5.80593739e+01, 1.49829072e+02,
  6.80313660e-01, 1.46564214e-01,-1.76871172e-02,-6.63102909e+00,
  2.16228861e+01,-2.15290100e+01]

qfrc_actuator:
[ 4.51974506e-04,-6.13458760e-04,-1.78237272e-04,-1.09605163e-04,
 -6.18633991e-04,-6.50469754e-04,-2.20791651e-04,-9.93077820e-05,
 -5.12865778e-04,-4.15591317e-04,-1.55423779e-04, 2.57773309e-05,
  2.10000000e-01,-5.69227348e-03, 9.00000000e-02, 2.99320229e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42583204,  0.41457117,  0.09728139,  0.41457117,  0.50662966,
       -0.34432447,  0.09728139, -0.34432447,  1.89319386,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030092393756501345
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69042114e-01,  2.46883805e-01, -2.40188209e-03,  2.46883046e-01,
        9.69045090e-01,  6.11927963e-04,  2.47860715e-03,  1.08420217e-19,
       -9.99996928e-01])
  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([ 0.10398185, -0.08897463,  0.14120669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000806678503929619
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76494257,  0.47039948, -0.43998545,  0.40775922,  0.88245359,
        0.23453803,  0.49859331,  0.        , -0.86683604])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10386146, -0.08831566,  0.15015705])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004439833806344079
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.25148977e-14,  1.56287244e-14,  1.00000000e+00, -9.77028108e-28,
        1.00000000e+00, -1.56287244e-14, -1.00000000e+00,  0.00000000e+00,
        6.25148977e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08138589, -0.06153542,  0.06198112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.19475679e-06,-4.77695182e-05,-2.59281522e-05,-2.80167160e-05,
  1.54620541e-05, 4.82373158e-05, 1.05213454e-05, 1.57517733e-06,
 -2.54141048e-06, 6.10086588e-05, 2.39633845e-05,-1.76545984e-05,
  2.64487445e-01,-4.52454533e-04, 8.99842166e-02, 3.46497624e-02,
 -2.25508909e-05, 1.74801442e-05,-9.80999447e+00,-1.18169024e-02,
 -2.39671307e-02, 5.97743537e-05]


--- Step 488 ---
qpos:
[-1.35839319e-02, 1.35218296e-02, 1.00390253e-02, 1.47446101e-02,
 -1.90634266e-02,-9.05613170e-03,-1.74444854e-02, 1.63428275e-02,
 -1.21320221e-02,-6.74374467e-03,-1.43810764e-02, 1.51368298e-02,
  1.40333439e+00, 3.18906498e-02, 2.87285157e-01,-2.66551062e-02,
  9.51852768e-02,-7.04394683e-02, 1.04564577e-01, 9.99993635e-01,
  1.15008588e-03,-4.52709919e-05,-3.37709809e-03]

qacc:
[ 8.71441315e+00,-4.17647879e-03, 1.22258784e+00,-6.06022139e+00,
  4.49649629e+00, 1.21469476e+00,-2.45632720e+00,-2.15996748e+00,
  2.76055379e+00,-1.02461086e+00, 5.79148851e+00,-1.14583414e+01,
  8.15841725e-01,-3.85517953e+00,-4.95371652e+01, 1.24769550e+02,
  5.87129119e-01, 6.49586058e-03,-5.34425899e-02,-5.78830023e+00,
  2.02166072e+01,-2.65938965e+01]

qfrc_actuator:
[ 5.03875900e-04,-5.92893695e-04,-1.81625553e-04,-1.22826453e-04,
 -5.92294480e-04,-6.55578691e-04,-2.55902494e-04,-1.16889027e-04,
 -4.96508902e-04,-3.74411723e-04,-1.27999542e-04, 1.40583047e-05,
  2.10000000e-01,-5.66383882e-03, 9.00000000e-02, 2.99547557e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42559847,  0.41363642,  0.10019469,  0.41363642,  0.5047041 ,
       -0.32657387,  0.10019469, -0.32657387,  1.77380215,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003001691648514033
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69071123e-01,  2.46769949e-01, -2.39827036e-03,  2.46769193e-01,
        9.69074090e-01,  6.10707747e-04,  2.47480599e-03,  0.00000000e+00,
       -9.99996938e-01])
  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([ 0.10398643, -0.08897235,  0.14120627])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008047207547660062
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76490055,  0.47069327, -0.43974424,  0.40806392,  0.88229691,
        0.23459751,  0.49840845,  0.        , -0.86694234])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10386611, -0.08831309,  0.15016039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004427546984487815
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.26883819e-14,  3.91802387e-14,  1.00000000e+00,  2.45614576e-27,
        1.00000000e+00, -3.91802387e-14, -1.00000000e+00,  0.00000000e+00,
       -6.26883819e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08138613, -0.06153756,  0.06198118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.17937667e-05,-1.26655857e-05,-1.74056248e-05,-1.67083324e-05,
  2.67960817e-05, 2.41059640e-05,-2.37990628e-05,-1.51204037e-05,
  1.62855061e-05, 7.94904748e-05, 4.23677052e-05,-8.61896723e-06,
  2.64545997e-01,-3.97066456e-04, 9.12186483e-02, 3.43188498e-02,
 -3.69524761e-06, 2.28190557e-06,-9.81000179e+00,-1.18157172e-02,
 -2.39665921e-02, 5.86914018e-05]


--- Step 489 ---
qpos:
[-1.35838321e-02, 1.35209046e-02, 1.00390224e-02, 1.47430719e-02,
 -1.90631374e-02,-9.05539160e-03,-1.74458524e-02, 1.63422179e-02,
 -1.21319714e-02,-6.74242874e-03,-1.43805498e-02, 1.51375506e-02,
  1.40332925e+00, 3.18997562e-02, 2.87215226e-01,-2.67350999e-02,
  9.51915909e-02,-7.04393408e-02, 1.04565407e-01, 9.99993449e-01,
  1.10990579e-03, 4.00370091e-05,-3.44509972e-03]

qacc:
[ 2.42238955e+00, 4.28069650e-01,-2.61506503e+00, 6.28186870e+00,
 -3.31447393e+00, 3.93895328e+00,-1.74249917e+01, 3.35121957e+01,
 -1.31740023e+00,-3.12929087e-01, 2.08061931e+00,-4.27134024e+00,
  8.02537043e-01,-4.26642364e-01,-3.84215320e+01, 9.19462803e+01,
  4.99668147e-01,-1.26217585e-01,-8.47934461e-02,-4.87976973e+00,
  1.89577088e+01,-3.14406812e+01]

qfrc_actuator:
[ 5.16732344e-04,-5.97971055e-04,-1.83538825e-04,-1.12128480e-04,
 -6.12575483e-04,-6.59072844e-04,-2.94147921e-04,-7.34065793e-05,
 -5.04717629e-04,-3.85941373e-04,-1.29690374e-04, 6.85925825e-06,
  2.10000000e-01,-5.65020025e-03, 9.00000000e-02, 2.98386329e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42589436,  0.41400608,  0.09992486,  0.41400608,  0.49877299,
       -0.30194884,  0.09992486, -0.30194884,  1.676921  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030112487805523534
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69101394e-01,  2.46651772e-01, -2.32178496e-03,  2.46651064e-01,
        9.69104176e-01,  5.90929634e-04,  2.39580534e-03, -1.08420217e-19,
       -9.99997130e-01])
  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([ 0.1039936 , -0.08896882,  0.1412064 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008031869334611129
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76469508,  0.47109978, -0.43966628,  0.40840707,  0.88207993,
        0.23481624,  0.49844268,  0.        , -0.86692266])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10387461, -0.08830984,  0.15016197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004408122837776668
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25929229e-13,  1.96764421e-14,  1.00000000e+00,  2.47783919e-27,
        1.00000000e+00, -1.96764421e-14, -1.00000000e+00,  0.00000000e+00,
       -1.25929229e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08138602, -0.06153906,  0.06198126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43792859e-05,-1.64497607e-05,-7.25262237e-06, 9.22553233e-06,
 -1.95096068e-05, 4.40719228e-06,-3.67301244e-05, 4.33949979e-05,
 -7.75909238e-06, 4.12980881e-05, 1.96445365e-05,-2.49590968e-06,
  2.64536927e-01,-3.81386198e-04, 9.23441570e-02, 3.39360455e-02,
 -4.09027023e-06,-1.85446791e-06,-9.80999288e+00,-1.18172383e-02,
 -2.39653662e-02, 5.59810394e-05]


--- Step 490 ---
qpos:
[-1.35839227e-02, 1.35198084e-02, 1.00392908e-02, 1.47416564e-02,
 -1.90634381e-02,-9.05486953e-03,-1.74472636e-02, 1.63424825e-02,
 -1.21323647e-02,-6.74143329e-03,-1.43797025e-02, 1.51379036e-02,
  1.40333616e+00, 3.19119202e-02, 2.87221154e-01,-2.68295735e-02,
  9.51910923e-02,-7.04430105e-02, 1.04564929e-01, 9.99993381e-01,
  1.12021616e-03, 2.64899686e-05,-3.46150149e-03]

qacc:
[-1.63791924e+00,-7.29029646e-01, 1.75859777e+00, 5.02477290e-02,
 -5.11952303e+00, 1.64409759e+00,-9.95472672e+00, 2.52981849e+01,
 -3.86069404e+00,-2.06919804e+00, 8.33011091e+00,-1.49891462e+01,
  4.13457931e-01, 2.28771305e+01, 1.56368191e+02,-3.83491716e+02,
 -1.70317429e+00,-9.49295180e-01,-3.27321185e-01, 2.54142439e+01,
 -4.93115916e+01, 2.58558410e+01]

qfrc_actuator:
[ 5.06486046e-04,-6.00573650e-04,-1.66893643e-04,-1.05214463e-04,
 -6.42385005e-04,-6.79310127e-04,-2.98380335e-04,-2.98442291e-05,
 -5.27325195e-04,-4.46814503e-04,-1.31020882e-04,-1.54423650e-05,
  2.10000000e-01,-5.64592841e-03, 9.00000000e-02, 2.97813844e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42656933,  0.41941404,  0.07780263,  0.41941404,  0.46273113,
       -0.19493901,  0.07780263, -0.19493901,  1.47743556,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030328925802503595
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69132942e-01,  2.46529113e-01, -2.17642717e-03,  2.46528492e-01,
        9.69135386e-01,  5.53640563e-04,  2.24574110e-03,  0.00000000e+00,
       -9.99997478e-01])
  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([ 0.10400268, -0.08896526,  0.14120688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008020766639848588
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76438374,  0.47153795, -0.43973794,  0.408729  ,  0.88184577,
        0.23513536,  0.49865629,  0.        , -0.86679981])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10388603, -0.08830682,  0.15016173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.37554212,  9.12740875,  4.93379002,  9.12740875, 14.92601155,
       -8.41827364,  4.93379002, -8.41827364, 25.94917299,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004409072774265027
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.29510490e-14,  3.14755245e-14,  1.00000000e+00,  1.98141728e-27,
        1.00000000e+00, -3.14755245e-14, -1.00000000e+00,  0.00000000e+00,
       -6.29510490e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09917264, -0.0518483 ,  0.06198125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.80049628e-06,-1.29060923e-05, 1.26701252e-05, 6.13638151e-06,
 -3.03795142e-05,-2.35172535e-05,-6.34765195e-06, 4.33248919e-05,
 -2.28715176e-05,-3.38378311e-05, 9.53106563e-06,-1.99009932e-05,
  2.64460858e-01,-4.01279425e-04, 9.33306358e-02, 3.37270784e-02,
 -3.03742915e-05, 1.10922503e-05,-9.80996819e+00,-1.18218032e-02,
 -2.39636076e-02, 5.18106725e-05]


--- Step 491 ---
qpos:
[-1.35831000e-02, 1.35186241e-02, 1.00397329e-02, 1.47403305e-02,
 -1.90634046e-02,-9.05444924e-03,-1.74484337e-02, 1.63425415e-02,
 -1.21326820e-02,-6.74076273e-03,-1.43788672e-02, 1.51390475e-02,
  1.40334972e+00, 3.19254194e-02, 2.87295891e-01,-2.69342968e-02,
  9.51850261e-02,-7.04493881e-02, 1.04563494e-01, 9.99993569e-01,
  1.16278391e-03,-8.71992286e-05,-3.39142798e-03]

qacc:
[ 7.92341926e+00,-4.32856653e-01, 9.69283047e-01, 3.98199372e-01,
  2.91170102e+00,-1.23646182e+00, 5.07207452e+00,-8.93039513e+00,
  6.69130458e-01, 1.23098943e+00,-8.35463584e+00, 2.23064782e+01,
 -1.11248561e-01, 1.30138992e+01, 1.33031291e+02,-3.17216685e+02,
 -1.39190582e+00,-6.76976277e-01,-2.39159824e-01, 1.63006162e+01,
 -4.99664855e+01, 4.32943098e+01]

qfrc_actuator:
[ 5.53746528e-04,-6.01593909e-04,-1.57176637e-04,-1.00573413e-04,
 -6.24291230e-04,-6.73777879e-04,-2.82576188e-04,-3.98424085e-05,
 -5.22713308e-04,-4.65791648e-04,-1.32350515e-04, 2.45141156e-05,
  2.10000000e-01,-5.63231283e-03, 9.00000000e-02, 2.99710389e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42575249,  0.42531267,  0.01934722,  0.42531267,  0.42701609,
       -0.0277778 ,  0.01934722, -0.0277778 ,  1.03639569,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003006671784970547
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69155917e-01,  2.46438589e-01, -2.19800517e-03,  2.46437955e-01,
        9.69158409e-01,  5.58910996e-04,  2.26795243e-03,  0.00000000e+00,
       -9.99997428e-01])
  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([ 0.10400173, -0.08897196,  0.14120542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34122383,  0.31859516,  0.12219178,  0.31859516,  0.64887406,
       -0.80214784,  0.12219178, -0.80214784,  2.43269367,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008030728817381571
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64705371e-01,  4.71137237e-01, -4.39608234e-01,  4.08454309e-01,
        8.82059921e-01,  2.34809228e-01,  4.98388175e-01, -2.77555756e-17,
       -8.66953993e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10388392, -0.08831206,  0.15016193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044089125607982976
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.29533365e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.29533365e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09917391, -0.05185122,  0.06198126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.70122925e-05,-5.36086967e-06, 8.82424401e-06, 4.64599363e-06,
  1.72063580e-05,-7.07276587e-06, 1.16686417e-05,-1.03804784e-05,
  3.89863919e-06,-3.67811942e-05,-7.83011928e-06, 3.84503566e-05,
  2.63857810e-01,-5.40865280e-04, 8.95378046e-02, 3.46406966e-02,
 -5.90995527e-07,-3.34176733e-07,-9.81000009e+00,-1.18181997e-02,
 -2.39623103e-02, 5.29528460e-05]


--- Step 492 ---
qpos:
[-1.35813718e-02, 1.35174617e-02, 1.00399531e-02, 1.47394292e-02,
 -1.90631547e-02,-9.05421387e-03,-1.74488291e-02, 1.63427988e-02,
 -1.21329427e-02,-6.74023241e-03,-1.43781593e-02, 1.51413360e-02,
  1.40335874e+00, 3.19379775e-02, 2.87336125e-01,-2.70314459e-02,
  9.51827825e-02,-7.04534597e-02, 1.04562597e-01, 9.99993733e-01,
  1.18658921e-03,-1.47219083e-04,-3.33220766e-03]

qacc:
[ 7.84414221e+00, 1.50870921e+00,-7.15641696e+00, 1.48727294e+01,
  1.90553639e+00,-2.00385381e+00, 5.94697497e+00,-3.61036298e+00,
  4.93620882e-01, 2.52585448e+00,-1.41101602e+01, 3.42307356e+01,
 -1.81053423e-01,-7.78775937e+00,-7.40871908e+01, 1.84864953e+02,
  9.55641143e-01, 5.76490319e-01, 1.34585639e-01,-9.47263249e+00,
  2.67963724e+01,-5.45698275e+00]

qfrc_actuator:
[ 5.98978484e-04,-6.01679529e-04,-1.69380133e-04,-7.95595766e-05,
 -6.13648951e-04,-6.70565578e-04,-2.37265017e-04,-2.79889469e-05,
 -5.19864863e-04,-4.59498589e-04,-1.33475241e-04, 8.30611074e-05,
  2.10000000e-01,-5.64809694e-03, 9.00000000e-02, 3.02571392e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42385028,  0.4121812 ,  0.09877106,  0.4121812 ,  0.4928285 ,
       -0.28785278,  0.09877106, -0.28785278,  1.62508784,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002944339805299529
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69171551e-01,  2.46375232e-01, -2.39781402e-03,  2.46374478e-01,
        9.69174517e-01,  6.09551711e-04,  2.47407869e-03,  1.08420217e-19,
       -9.99996939e-01])
  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([ 0.10399268, -0.08898499,  0.14120262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34183531, -0.298744  , -0.16614272, -0.298744  ,  0.64419097,
       -0.54367074, -0.16614272, -0.54367074,  1.31941872,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008054020760420198
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65499472e-01,  4.70182465e-01, -4.39248231e-01,  4.07814385e-01,
        8.82569232e-01,  2.34006363e-01,  4.97692663e-01,  2.77555756e-17,
       -8.67353454e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10387065, -0.08832225,  0.15016365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.39948007,  9.0048276 ,  5.20214048,  9.0048276 , 16.07312001,
       -9.82098613,  5.20214048, -9.82098613, 27.39946061,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004428369005630081
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.26767453e-14, -7.83459316e-15,  1.00000000e+00, -4.91046800e-28,
        1.00000000e+00,  7.83459316e-15, -1.00000000e+00,  0.00000000e+00,
       -6.26767453e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0813901 , -0.06154784,  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:
[ 4.66259423e-05,-1.07849934e-06,-1.20757807e-05, 2.11756673e-05,
  1.11334889e-05, 1.22737666e-06, 4.49273710e-05, 1.17513501e-05,
  2.90941889e-06,-1.42350380e-05,-8.35433679e-06, 5.74482299e-05,
  2.63524891e-01,-6.22388724e-04, 8.60977520e-02, 3.54393009e-02,
 -4.36446664e-05, 1.26607126e-05,-9.80995306e+00,-1.18208236e-02,
 -2.39688312e-02, 5.72450352e-05]


--- Step 493 ---
qpos:
[-1.35801481e-02, 1.35166196e-02, 1.00398802e-02, 1.47387529e-02,
 -1.90627791e-02,-9.05408121e-03,-1.74489276e-02, 1.63428731e-02,
 -1.21331678e-02,-6.73991965e-03,-1.43770764e-02, 1.51429017e-02,
  1.40336438e+00, 3.19499030e-02, 2.87342722e-01,-2.71211744e-02,
  9.51838955e-02,-7.04558965e-02, 1.04562033e-01, 9.99993843e-01,
  1.19296695e-03,-1.57843076e-04,-3.29636582e-03]

qacc:
[-4.38899529e+00, 1.71480309e+00,-6.43515875e+00, 1.05470821e+01,
  1.10248659e+00,-1.34401759e+00, 5.36487556e+00,-8.92883137e+00,
  3.25242185e-01,-2.82379027e+00, 1.27027844e+01,-2.56530204e+01,
  3.10727807e-02,-6.33812954e+00,-7.23327593e+01, 1.80607492e+02,
  8.39151578e-01, 4.08728701e-01, 8.32130138e-02,-8.79770958e+00,
  2.46548650e+01,-1.17172826e+01]

qfrc_actuator:
[ 5.71625063e-04,-5.65773824e-04,-1.76657137e-04,-6.68455074e-05,
 -6.07493304e-04,-6.86374021e-04,-2.28137568e-04,-3.88514222e-05,
 -5.18085532e-04,-4.73603371e-04,-1.16604120e-04, 4.55766188e-05,
  2.10000000e-01,-5.69753128e-03, 9.00000000e-02, 3.04631146e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42313899,  0.41069442,  0.10186609,  0.41069442,  0.49320481,
       -0.28248495,  0.10186609, -0.28248495,  1.56203604,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002920557168933199
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69190013e-01,  2.46301552e-01, -2.50269462e-03,  2.46300731e-01,
        9.69193245e-01,  6.36011005e-04,  2.58224522e-03,  0.00000000e+00,
       -9.99996666e-01])
  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([ 0.10398929, -0.08899159,  0.1412011 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008070545339668294
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76588166,  0.46969791, -0.43910041,  0.40747839,  0.88282721,
        0.23361824,  0.49737978,  0.        , -0.86753291])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10386524, -0.0883278 ,  0.15016378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004449830891183962
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  7.7968063e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -7.7968063e-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([ 0.08139244, -0.06155189,  0.06198108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.59681180e-05, 3.36656434e-05,-8.27764249e-06, 1.26559634e-05,
  6.46982422e-06,-5.34384268e-06, 1.53186300e-05,-9.02750428e-06,
  1.82307751e-06,-2.13212785e-05, 1.48908374e-05,-3.72657576e-05,
  2.63752285e-01,-6.24392502e-04, 8.78231464e-02, 3.52665707e-02,
 -1.84443828e-05, 8.73485323e-06,-9.80998376e+00,-1.18175305e-02,
 -2.39702323e-02, 6.01450819e-05]


--- Step 494 ---
qpos:
[-1.35789160e-02, 1.35161222e-02, 1.00396895e-02, 1.47378731e-02,
 -1.90619878e-02,-9.05392130e-03,-1.74495148e-02, 1.63432006e-02,
 -1.21330254e-02,-6.73983447e-03,-1.43754771e-02, 1.51436523e-02,
  1.40336786e+00, 3.19615681e-02, 2.87317489e-01,-2.72042019e-02,
  9.51879277e-02,-7.04573277e-02, 1.04561617e-01, 9.99993861e-01,
  1.18348967e-03,-1.22838685e-04,-3.29580311e-03]

qacc:
[ 6.36217534e-02, 3.65540215e-01, 2.17066358e-01,-3.80626509e+00,
  3.59457454e+00, 1.91509319e+00,-7.85816466e+00, 1.30160835e+01,
  3.22635209e+00,-3.42759322e+00, 1.52157778e+01,-2.99690132e+01,
  1.65127071e-01,-4.24610150e+00,-6.74599993e+01, 1.67487171e+02,
  7.29818931e-01, 2.51359903e-01, 3.70409383e-02,-8.00539809e+00,
  2.27668694e+01,-1.76655715e+01]

qfrc_actuator:
[ 5.72778943e-04,-5.44085766e-04,-1.80818378e-04,-7.68342223e-05,
 -5.86272940e-04,-6.95850530e-04,-2.58305145e-04,-2.75361532e-05,
 -4.99196586e-04,-4.82060809e-04,-8.93869683e-05, 5.14073090e-06,
  2.10000000e-01,-5.69607724e-03, 9.00000000e-02, 3.06358914e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4233119 ,  0.41037821,  0.10383972,  0.41037821,  0.49267411,
       -0.27412191,  0.10383972, -0.27412191,  1.50665128,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029263627433125355
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69211457e-01,  2.46216977e-01, -2.52033713e-03,  2.46216144e-01,
        9.69214734e-01,  6.40260374e-04,  2.60039085e-03,  0.00000000e+00,
       -9.99996619e-01])
  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([ 0.10399069, -0.08899342,  0.14120057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008080531880161944
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65938810e-01,  4.69578542e-01, -4.39128378e-01,  4.07375940e-01,
        8.82890703e-01,  2.33556954e-01,  4.97375696e-01,  2.77555756e-17,
       -8.67535254e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1038665 , -0.08832991,  0.15016252])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044573051090361637
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.33511967e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.33511967e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08139401, -0.0615549 ,  0.06198105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.49335035e-07, 3.92904252e-05, 2.19705787e-06,-8.58811316e-06,
  2.14006898e-05,-9.69890162e-06,-2.97013932e-05, 1.14395656e-05,
  1.89072096e-05,-1.88950343e-05, 2.33586358e-05,-4.15596844e-05,
  2.63921299e-01,-5.91572649e-04, 8.95051538e-02, 3.50682904e-02,
 -3.78408833e-06, 2.23008127e-06,-9.80999867e+00,-1.18155907e-02,
 -2.39699045e-02, 6.08437198e-05]


--- Step 495 ---
qpos:
[-1.35783689e-02, 1.35158303e-02, 1.00392192e-02, 1.47369096e-02,
 -1.90612929e-02,-9.05404012e-03,-1.74495027e-02, 1.63436251e-02,
 -1.21333484e-02,-6.73945221e-03,-1.43738271e-02, 1.51445674e-02,
  1.40337033e+00, 3.19733804e-02, 2.87262649e-01,-2.72815265e-02,
  9.51944948e-02,-7.04583021e-02, 1.04561184e-01, 9.99993745e-01,
  1.15964416e-03,-4.54089560e-05,-3.34101092e-03]

qacc:
[-5.95088537e+00, 8.92717950e-01,-2.41595132e+00, 1.24359764e+00,
 -8.14025138e-01,-1.84090887e+00, 5.62309936e+00,-4.70061263e+00,
 -4.06431417e+00, 5.97293553e-01,-2.24045186e+00, 4.77138986e+00,
  2.11985616e-01,-1.71153347e+00,-6.11224117e+01, 1.50153505e+02,
  6.33702094e-01, 1.14236562e-01,-4.06154815e-03,-7.25671134e+00,
  2.11617685e+01,-2.29095621e+01]

qfrc_actuator:
[ 5.37468091e-04,-5.48833393e-04,-2.00920758e-04,-8.23533341e-05,
 -5.91859326e-04,-7.01616740e-04,-2.22619717e-04,-2.10299260e-05,
 -5.23645868e-04,-4.33774892e-04,-7.40062891e-05, 1.65731679e-05,
  2.10000000e-01,-5.62870410e-03, 9.00000000e-02, 3.08042532e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42414561,  0.41083819,  0.10541101,  0.41083819,  0.49143344,
       -0.26225354,  0.10541101, -0.26225354,  1.4462758 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029541369143736067
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69235870e-01,  2.46121494e-01, -2.45732176e-03,  2.46120703e-01,
        9.69238985e-01,  6.23994404e-04,  2.53531049e-03,  0.00000000e+00,
       -9.99996786e-01])
  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([ 0.10399607, -0.08899201,  0.14120074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008085662906667701
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76574814,  0.46972517, -0.43930406,  0.40743769,  0.8828127 ,
        0.233744  ,  0.49761864,  0.        , -0.86739592])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10387328, -0.08832967,  0.15016   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004453404862125865
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.72669221e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.72669221e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08139495, -0.06155708,  0.06198107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.52617749e-05, 1.72633759e-05,-1.20280911e-05,-3.92958400e-06,
 -4.97256997e-06,-1.68557962e-05, 3.04090268e-05, 5.28277686e-06,
 -2.39369475e-05, 4.07631693e-05, 1.29126808e-05, 1.06206328e-05,
  2.64029565e-01,-5.12056279e-04, 9.10967015e-02, 3.49015642e-02,
 -2.57820454e-06,-7.34320981e-07,-9.80999736e+00,-1.18157602e-02,
 -2.39683570e-02, 5.95337126e-05]


--- Step 496 ---
qpos:
[-1.35789386e-02, 1.35157741e-02, 1.00384892e-02, 1.47358826e-02,
 -1.90613599e-02,-9.05427508e-03,-1.74490666e-02, 1.63434243e-02,
 -1.21339626e-02,-6.73851267e-03,-1.43726871e-02, 1.51452716e-02,
  1.40337289e+00, 3.19857463e-02, 2.87180829e-01,-2.73544897e-02,
  9.52032475e-02,-7.04593065e-02, 1.04560594e-01, 9.99993445e-01,
  1.12282875e-03, 7.16429286e-05,-3.44151548e-03]

qacc:
[-9.69418398e+00, 9.25816998e-01,-2.54766648e+00, 1.65351318e+00,
 -6.60084560e+00,-2.61186470e+00, 1.17537110e+01,-2.31948611e+01,
 -2.56710705e+00, 1.73238272e+00,-4.20919095e+00, 9.54579632e-01,
  2.27931853e-01, 9.29936180e-01,-5.31437613e+01, 1.27952578e+02,
  5.46406221e-01,-7.53259923e-03,-3.94766008e-02,-6.55225301e+00,
  1.97572214e+01,-2.76711906e+01]

qfrc_actuator:
[ 4.80968500e-04,-5.33935868e-04,-2.12626338e-04,-8.52292890e-05,
 -6.30936505e-04,-7.04861712e-04,-2.01572827e-04,-5.28594481e-05,
 -5.37907076e-04,-4.05134499e-04,-1.00973553e-04, 5.21533398e-06,
  2.10000000e-01,-5.62859868e-03, 9.00000000e-02, 3.09150257e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42547345,  0.41250645,  0.10424053,  0.41250645,  0.48735186,
       -0.24486869,  0.10424053, -0.24486869,  1.39448151,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002997640579721355
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69263144e-01,  2.46015404e-01, -2.31915581e-03,  2.46014700e-01,
        9.69265919e-01,  5.88639343e-04,  2.39269303e-03,  0.00000000e+00,
       -9.99997138e-01])
  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([ 0.1040047 , -0.08898868,  0.1412014 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008088122583431039
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76537473,  0.47005104, -0.43960613,  0.40760162,  0.88263924,
        0.234113  ,  0.49805868,  0.        , -0.86714333])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10388458, -0.08832804,  0.15015624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004440390084794951
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.81338325e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.81338325e-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([ 0.08139541, -0.0615586 ,  0.06198112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.74916282e-05, 2.18646549e-05,-9.76290967e-06,-2.62892674e-06,
 -3.92244677e-05,-6.19021802e-06, 2.14860800e-05,-3.13980730e-05,
 -1.49687854e-05, 5.45577808e-05,-1.65867404e-05,-8.95636915e-06,
  2.64080821e-01,-5.20752519e-04, 9.25770195e-02, 3.47271278e-02,
 -1.95364094e-05, 5.83201653e-06,-9.80997976e+00,-1.18185916e-02,
 -2.39659639e-02, 5.63879127e-05]


--- Step 497 ---
qpos:
[-1.35798365e-02, 1.35158259e-02, 1.00379341e-02, 1.47348152e-02,
 -1.90618949e-02,-9.05432920e-03,-1.74493113e-02, 1.63425372e-02,
 -1.21343990e-02,-6.73731376e-03,-1.43717785e-02, 1.51458536e-02,
  1.40338523e+00, 3.20007772e-02, 2.87168202e-01,-2.74408483e-02,
  9.52053074e-02,-7.04637574e-02, 1.04559132e-01, 9.99993301e-01,
  1.13404027e-03, 8.86424617e-05,-3.47912125e-03]

qacc:
[-2.84081390e+00,-4.24254093e-01, 1.89996850e+00,-2.96921613e+00,
 -4.08821336e+00, 7.36609498e-01, 6.31749545e-01,-1.15691455e+01,
  1.53954055e+00, 7.34445977e-01,-1.61091160e+00,-3.18589663e-01,
 -7.59036341e-02, 2.11405771e+01, 1.43209429e+02,-3.51787223e+02,
 -1.67319313e+00,-8.61612191e-01,-2.17969115e-01, 2.41831372e+01,
 -4.99078987e+01, 3.15073476e+01]

qfrc_actuator:
[ 4.65719378e-04,-5.25116330e-04,-2.01449177e-04,-8.65059017e-05,
 -6.53898894e-04,-7.06645019e-04,-2.42631471e-04,-8.92542529e-05,
 -5.28290779e-04,-4.06413083e-04,-1.17303845e-04,-1.75446603e-06,
  2.10000000e-01,-5.65156656e-03, 9.00000000e-02, 3.09725524e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42715879,  0.41164058,  0.11409061,  0.41164058,  0.50117252,
       -0.2670426 ,  0.11409061, -0.2670426 ,  1.39065239,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003051618887975139
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69293109e-01,  2.45899193e-01, -2.11059320e-03,  2.45898610e-01,
        9.69295407e-01,  5.35433431e-04,  2.17745094e-03,  1.08420217e-19,
       -9.99997629e-01])
  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([ 0.1040159 , -0.08898459,  0.14120235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008090341048948049
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7648753 ,  0.47047891, -0.44001746,  0.40781178,  0.88241124,
        0.23460596,  0.49865351,  0.        , -0.86680141])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10389952, -0.08832588,  0.15015129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.43268698,  9.20833767,  4.9038225 ,  9.20833767, 15.21215973,
       -8.97483524,  4.9038225 , -8.97483524, 27.28552239,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004454864733177896
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.23039694e-14,  1.55759924e-14,  1.00000000e+00,  9.70446152e-28,
        1.00000000e+00, -1.55759924e-14, -1.00000000e+00,  0.00000000e+00,
       -6.23039694e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09918084, -0.05186884,  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:
[-1.68860792e-05, 1.89165476e-05, 1.44082307e-05,-7.25311793e-07,
 -2.40895591e-05,-2.16357256e-06,-4.07746288e-05,-3.65258374e-05,
  9.15869884e-06, 2.54329941e-05,-7.40854662e-06,-5.37869887e-06,
  2.64076597e-01,-5.73365113e-04, 9.39259168e-02, 3.45665091e-02,
 -6.02314405e-05, 2.74911003e-05,-9.80994602e+00,-1.18244684e-02,
 -2.39629922e-02, 5.15605956e-05]


--- Step 498 ---
qpos:
[-1.35802209e-02, 1.35159019e-02, 1.00378190e-02, 1.47340782e-02,
 -1.90623561e-02,-9.05458981e-03,-1.74496576e-02, 1.63415765e-02,
 -1.21347180e-02,-6.73584864e-03,-1.43711015e-02, 1.51466922e-02,
  1.40340278e+00, 3.20169807e-02, 2.87219863e-01,-2.75371560e-02,
  9.52017771e-02,-7.04707387e-02, 1.04557033e-01, 9.99993443e-01,
  1.17705112e-03, 4.65083795e-06,-3.42471634e-03]

qacc:
[ 4.46439520e+00,-5.26069059e-01, 5.11743707e-01, 4.50271059e+00,
  6.40505684e-01,-1.41622660e-01, 4.17570120e-01,-1.37448844e+00,
  1.01319118e+00, 1.52554292e+00,-6.01636275e+00, 1.06373630e+01,
 -5.14606143e-01, 1.26370237e+01, 1.25434364e+02,-3.00331189e+02,
 -1.39754615e+00,-6.32584067e-01,-1.59324326e-01, 1.60709978e+01,
 -5.03877642e+01, 4.60642064e+01]

qfrc_actuator:
[ 4.92631170e-04,-5.19910117e-04,-1.76873240e-04,-6.90680070e-05,
 -6.49428929e-04,-7.25554490e-04,-2.49007636e-04,-9.25719209e-05,
 -5.22453072e-04,-3.90062787e-04,-1.27326739e-04, 1.16567691e-05,
  2.10000000e-01,-5.65520611e-03, 9.00000000e-02, 3.09786386e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4272801 ,  0.42604882,  0.03241422,  0.42604882,  0.43100384,
       -0.04894449,  0.03241422, -0.04894449,  1.07060091,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003055452442886816
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69316089e-01,  2.45808917e-01, -2.07255202e-03,  2.45808355e-01,
        9.69318305e-01,  5.25577372e-04,  2.13815421e-03,  1.08420217e-19,
       -9.99997714e-01])
  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([ 0.10401762, -0.08899021,  0.1412014 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34339121,  0.32226499,  0.11858666,  0.32226499,  0.63951009,
       -0.80471741,  0.11858666, -0.80471741,  2.53024975,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008114216111725216
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76500258,  0.4701248 , -0.44017465,  0.40748551,  0.88259995,
        0.23446299,  0.49872499,  0.        , -0.86676028])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10390141, -0.08833137,  0.15014765])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.44755978, -10.24267062,  -2.05893267, -10.24267062,
        14.36139074, -19.4703217 ,  -2.05893267, -19.4703217 ,
       107.30749833,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00044666307855395493
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.21398476e-14, -1.55349619e-14,  1.00000000e+00, -9.65340164e-28,
        1.00000000e+00,  1.55349619e-14, -1.00000000e+00,  0.00000000e+00,
       -6.21398476e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09918269, -0.05187307,  0.06198101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.64379082e-05, 1.87557292e-05, 3.02434885e-05, 1.87353670e-05,
  3.78564502e-06,-3.00956320e-05,-1.31026105e-05,-5.53003684e-06,
  6.05414193e-06, 2.88258306e-05,-5.86576547e-06, 1.41401207e-05,
  2.63587520e-01,-7.10909794e-04, 9.04663514e-02, 3.52423362e-02,
 -3.51439599e-06, 3.64832553e-06,-9.80999940e+00,-1.18181184e-02,
 -2.39596785e-02, 5.21523931e-05]


--- Step 499 ---
qpos:
[-1.35795903e-02, 1.35160239e-02, 1.00379848e-02, 1.47342545e-02,
 -1.90631049e-02,-9.05508668e-03,-1.74500905e-02, 1.63409316e-02,
 -1.21342758e-02,-6.73425607e-03,-1.43707776e-02, 1.51477115e-02,
  1.40341646e+00, 3.20319521e-02, 2.87272194e-01,-2.76346438e-02,
  9.51984060e-02,-7.04768488e-02, 1.04556159e-01, 9.99993730e-01,
  1.22807786e-03,-8.67203333e-05,-3.32033361e-03]

qacc:
[  8.80840129,  1.14013769, -7.86290829, 23.22130537, -2.49549911,
   0.58424527, -3.86124672,  9.62958072,  6.63052621,  1.51373543,
  -5.93813486,  9.5592385 , -0.60183397, -5.97431097,  4.52401889,
 -14.48981996,  0.03978113,  0.21778938,  0.30633697,  4.02035473,
  -3.64661065, 24.99335136]

qfrc_actuator:
[ 5.44129232e-04,-5.16831269e-04,-1.62345602e-04,-2.30034617e-05,
 -6.64359324e-04,-7.36672039e-04,-2.52633835e-04,-7.63814705e-05,
 -4.83388031e-04,-3.98751007e-04,-1.51224850e-04, 1.92140498e-05,
  2.10000000e-01,-5.64682210e-03, 9.00000000e-02, 3.09912776e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42617212,  0.41970836,  0.07394299,  0.41970836,  0.5517843 ,
       -0.71298821,  0.07394299, -0.71298821,  4.47316986,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003020181919011937
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69332925e-01,  2.45741280e-01, -2.21468187e-03,  2.45740638e-01,
        9.69335455e-01,  5.61455536e-04,  2.28474246e-03,  0.00000000e+00,
       -9.99997390e-01])
  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([ 0.1040115 , -0.08900208,  0.14119911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34411275,  0.32114489,  0.12361045,  0.32114489,  0.52088619,
       -0.45926447,  0.12361045, -0.45926447,  1.53730022,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008142613151487596
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76561448,  0.46923583, -0.44005933,  0.4068223 ,  0.88307289,
        0.23383302,  0.49832729,  0.        , -0.86698899])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10389233, -0.08834162,  0.15014622])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.44524262,   8.971904  ,   5.34864768,   8.971904  ,
        18.0432126 , -12.74495187,   5.34864768, -12.74495187,
        31.82382117,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00044648017213532967
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06846616e-13, -1.53630048e-08,  1.00000000e+00,  1.64148508e-21,
        1.00000000e+00,  1.53630048e-08, -1.00000000e+00,  0.00000000e+00,
        1.06846616e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0887008 , -0.05758917,  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:
[ 5.22652906e-05, 2.06405529e-05, 2.27785377e-05, 4.82790010e-05,
 -1.48154451e-05,-3.08722197e-05,-1.16426987e-05, 1.43406243e-05,
  3.91853480e-05, 6.83370023e-06,-1.81760328e-05, 8.86462765e-06,
  2.63327269e-01,-7.60549396e-04, 8.72522869e-02, 3.57524451e-02,
 -2.47688033e-05, 6.37963349e-06,-9.80997062e+00,-1.18184602e-02,
 -2.39647453e-02, 5.58605299e-05]


--- Step 500 ---
qpos:
[-1.35790364e-02, 1.35159190e-02, 1.00379585e-02, 1.47347049e-02,
 -1.90640265e-02,-9.05567760e-03,-1.74503365e-02, 1.63401026e-02,
 -1.21337147e-02,-6.73281064e-03,-1.43706197e-02, 1.51488365e-02,
  1.40342532e+00, 3.20461393e-02, 2.87286423e-01,-2.77239448e-02,
  9.51987018e-02,-7.04806405e-02, 1.04555691e-01, 9.99993987e-01,
  1.25944355e-03,-1.25383432e-04,-3.22877473e-03]

qacc:
[-6.67297656e-01, 8.02239281e-01,-4.45027980e+00, 9.66415445e+00,
 -1.49323200e+00,-1.02213341e+00, 4.24638143e+00,-7.66637354e+00,
  1.03543541e+00, 4.84754043e-01,-2.46044923e+00, 4.66723222e+00,
 -3.70200160e-01,-6.70458511e+00,-8.12511720e+01, 2.02236248e+02,
  9.16729796e-01, 5.79587061e-01, 1.01490551e-01,-9.91850806e+00,
  2.63133551e+01,-6.44344703e+00]

qfrc_actuator:
[ 5.38661502e-04,-5.68318356e-04,-1.89369061e-04,-1.37359397e-05,
 -6.72845507e-04,-7.25249432e-04,-2.36831818e-04,-8.43512977e-05,
 -4.78335237e-04,-4.22430077e-04,-1.65481422e-04, 2.32323555e-05,
  2.10000000e-01,-5.61153573e-03, 9.00000000e-02, 3.10563167e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42543631,  0.41375051,  0.09902815,  0.41375051,  0.49392262,
       -0.28614333,  0.09902815, -0.28614333,  1.6209747 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029964358477467117
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69350330e-01,  2.45671193e-01, -2.36707582e-03,  2.45670461e-01,
        9.69353220e-01,  5.99907578e-04,  2.44191258e-03,  1.08420217e-19,
       -9.99997019e-01])
  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([ 0.10400635, -0.08901193,  0.14119756])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008175837472617441
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76614837,  0.46845761, -0.43995926,  0.40624078,  0.88348597,
        0.23328301,  0.49798103,  0.        , -0.86718792])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10388435, -0.08835059,  0.15014523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.47725753,   9.17054943,   5.06694668,   9.17054943,
        20.90928553, -18.88068584,   5.06694668, -18.88068584,
        44.64897349,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004489941436415304
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.18172331e-14,  1.54543083e-14,  1.00000000e+00, -9.55342575e-28,
        1.00000000e+00, -1.54543083e-14, -1.00000000e+00,  0.00000000e+00,
        6.18172331e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0814037 , -0.06157272,  0.06198091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.96298765e-06,-3.31744827e-05,-1.82927882e-05, 1.18763154e-05,
 -8.89903791e-06,-7.60932228e-06, 8.49668861e-06,-9.41427193e-06,
  6.11427170e-06,-2.32400841e-05,-1.47861040e-05, 3.85151647e-06,
  2.63520137e-01,-6.63040754e-04, 8.72191209e-02, 3.58765014e-02,
 -5.20267653e-05, 2.45411023e-05,-9.80995312e+00,-1.18190461e-02,
 -2.39702924e-02, 6.03644110e-05]


--- Step 501 ---
qpos:
[-1.35785516e-02, 1.35155236e-02, 1.00374010e-02, 1.47352962e-02,
 -1.90646975e-02,-9.05635123e-03,-1.74501466e-02, 1.63395107e-02,
 -1.21334431e-02,-6.73141678e-03,-1.43706723e-02, 1.51499919e-02,
  1.40343079e+00, 3.20599310e-02, 2.87264997e-01,-2.78058851e-02,
  9.52021435e-02,-7.04829054e-02, 1.04555437e-01, 9.99994175e-01,
  1.27325632e-03,-1.15919628e-04,-3.16464273e-03]

qacc:
[-6.11191260e-01, 1.39293535e+00,-6.11661024e+00, 9.61779161e+00,
  2.19104413e+00,-8.43407428e-01, 1.84090274e+00, 1.63225300e+00,
 -2.53241905e+00, 5.87776489e-01,-2.31488018e+00, 3.20776803e+00,
 -1.61844746e-01,-4.62866929e+00,-7.51144631e+01, 1.86059245e+02,
  7.86492116e-01, 3.81709279e-01, 5.33961862e-02,-8.85577737e+00,
  2.40176933e+01,-1.37426716e+01]

qfrc_actuator:
[ 5.35205355e-04,-5.99032402e-04,-2.23210096e-04,-8.51996558e-06,
 -6.59712263e-04,-7.18103066e-04,-2.09611759e-04,-7.09385996e-05,
 -4.93352005e-04,-4.19374774e-04,-1.73998968e-04, 2.51299473e-05,
  2.10000000e-01,-5.61332095e-03, 9.00000000e-02, 3.11616538e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42572239,  0.41380456,  0.1000267 ,  0.41380456,  0.49454023,
       -0.28469531,  0.1000267 , -0.28469531,  1.60349008,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030056994522751436
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69371408e-01,  2.45587428e-01, -2.42681605e-03,  2.45586658e-01,
        9.69374445e-01,  6.14824865e-04,  2.50348672e-03,  0.00000000e+00,
       -9.99996866e-01])
  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([ 0.10400679, -0.08901571,  0.1411971 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008198976465024532
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76629879,  0.46813752, -0.44003799,  0.40596495,  0.88365563,
        0.23312056,  0.49797453,  0.        , -0.86719166])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10388404, -0.08835506,  0.150143  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044998241872269
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.16814668e-14,  1.92754584e-14,  1.00000000e+00,  1.18893855e-27,
        1.00000000e+00, -1.92754584e-14, -1.00000000e+00,  0.00000000e+00,
       -6.16814668e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08140591, -0.06157654,  0.06198087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.57868591e-06,-5.25570043e-05,-4.25423305e-05, 3.39150051e-06,
  1.29006634e-05, 4.27322346e-06, 2.63803874e-05, 1.31998584e-05,
 -1.49060057e-05,-1.28528304e-05,-1.50146944e-05, 4.62964998e-07,
  2.63761877e-01,-6.25725074e-04, 8.91244033e-02, 3.55724917e-02,
 -2.84122816e-05, 1.56893304e-05,-9.80998364e+00,-1.18146113e-02,
 -2.39702866e-02, 6.31308379e-05]


--- Step 502 ---
qpos:
[-1.35777672e-02, 1.35150059e-02, 1.00366015e-02, 1.47362492e-02,
 -1.90648607e-02,-9.05702834e-03,-1.74502176e-02, 1.63394674e-02,
 -1.21326648e-02,-6.73006288e-03,-1.43708533e-02, 1.51511536e-02,
  1.40343428e+00, 3.20737337e-02, 2.87210863e-01,-2.78816596e-02,
  9.52082679e-02,-7.04843323e-02, 1.04555226e-01, 9.99994257e-01,
  1.27146788e-03,-6.22580020e-05,-3.14088582e-03]

qacc:
[ 2.59352617e+00, 1.25474317e+00,-6.24369472e+00, 1.29889774e+01,
  4.40255332e+00, 1.84479730e+00,-8.91702883e+00, 1.88515220e+01,
  4.41867668e+00, 3.10427255e-01,-1.22526395e+00, 1.58602571e+00,
 -1.83169561e-02,-2.25005979e+00,-6.71085371e+01, 1.64439841e+02,
  6.70669154e-01, 2.09501289e-01, 1.09281110e-02,-7.87276687e+00,
  2.20483865e+01,-2.02148283e+01]

qfrc_actuator:
[ 5.50731915e-04,-5.81623125e-04,-2.25220321e-04, 1.20411144e-05,
 -6.33961631e-04,-7.31248801e-04,-2.29122440e-04,-4.50437286e-05,
 -4.66791750e-04,-4.18068189e-04,-1.78962128e-04, 2.57880496e-05,
  2.10000000e-01,-5.63742399e-03, 9.00000000e-02, 3.12532158e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4267627 ,  0.41510725,  0.0990574 ,  0.41510725,  0.49245921,
       -0.275306  ,  0.0990574 , -0.275306  ,  1.58045252,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030390535452191154
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69396078e-01,  2.45490275e-01, -2.40183004e-03,  2.45489521e-01,
        9.69399053e-01,  6.08238595e-04,  2.47764843e-03,  0.00000000e+00,
       -9.99996931e-01])
  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([ 0.10401182, -0.08901531,  0.14119744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008213713668489571
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76615986,  0.4681528 , -0.44026358,  0.40590833,  0.88364753,
        0.23324982,  0.49823438,  0.        , -0.86704239])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10389   , -0.08835641,  0.15013966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044972866972415454
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23432538e-13, -7.71453364e-15,  1.00000000e+00, -9.52224469e-28,
        1.00000000e+00,  7.71453364e-15, -1.00000000e+00,  0.00000000e+00,
       -1.23432538e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08140736, -0.06157936,  0.06198088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54260901e-05,-2.06441444e-05,-1.79957149e-05, 1.69017982e-05,
  2.61455303e-05,-4.71269478e-06,-1.49142330e-05, 2.72487301e-05,
  2.60769389e-05,-8.98189488e-06,-9.45566679e-06,-4.03698925e-07,
  2.63931291e-01,-6.30837708e-04, 9.09073102e-02, 3.52959870e-02,
 -1.21974816e-05, 4.34714705e-06,-9.80999800e+00,-1.18118615e-02,
 -2.39686445e-02, 6.37113481e-05]


--- Step 503 ---
qpos:
[-1.35768023e-02, 1.35144147e-02, 1.00360176e-02, 1.47370567e-02,
 -1.90643682e-02,-9.05789643e-03,-1.74503857e-02, 1.63390577e-02,
 -1.21315752e-02,-6.72890017e-03,-1.43710356e-02, 1.51523249e-02,
  1.40343702e+00, 3.20879513e-02, 2.87127053e-01,-2.79525850e-02,
  9.52166833e-02,-7.04854875e-02, 1.04554911e-01, 9.99994192e-01,
  1.25567009e-03, 3.23291056e-05,-3.16835992e-03]

qacc:
[ 1.57171591e+00,-1.00273185e+00, 4.04302075e+00,-6.84593257e+00,
  5.69234441e+00,-7.46424154e-01, 3.82369365e+00,-9.85083319e+00,
  2.72022753e+00,-2.35070829e-01, 4.22477834e-01,-1.06364194e-01,
  5.20462020e-02, 2.83041279e-01,-5.86116372e+01, 1.41285612e+02,
  5.72723902e-01, 6.79233146e-02,-2.61790982e-02,-7.07040503e+00,
  2.04080485e+01,-2.56411713e+01]

qfrc_actuator:
[ 5.59554194e-04,-5.70897152e-04,-2.08208842e-04, 6.02697274e-06,
 -6.00998115e-04,-7.56615949e-04,-2.40643890e-04,-6.53240305e-05,
 -4.51470901e-04,-4.35554454e-04,-1.81790568e-04, 2.57143954e-05,
  2.10000000e-01,-5.65741355e-03, 9.00000000e-02, 3.13525160e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42835512,  0.4172292 ,  0.09699438,  0.4172292 ,  0.48854582,
       -0.25891517,  0.09699438, -0.25891517,  1.54209973,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030891331680714656
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69424156e-01,  2.45380361e-01, -2.29883790e-03,  2.45379671e-01,
        9.69426882e-01,  5.81879546e-04,  2.37133707e-03, -1.08420217e-19,
       -9.99997188e-01])
  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([ 0.10402053, -0.08901235,  0.1411983 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008223013821211444
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76581143,  0.46839606, -0.44061092,  0.40599378,  0.88351861,
        0.23358922,  0.49870022,  0.        , -0.86677453])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10390102, -0.08835582,  0.15013527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004484765671276397
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23777150e-13,  3.86803593e-15,  1.00000000e+00,  4.78774463e-28,
        1.00000000e+00, -3.86803593e-15, -1.00000000e+00,  0.00000000e+00,
       -1.23777150e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08140819, -0.06158137,  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:
[ 9.28589197e-06,-3.83675661e-06, 1.11044431e-05,-7.19502236e-06,
  3.37396465e-05,-2.99003419e-05,-1.33883003e-05,-2.04687624e-05,
  1.60155610e-05,-2.45027848e-05,-5.87401027e-06,-7.96885004e-07,
  2.64031118e-01,-6.52801172e-04, 9.25426361e-02, 3.50869526e-02,
 -8.20417051e-06,-2.11719055e-06,-9.80999579e+00,-1.18115874e-02,
 -2.39659069e-02, 6.23299379e-05]


--- Step 504 ---
qpos:
[-1.35757384e-02, 1.35136837e-02, 1.00356690e-02, 1.47377926e-02,
 -1.90638285e-02,-9.05890058e-03,-1.74504176e-02, 1.63380399e-02,
 -1.21306560e-02,-6.72797569e-03,-1.43709046e-02, 1.51527797e-02,
  1.40343738e+00, 3.21015594e-02, 2.87026887e-01,-2.80171069e-02,
  9.52261078e-02,-7.04862066e-02, 1.04554888e-01, 9.99993952e-01,
  1.22388725e-03, 1.51825650e-04,-3.25188407e-03]

qacc:
[ 8.67753261e-01,-9.91769526e-01, 3.56756458e+00,-5.07704319e+00,
  4.17212502e-01,-1.81238154e+00, 8.76819040e+00,-1.94103532e+01,
 -1.47304938e+00,-2.66159534e+00, 1.20636591e+01,-2.47948949e+01,
  4.18294814e-02,-5.12860025e+00,-4.36604491e+01, 1.17455954e+02,
  2.52306897e-01, 1.09034881e-01, 7.30292870e-02,-8.03092629e+00,
  1.23941359e+01,-2.80410356e+01]

qfrc_actuator:
[ 5.64353375e-04,-5.81933537e-04,-1.97897731e-04, 2.18278870e-06,
 -5.99562936e-04,-7.53621776e-04,-2.29678647e-04,-9.48610656e-05,
 -4.60653637e-04,-4.46396593e-04,-1.65661371e-04,-1.03092192e-05,
  2.10000000e-01,-5.71084852e-03, 9.00000000e-02, 3.15618252e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4303424 ,  0.42278106,  0.08031655,  0.42278106,  0.48128169,
       -0.26814113,  0.08031655, -0.26814113,  1.84181973,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031500535960316
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69455405e-01,  2.45258455e-01, -2.12343639e-03,  2.45257867e-01,
        9.69457730e-01,  5.37197973e-04,  2.19033417e-03,  0.00000000e+00,
       -9.99997601e-01])
  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([ 0.10403214, -0.08900815,  0.14119948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00082298672226898
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65318304e-01,  4.68778721e-01, -4.41060545e-01,  4.06157122e-01,
        8.83315635e-01,  2.34072386e-01,  4.99323829e-01, -2.77555756e-17,
       -8.66415439e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10391607, -0.08835428,  0.15012985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044641724456421887
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.88666130e-07,  1.39618889e-06,  1.00000000e+00,  6.82270221e-13,
        1.00000000e+00, -1.39618889e-06, -1.00000000e+00,  0.00000000e+00,
       -4.88666130e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0833121 , -0.06235303,  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:
[ 5.09187107e-06,-1.12304430e-05, 1.06246159e-05,-3.76700264e-06,
  2.43197286e-06,-1.73746683e-05, 2.42453863e-06,-3.16824978e-05,
 -8.77487004e-06,-2.58291607e-05, 1.03022192e-05,-3.72959035e-05,
  2.64068957e-01,-7.28974063e-04, 9.40263638e-02, 3.50537363e-02,
 -2.27191115e-05, 2.90448858e-06,-9.80997708e+00,-1.18142919e-02,
 -2.39624403e-02, 5.91687123e-05]


--- Step 505 ---
qpos:
[-1.35749694e-02, 1.35127682e-02, 1.00357654e-02, 1.47384678e-02,
 -1.90636197e-02,-9.05974654e-03,-1.74502131e-02, 1.63369757e-02,
 -1.21298542e-02,-6.72754378e-03,-1.43704544e-02, 1.51528318e-02,
  1.40343223e+00, 3.21111422e-02, 2.87018007e-01,-2.80637894e-02,
  9.52263530e-02,-7.04852933e-02, 1.04555078e-01, 9.99993834e-01,
  1.17983658e-03, 1.58240571e-04,-3.30365824e-03]

qacc:
[-2.53950655e+00,-1.60773104e+00, 5.64304755e+00,-7.27731563e+00,
 -2.86952042e+00,-5.41313568e-01, 2.43928479e+00,-3.74761320e+00,
 -1.00786935e+00,-2.36985499e+00, 9.20933196e+00,-1.63309804e+01,
 -2.75537367e-01,-1.91159349e+01, 8.08756901e+01,-8.73378899e+01,
 -2.29484502e+00, 4.08077130e-01, 5.34487944e-02,-5.95250224e+00,
 -5.65409973e+01, 1.59433611e+01]

qfrc_actuator:
[ 5.48995314e-04,-5.88179160e-04,-1.73960195e-04,-3.75116826e-07,
 -6.16698769e-04,-7.15836717e-04,-2.05415853e-04,-9.40586668e-05,
 -4.66428798e-04,-4.88633985e-04,-1.56224128e-04,-3.16754743e-05,
  2.10000000e-01,-5.69472917e-03, 9.00000000e-02, 3.16916247e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43221261,  0.40918606,  0.13919234,  0.40918606,  0.58875931,
       -0.46020295,  0.13919234, -0.46020295,  1.78507893,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032058754193792514
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69487432e-01,  2.45133598e-01, -1.90761527e-03,  2.45133124e-01,
        9.69489308e-01,  4.82337032e-04,  1.96764962e-03, -5.42101086e-20,
       -9.99998064e-01])
  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([ 0.10404474, -0.0890037 ,  0.14120064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008232978756444804
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76479557,  0.46924476, -0.44147152,  0.40639707,  0.88306815,
        0.23458913,  0.49992916,  0.        , -0.8660663 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10393248, -0.08835197,  0.15012517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.46706543, 10.46172107, -0.33444139, 10.46172107, 10.48886951,
        0.68205721, -0.33444139,  0.68205721, 31.8026192 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004481968724999888
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.09635981e-14, -1.86515440e-06,  1.00000000e+00, -5.77518910e-20,
        1.00000000e+00,  1.86515440e-06, -1.00000000e+00,  0.00000000e+00,
       -3.09635981e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10180335, -0.06232743,  0.06198094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51865594e-05,-1.05317768e-05, 2.27823552e-05,-2.74749615e-06,
 -1.70315273e-05, 2.71935493e-05, 1.98698756e-05,-4.76159305e-07,
 -6.07043727e-06,-5.61907802e-05, 4.06893208e-06,-2.28444252e-05,
  2.64188539e-01,-6.84678940e-04, 9.48440240e-02, 3.48632817e-02,
 -5.25444814e-05, 2.08539531e-05,-9.80995027e+00,-1.18194983e-02,
 -2.39591058e-02, 5.45436706e-05]


--- Step 506 ---
qpos:
[-1.35743901e-02, 1.35118668e-02, 1.00364000e-02, 1.47383840e-02,
 -1.90636173e-02,-9.06048703e-03,-1.74497312e-02, 1.63362777e-02,
 -1.21291285e-02,-6.72751413e-03,-1.43701985e-02, 1.51529974e-02,
  1.40343469e+00, 3.21221033e-02, 2.87082341e-01,-2.81208309e-02,
  9.52205464e-02,-7.04876757e-02, 1.04554421e-01, 9.99993911e-01,
  1.17718383e-03, 6.63542286e-05,-3.28434022e-03]

qacc:
[-1.62781511e+00,-3.04692618e+00, 1.41010897e+01,-2.81164994e+01,
 -1.78491173e+00, 1.21790114e-01,-1.77228863e+00, 7.58323958e+00,
 -6.62039252e-01, 2.46108512e-01,-2.12559319e+00, 4.69283888e+00,
  1.72244602e-01, 1.29737999e+01, 1.39868945e+02,-3.31693357e+02,
 -1.51293412e+00,-8.23897195e-01,-2.11979018e-01, 2.08554738e+01,
 -4.90400219e+01, 3.56074668e+01]

qfrc_actuator:
[ 5.39649815e-04,-5.73697009e-04,-1.42150532e-04,-3.76488440e-05,
 -6.26865179e-04,-7.10674837e-04,-1.91081847e-04,-7.53710596e-05,
 -4.70144047e-04,-5.13853644e-04,-1.68686079e-04,-2.65218631e-05,
  2.10000000e-01,-5.65097022e-03, 9.00000000e-02, 3.17242159e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43092575,  0.30283736,  0.30657223,  0.30283736,  1.67802305,
       -1.23190431,  0.30657223, -1.23190431,  1.64782217,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031676185519355777
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69501694e-01,  2.45077111e-01, -1.91682374e-03,  2.45076632e-01,
        9.69503589e-01,  4.84546555e-04,  1.97711877e-03,  5.42101086e-20,
       -9.99998045e-01])
  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([ 0.10404524, -0.08900337,  0.14119888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34574321,  0.32131418,  0.12765406,  0.32131418,  0.75537982,
       -1.03108392,  0.12765406, -1.03108392,  2.94105338,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008208007037166932
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76490433,  0.46945997, -0.44105409,  0.40669396,  0.88295376,
        0.23450519,  0.49952117,  0.        , -0.86630168])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10393231, -0.08834937,  0.15013007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004495476525950906
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.92941e-15,  0.00000e+00,  1.00000e+00,  0.00000e+00,
        1.00000e+00,  0.00000e+00, -1.00000e+00,  0.00000e+00,
       -1.92941e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09919091, -0.05189036,  0.06198089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.75745843e-06, 1.31452463e-05, 3.23360486e-05,-3.69913127e-05,
 -1.06173500e-05, 2.44386711e-05, 2.23803446e-05, 2.05314717e-05,
 -3.92899914e-06,-5.68130277e-05,-2.43678937e-05, 2.44019620e-06,
  2.64463799e-01,-4.40075156e-04, 9.02799024e-02, 3.40039037e-02,
 -1.09128288e-05, 5.62514463e-06,-9.80999000e+00,-1.18161238e-02,
 -2.39585767e-02, 5.26472538e-05]


--- Step 507 ---
qpos:
[-1.35742716e-02, 1.35109326e-02, 1.00374656e-02, 1.47375221e-02,
 -1.90637365e-02,-9.06102139e-03,-1.74493568e-02, 1.63354775e-02,
 -1.21281087e-02,-6.72726500e-03,-1.43700746e-02, 1.51524477e-02,
  1.40344014e+00, 3.21327668e-02, 2.87209140e-01,-2.81843420e-02,
  9.52096550e-02,-7.04924972e-02, 1.04553125e-01, 9.99994262e-01,
  1.20127988e-03,-1.25811763e-04,-3.16505689e-03]

qacc:
[-3.98249512e+00,-2.84298465e+00, 1.33719926e+01,-2.75177443e+01,
 -1.06298245e+00, 3.64403989e-01,-4.69334814e-01,-1.28184254e+00,
  2.55781734e+00,-8.18521055e-01, 6.35094799e+00,-1.86720193e+01,
  6.16830954e-02, 2.26333546e+00, 1.12068953e+02,-2.57805332e+02,
 -1.27120297e+00,-6.09783086e-01,-1.59577210e-01, 1.35355139e+01,
 -5.00367640e+01, 5.00427073e+01]

qfrc_actuator:
[ 5.16171908e-04,-5.82408228e-04,-1.23641618e-04,-7.72767320e-05,
 -6.32842164e-04,-7.07344800e-04,-2.00593185e-04,-8.18516315e-05,
 -4.54865300e-04,-4.57745416e-04,-1.58396391e-04,-5.90692301e-05,
  2.10000000e-01,-5.66543160e-03, 9.00000000e-02, 3.17905552e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42842348,  0.41814183, -0.0932957 ,  0.41814183,  0.52350128,
        0.426129  , -0.0932957 ,  0.426129  ,  2.3382902 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003091257264535915
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69507300e-01,  2.45053464e-01, -2.09642621e-03,  2.45052891e-01,
        9.69509567e-01,  5.29893176e-04,  2.16235742e-03,  0.00000000e+00,
       -9.99997662e-01])
  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([ 0.1040368 , -0.08901106,  0.14119588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34554245,  0.30814757,  0.1563479 ,  0.30814757,  0.58964839,
       -0.48111074,  0.1563479 , -0.48111074,  1.29376822,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008199859066216848
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76554431,  0.46898746, -0.44044599,  0.40650897,  0.88320482,
        0.23387966,  0.49869065,  0.        , -0.86678004])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10392005, -0.08835327,  0.15013596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044957513542856486
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23474692e-13,  7.71716823e-15,  1.00000000e+00,  9.52874968e-28,
        1.00000000e+00, -7.71716823e-15, -1.00000000e+00,  0.00000000e+00,
       -1.23474692e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09919221, -0.05189286,  0.06198089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.37291002e-05, 3.70752906e-06, 2.39204338e-05,-3.86665471e-05,
 -6.25308966e-06, 2.24948164e-05,-9.95649029e-07,-4.25884055e-06,
  1.51428010e-05, 1.93815139e-05,-4.37131052e-06,-3.57792108e-05,
  2.64083471e-01,-5.22435452e-04, 8.66195391e-02, 3.45882495e-02,
 -2.16752058e-05, 4.71546533e-06,-9.80998077e+00,-1.18170025e-02,
 -2.39607921e-02, 5.47550114e-05]


--- Step 508 ---
qpos:
[-1.35744351e-02, 1.35098712e-02, 1.00385189e-02, 1.47365808e-02,
 -1.90642713e-02,-9.06109336e-03,-1.74491988e-02, 1.63342354e-02,
 -1.21265693e-02,-6.72661335e-03,-1.43697492e-02, 1.51521546e-02,
  1.40343929e+00, 3.21414750e-02, 2.87300170e-01,-2.82390893e-02,
  9.52029371e-02,-7.04947215e-02, 1.04552803e-01, 9.99994586e-01,
  1.20891342e-03,-2.59209041e-04,-3.04952940e-03]

qacc:
[-2.44169954e+00,-2.92590689e-01, 1.14297304e+00,-2.41336498e+00,
 -3.62295955e+00, 3.12810140e-01, 1.65006126e+00,-9.30832911e+00,
  4.53508221e+00, 4.88260571e-01,-2.06760917e+00, 5.90609542e+00,
  8.54207415e-02,-1.46224587e+01,-7.96384158e+01, 2.01369731e+02,
  1.04337732e+00, 6.49275722e-01, 2.43305694e-01,-8.32443297e+00,
  2.93558785e+01,-1.91220564e+00]

qfrc_actuator:
[ 5.02314352e-04,-6.04994196e-04,-1.30973683e-04,-8.24892691e-05,
 -6.54060326e-04,-6.69751441e-04,-2.06385278e-04,-1.03111280e-04,
 -4.28529737e-04,-4.06559193e-04,-1.34440360e-04,-4.24433822e-05,
  2.10000000e-01,-5.66044257e-03, 9.00000000e-02, 3.18773977e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42499269,  0.4193282 ,  0.06915669,  0.4193282 ,  0.46909912,
       -0.26743721,  0.06915669, -0.26743721,  2.04658514,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029819912161535437
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69506367e-01,  2.45053803e-01, -2.45726438e-03,  2.45053016e-01,
        9.69509481e-01,  6.21099633e-04,  2.53454394e-03,  1.08420217e-19,
       -9.99996788e-01])
  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([ 0.10402111, -0.08902393,  0.14119198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34560881, -0.30638666, -0.15991457, -0.30638666,  0.59814332,
       -0.48384086, -0.15991457, -0.48384086,  1.27261867,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008202549337037568
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76660823,  0.46804495, -0.43959726,  0.40602604,  0.88370466,
        0.2328281 ,  0.49744816,  0.        , -0.8674937 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10389762, -0.08836116,  0.15014401])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.53687567,  9.1613912 ,  5.20525313,  9.1613912 , 15.22402414,
       -8.2495125 ,  5.20525313, -8.2495125 , 25.05624856,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045360153901921607
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.11893330e-14, -1.14729999e-14,  1.00000000e+00, -7.02025213e-28,
        1.00000000e+00,  1.14729999e-14, -1.00000000e+00,  0.00000000e+00,
       -6.11893330e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08141664, -0.0615957 ,  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:
[-1.45166414e-05,-1.72430675e-05,-4.95837155e-06,-4.97789597e-06,
 -2.13733124e-05, 4.97863858e-05,-1.41409963e-06,-2.04125099e-05,
  2.67684746e-05, 5.95557879e-05, 2.61700561e-05, 1.66059214e-05,
  2.63932873e-01,-5.00311685e-04, 8.34969320e-02, 3.49986718e-02,
 -1.24846690e-04, 5.35680294e-05,-9.80988882e+00,-1.18272777e-02,
 -2.39703920e-02, 5.99453479e-05]


--- Step 509 ---
qpos:
[-1.35751079e-02, 1.35088546e-02, 1.00391162e-02, 1.47359388e-02,
 -1.90647113e-02,-9.06070648e-03,-1.74494667e-02, 1.63334536e-02,
 -1.21254161e-02,-6.72582810e-03,-1.43690690e-02, 1.51527766e-02,
  1.40343386e+00, 3.21486505e-02, 2.87356971e-01,-2.82860174e-02,
  9.51998319e-02,-7.04952036e-02, 1.04553173e-01, 9.99994860e-01,
  1.20194331e-03,-3.39153938e-04,-2.95312035e-03]

qacc:
[-4.43100934e+00, 1.95951654e+00,-8.14922403e+00, 1.40093299e+01,
  8.01399968e-01, 2.74160233e+00,-1.08428832e+01, 1.91580076e+01,
 -3.36168270e+00, 1.07549420e+00,-7.43146548e+00, 2.25934227e+01,
  4.12239991e-01,-1.26426018e+01,-7.44870929e+01, 1.86683757e+02,
  9.03164256e-01, 4.35582216e-01, 1.73028896e-01,-7.38573488e+00,
  2.66922160e+01,-9.58966554e+00]

qfrc_actuator:
[ 4.76481663e-04,-6.00292290e-04,-1.53539509e-04,-6.74399920e-05,
 -6.48575378e-04,-6.47444084e-04,-2.27546564e-04,-7.95997343e-05,
 -4.49161226e-04,-4.11854888e-04,-1.20317748e-04, 3.00073309e-06,
  2.10000000e-01,-5.69526456e-03, 9.00000000e-02, 3.19283911e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42311064,  0.41619968,  0.07616059,  0.41619968,  0.47548282,
       -0.28620162,  0.07616059, -0.28620162,  1.987135  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029196034390501256
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69507775e-01,  2.45045547e-01, -2.71203975e-03,  2.45044588e-01,
        9.69511568e-01,  6.85472237e-04,  2.79732583e-03,  0.00000000e+00,
       -9.99996087e-01])
  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([ 0.10401169, -0.08902947,  0.14118989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34561701, -0.25838274, -0.22954188, -0.25838274,  1.79013023,
       -1.62600955, -0.22954188, -1.62600955,  2.17592705,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008202881680720394
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.67201376e-01,  4.67617573e-01, -4.39016918e-01,  4.05865268e-01,
        8.83930883e-01,  2.32248957e-01,  4.96664306e-01,  2.77555756e-17,
       -8.67942721e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10388397, -0.08836396,  0.15015014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.58839248,  -8.55107997,  -6.24444446,  -8.55107997,
        41.78076485, -42.71452362,  -6.24444446, -42.71452362,
        69.08123511,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045750752502585895
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.06669270e-14, -7.58336587e-15,  1.00000000e+00, -4.60059504e-28,
        1.00000000e+00,  7.58336587e-15, -1.00000000e+00,  0.00000000e+00,
       -6.06669270e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08142019, -0.06160114,  0.06198055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.62287116e-05,-6.17975044e-06,-2.69083465e-05, 1.40426942e-05,
  4.89140723e-06, 4.89929238e-05,-1.17511925e-05, 2.52008846e-05,
 -1.98724766e-05, 3.40764242e-05, 3.02025424e-05, 4.92203028e-05,
  2.64247851e-01,-4.35791101e-04, 8.52858355e-02, 3.46115436e-02,
 -7.64068712e-05, 4.52916404e-05,-9.80994280e+00,-1.18229635e-02,
 -2.39744580e-02, 6.38579358e-05]


--- Step 510 ---
qpos:
[-1.35760849e-02, 1.35081558e-02, 1.00392616e-02, 1.47357917e-02,
 -1.90643927e-02,-9.06018050e-03,-1.74499194e-02, 1.63340201e-02,
 -1.21248644e-02,-6.72508437e-03,-1.43680638e-02, 1.51536180e-02,
  1.40342549e+00, 3.21547326e-02, 2.87381588e-01,-2.83263088e-02,
  9.51998480e-02,-7.04946668e-02, 1.04553985e-01, 9.99995059e-01,
  1.18201815e-03,-3.70160571e-04,-2.88916518e-03]

qacc:
[-2.65640258e+00, 2.70786284e+00,-1.11258997e+01, 2.01703211e+01,
  6.58061372e+00, 3.46174502e+00,-1.77932348e+01, 4.13497227e+01,
 -5.23857735e+00,-5.01035340e-01, 7.97959785e-01, 2.49239257e+00,
  6.50180700e-01,-1.03240847e+01,-6.78618208e+01, 1.67942101e+02,
  7.80332594e-01, 2.54711749e-01, 1.10646265e-01,-6.55521023e+00,
  2.44303614e+01,-1.62541843e+01]

qfrc_actuator:
[ 4.61556830e-04,-5.61586161e-04,-1.67044239e-04,-4.05805644e-05,
 -6.09659929e-04,-6.52242355e-04,-2.39880646e-04,-1.21984046e-05,
 -4.79522286e-04,-4.33179196e-04,-1.12329121e-04, 1.17167037e-05,
  2.10000000e-01,-5.73586086e-03, 9.00000000e-02, 3.20085722e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42233788,  0.41449034,  0.08103727,  0.41449034,  0.47918761,
       -0.29077568,  0.08103727, -0.29077568,  1.90960062,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002893448647612633
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69511821e-01,  2.45027734e-01, -2.87025020e-03,  2.45026660e-01,
        9.69516070e-01,  7.25404071e-04,  2.96049781e-03, -1.08420217e-19,
       -9.99995618e-01])
  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([ 0.10400748, -0.08902976,  0.14118921])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008199732989139301
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76743039,  0.46757406, -0.43866285,  0.40593807,  0.8839539 ,
        0.23203401,  0.49625083,  0.        , -0.8681792 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10387761, -0.08836315,  0.15015453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045949143784467655
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.51012474e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.51012474e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08142266, -0.06160521,  0.06198047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56515928e-05, 3.03062073e-05,-1.76012460e-05, 2.59392033e-05,
  3.90636456e-05, 2.12687982e-05,-2.78499584e-06, 6.95853777e-05,
 -3.09594825e-05, 6.02702200e-06, 2.04366409e-05, 1.21771191e-05,
  2.64476176e-01,-3.98820417e-04, 8.69976231e-02, 3.43008126e-02,
 -3.75055239e-05, 2.84582366e-05,-9.80997917e+00,-1.18191284e-02,
 -2.39766456e-02, 6.56180784e-05]


--- Step 511 ---
qpos:
[-1.35761987e-02, 1.35077136e-02, 1.00394998e-02, 1.47359368e-02,
 -1.90639552e-02,-9.05947577e-03,-1.74501958e-02, 1.63346691e-02,
 -1.21239921e-02,-6.72420979e-03,-1.43672922e-02, 1.51549201e-02,
  1.40341558e+00, 3.21601603e-02, 2.87376154e-01,-2.83611432e-02,
  9.52025754e-02,-7.04936907e-02, 1.04555020e-01, 9.99995160e-01,
  1.15039650e-03,-3.55962443e-04,-2.86861887e-03]

qacc:
[ 7.48297480e+00, 6.66875296e-01,-3.14489575e+00, 7.89306313e+00,
  1.03454413e+00,-8.87978865e-02, 3.08030828e-01, 7.08448433e-01,
  2.78816367e+00, 1.76841471e+00,-8.00932354e+00, 1.62703841e+01,
  7.89797054e-01,-7.79201975e+00,-6.11089507e+01, 1.48957367e+02,
  6.77817172e-01, 1.09820371e-01, 5.57047515e-02,-5.92149454e+00,
  2.25596985e+01,-2.17290110e+01]

qfrc_actuator:
[ 5.06433167e-04,-5.38273627e-04,-1.57181497e-04,-2.47029888e-05,
 -6.04645951e-04,-6.37662537e-04,-2.29236487e-04,-8.29850367e-06,
 -4.62093466e-04,-4.28493735e-04,-1.25885679e-04, 3.42306578e-05,
  2.10000000e-01,-5.74424287e-03, 9.00000000e-02, 3.21398259e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42237533,  0.41371977,  0.08506984,  0.41371977,  0.48083869,
       -0.2843246 ,  0.08506984, -0.2843246 ,  1.8051299 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028947239460221417
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69518643e-01,  2.44999914e-01, -2.93992175e-03,  2.44998788e-01,
        9.69523100e-01,  7.42922554e-04,  3.03233801e-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([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10400755, -0.08902655,  0.1411896 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008193649618854159
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.67384202e-01,  4.67802090e-01, -4.38500503e-01,  4.06167041e-01,
        8.83833245e-01,  2.32092935e-01,  4.96134883e-01, -2.77555756e-17,
       -8.68245460e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10387727, -0.08835999,  0.15015733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045990017330549415
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50878262e-14,  2.26317394e-14,  1.00000000e+00, -3.41463751e-28,
        1.00000000e+00, -2.26317394e-14, -1.00000000e+00,  0.00000000e+00,
        1.50878262e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08142428, -0.06160821,  0.06198045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.44591484e-05, 3.77635980e-05, 1.48641297e-05, 1.70747675e-05,
  6.12824250e-06, 2.88819570e-05, 1.70968804e-05, 6.06687114e-06,
  1.65021972e-05, 1.27646104e-05,-9.38001032e-06, 2.37159578e-05,
  2.64623590e-01,-3.52230957e-04, 8.86070524e-02, 3.41002570e-02,
 -1.04546693e-05, 1.10139836e-05,-9.80999793e+00,-1.18168656e-02,
 -2.39774701e-02, 6.54450731e-05]


--- Step 512 ---
qpos:
[-1.35757733e-02, 1.35074400e-02, 1.00395992e-02, 1.47366437e-02,
 -1.90638060e-02,-9.05861325e-03,-1.74499864e-02, 1.63343049e-02,
 -1.21232640e-02,-6.72297075e-03,-1.43670186e-02, 1.51554343e-02,
  1.40340548e+00, 3.21653873e-02, 2.87343251e-01,-2.83920431e-02,
  9.52076439e-02,-7.04927896e-02, 1.04556086e-01, 9.99995132e-01,
  1.10832559e-03,-2.99789016e-04,-2.90139145e-03]

qacc:
[ 4.66652565e+00, 1.75939520e+00,-8.33728682e+00, 1.81756900e+01,
 -2.49114005e+00,-3.22831073e+00, 1.61008513e+01,-3.45396335e+01,
 -1.27966432e+00, 2.53474172e-01, 3.12641156e+00,-1.62410200e+01,
  8.65021965e-01,-4.98487624e+00,-5.26502903e+01, 1.24979674e+02,
  5.85281474e-01,-1.87440678e-02, 7.62762063e-03,-5.29422370e+00,
  2.09418691e+01,-2.66817902e+01]

qfrc_actuator:
[ 5.32886482e-04,-5.42015785e-04,-1.69167509e-04, 2.34280212e-06,
 -6.19636499e-04,-6.29303793e-04,-2.05092590e-04,-5.95254748e-05,
 -4.69930008e-04,-4.08358163e-04,-1.51940703e-04,-6.31609851e-06,
  2.10000000e-01,-5.76880321e-03, 9.00000000e-02, 3.22114851e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42301416,  0.4140937 ,  0.08641407,  0.4140937 ,  0.4790081 ,
       -0.26832132,  0.08641407, -0.26832132,  1.70880209,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029163558267053644
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69528274e-01,  2.44961944e-01, -2.92773148e-03,  2.44960827e-01,
        9.69532695e-01,  7.39720072e-04,  3.01973466e-03,  0.00000000e+00,
       -9.99995441e-01])
  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([ 0.10401113, -0.08902124,  0.14119077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008186672369456965
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.67134812e-01,  4.68210877e-01, -4.38500577e-01,  4.06489419e-01,
        8.83616758e-01,  2.32352700e-01,  4.96256520e-01, -2.77555756e-17,
       -8.68175942e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10388187, -0.08835551,  0.15015863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004590349468272595
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.5116265e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.5116265e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08142522, -0.06161034,  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:
[ 2.77602041e-05, 2.11962622e-05,-1.76429354e-06, 2.95091026e-05,
 -1.48288021e-05, 2.82870864e-05, 3.24201990e-05,-4.92808458e-05,
 -7.40361838e-06, 2.63226967e-05,-2.37659638e-05,-3.98659977e-05,
  2.64700416e-01,-3.44346667e-04, 9.01096990e-02, 3.38990684e-02,
  3.43822832e-07, 3.62197732e-08,-9.80999950e+00,-1.18169089e-02,
 -2.39772709e-02, 6.35132795e-05]


--- Step 513 ---
qpos:
[-1.35750336e-02, 1.35073411e-02, 1.00393097e-02, 1.47373410e-02,
 -1.90638379e-02,-9.05785280e-03,-1.74496473e-02, 1.63337337e-02,
 -1.21229809e-02,-6.72167943e-03,-1.43666502e-02, 1.51547673e-02,
  1.40339635e+00, 3.21708494e-02, 2.87285354e-01,-2.84205048e-02,
  9.52147491e-02,-7.04923671e-02, 1.04557016e-01, 9.99994934e-01,
  1.05669362e-03,-2.04291785e-04,-2.99549333e-03]

qacc:
[ 2.71075510e+00, 1.29286384e+00,-4.24347731e+00, 4.58081024e+00,
 -1.56749430e+00,-9.20073975e-01, 3.96429893e+00,-7.68470138e+00,
 -3.88357038e+00,-2.61939700e+00, 1.44412299e+01,-3.50913676e+01,
  8.66499902e-01,-2.13199630e+00,-4.44239109e+01, 1.01595172e+02,
  5.09176783e-01,-1.19653036e-01,-3.38493975e-02,-4.84665799e+00,
  1.96139237e+01,-3.06851015e+01]

qfrc_actuator:
[ 5.48264897e-04,-5.44252854e-04,-1.94068142e-04, 1.97825265e-07,
 -6.28517568e-04,-6.60233493e-04,-2.08734097e-04,-7.17554764e-05,
 -4.92589392e-04,-4.14743742e-04,-1.49631790e-04,-6.58823364e-05,
  2.10000000e-01,-5.78550975e-03, 9.00000000e-02, 3.22822325e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42409421,  0.41517404,  0.08652405,  0.41517404,  0.47535126,
       -0.24595006,  0.08652405, -0.24595006,  1.6042525 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002952434945919371
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69540663e-01,  2.44913948e-01, -2.83936282e-03,  2.44912897e-01,
        9.69544820e-01,  7.17243333e-04,  2.92855242e-03,  1.08420217e-19,
       -9.99995712e-01])
  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([ 0.10401751, -0.08901506,  0.14119246])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008180697851938635
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76674221,  0.46871977, -0.43864355,  0.40684721,  0.88334692,
        0.23275216,  0.49656996,  0.        , -0.8679967 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10389046, -0.08835058,  0.15015845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045715492907037747
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  7.5892148e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -7.5892148e-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([ 0.08142561, -0.0616118 ,  0.06198057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61923496e-05, 1.05098504e-05,-1.97245262e-05,-7.25403809e-07,
 -9.33039072e-06,-1.05375363e-05, 4.48847559e-06,-1.08547684e-05,
 -2.29088833e-05, 1.68346692e-06, 3.42918073e-06,-6.00382262e-05,
  2.64709940e-01,-3.51821048e-04, 9.14831852e-02, 3.37730706e-02,
 -1.02537780e-05, 1.44199273e-06,-9.80998439e+00,-1.18197189e-02,
 -2.39763055e-02, 5.99778434e-05]


--- Step 514 ---
qpos:
[-1.35737700e-02, 1.35071918e-02, 1.00394063e-02, 1.47372921e-02,
 -1.90639769e-02,-9.05692006e-03,-1.74502995e-02, 1.63334093e-02,
 -1.21226276e-02,-6.72067939e-03,-1.43658896e-02, 1.51544513e-02,
  1.40338916e+00, 3.21769744e-02, 2.87204900e-01,-2.84480768e-02,
  9.52236362e-02,-7.04927501e-02, 1.04557668e-01, 9.99994516e-01,
  9.96183765e-04,-7.16634839e-05,-3.15757088e-03]

qacc:
[ 4.55397182e+00,-2.69206884e+00, 1.26374316e+01,-2.61181037e+01,
 -9.62817439e-01, 3.50632107e+00,-1.32110005e+01, 1.89360934e+01,
  6.30868769e-01,-7.59422829e-01, 6.64690604e-01, 5.00161844e+00,
  8.00410138e-01, 8.21366054e-01,-3.60955499e+01, 7.77757405e+01,
  4.45470548e-01,-2.01363292e-01,-6.95189573e-02,-4.50135381e+00,
  1.85162079e+01,-3.40067056e+01]

qfrc_actuator:
[ 5.74760027e-04,-5.45660321e-04,-1.73154191e-04,-3.68676102e-05,
 -6.33724733e-04,-6.61281616e-04,-2.64390397e-04,-6.09882200e-05,
 -4.88278546e-04,-4.36875626e-04,-1.30697984e-04,-4.73886260e-05,
  2.10000000e-01,-5.78010690e-03, 9.00000000e-02, 3.23168500e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42549319,  0.41678261,  0.08565464,  0.41678261,  0.47093729,
       -0.22112412,  0.08565464, -0.22112412,  1.50144999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029982808839122005
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69555722e-01,  2.44856126e-01, -2.67952661e-03,  2.44855191e-01,
        9.69559425e-01,  6.76697567e-04,  2.76365382e-03,  0.00000000e+00,
       -9.99996181e-01])
  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([ 0.10402608, -0.08900898,  0.14119447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008177583656186197
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.66254779e-01,  4.69265091e-01, -4.38912165e-01,  4.07195094e-01,
        8.83057345e-01,  2.33242109e-01,  4.97036990e-01,  5.55111512e-17,
       -8.67729353e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10390223, -0.0883459 ,  0.15015678])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045448278836920236
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.63383574e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.63383574e-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([ 0.08142559, -0.06161272,  0.06198068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.69719546e-05, 3.42593517e-07, 2.06208503e-05,-3.73139469e-05,
 -5.50953994e-06,-6.48081062e-06,-5.76548105e-05, 1.02602274e-05,
  3.60800291e-06,-2.30775105e-05, 1.76224408e-05, 1.75161837e-05,
  2.64662274e-01,-3.59467448e-04, 9.27327833e-02, 3.36857411e-02,
 -4.76904057e-05, 2.03277168e-05,-9.80995326e+00,-1.18255827e-02,
 -2.39747272e-02, 5.49571097e-05]


--- Step 515 ---
qpos:
[-1.35721984e-02, 1.35071797e-02, 1.00396743e-02, 1.47367897e-02,
 -1.90638329e-02,-9.05598136e-03,-1.74516125e-02, 1.63335606e-02,
 -1.21222263e-02,-6.72009120e-03,-1.43648297e-02, 1.51547267e-02,
  1.40338855e+00, 3.21846140e-02, 2.87149884e-01,-2.84880106e-02,
  9.52294656e-02,-7.04953595e-02, 1.04558618e-01, 9.99993991e-01,
  9.71531376e-04, 3.28736570e-05,-3.32770946e-03]

qacc:
[ 2.67213614e+00,-1.23704532e+00, 6.57871478e+00,-1.47909543e+01,
  2.43689706e+00, 2.82797535e+00,-1.20902791e+01, 2.13881550e+01,
  4.35262415e-01,-1.63996882e-01,-2.70333117e+00, 1.27644403e+01,
  6.52243258e-01, 9.97871999e+00, 7.51788550e+01,-2.08125793e+02,
 -7.64432009e-01,-5.56614646e-01, 7.44552653e-02, 1.79727472e+01,
 -1.39929112e+01,-4.01795688e+00]

qfrc_actuator:
[ 5.89837340e-04,-5.28662225e-04,-1.60876086e-04,-5.86395023e-05,
 -6.18976613e-04,-6.62386955e-04,-2.96928443e-04,-3.67934437e-05,
 -4.85875543e-04,-4.68132629e-04,-1.19877298e-04,-1.86240396e-05,
  2.10000000e-01,-5.77971299e-03, 9.00000000e-02, 3.22948576e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42711305,  0.42235045,  0.06360552,  0.42235045,  0.44558382,
       -0.12264873,  0.06360552, -0.12264873,  1.24151959,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003050171615813944
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69573345e-01,  2.44788717e-01, -2.45211920e-03,  2.44787934e-01,
        9.69576446e-01,  6.19085906e-04,  2.52906226e-03,  0.00000000e+00,
       -9.99996802e-01])
  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([ 0.10403637, -0.08900376,  0.1411966 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008178975346204776
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76571154,  0.46979517, -0.439293  ,  0.40749613,  0.88277545,
        0.23378282,  0.49762712,  0.        , -0.86739106])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10391654, -0.08834203,  0.15015363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.51115275,   9.29416886,   4.90945592,   9.29416886,
        15.99167963, -10.37527235,   4.90945592, -10.37527235,
        30.15274539,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045162528767637853
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94997512e-06, -2.76556902e-13,  1.00000000e+00,  5.39279077e-19,
        1.00000000e+00,  2.76556902e-13, -1.00000000e+00,  0.00000000e+00,
        1.94997512e-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([ 0.09051494, -0.05665339,  0.0619808 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58603002e-05, 1.98135453e-05, 1.35816458e-05,-2.17738412e-05,
  1.45636199e-05,-1.61953500e-05,-4.06219987e-05, 2.21221623e-05,
  2.45245220e-06,-3.97867225e-05, 8.82471706e-06, 2.87251475e-05,
  2.64565456e-01,-3.93964557e-04, 9.38605033e-02, 3.36192124e-02,
 -1.16985307e-04, 6.07781370e-05,-9.80990670e+00,-1.18346604e-02,
 -2.39726497e-02, 4.85436748e-05]


--- Step 516 ---
qpos:
[-1.35708031e-02, 1.35075297e-02, 1.00396591e-02, 1.47367231e-02,
 -1.90631686e-02,-9.05541841e-03,-1.74526372e-02, 1.63343291e-02,
 -1.21214549e-02,-6.72013296e-03,-1.43634573e-02, 1.51546817e-02,
  1.40339839e+00, 3.21949991e-02, 2.87164717e-01,-2.85433941e-02,
  9.52288423e-02,-7.05011212e-02, 1.04558449e-01, 9.99993631e-01,
  9.93534483e-04, 3.88697208e-05,-3.42780053e-03]

qacc:
[-1.54201408e+00, 2.17127756e+00,-8.88162885e+00, 1.66047979e+01,
  4.53325432e+00,-4.07432323e-02,-3.19651885e+00, 1.37101842e+01,
  3.25063997e+00,-2.37134257e+00, 8.58906540e+00,-1.41578585e+01,
  7.87261354e-02, 2.15003632e+01, 1.50395808e+02,-3.75515575e+02,
 -1.61315700e+00,-7.88063695e-01,-2.79695356e-01, 2.34903338e+01,
 -4.91585909e+01, 3.50724579e+01]

qfrc_actuator:
[ 5.80317736e-04,-5.00788132e-04,-1.71471891e-04,-3.57244137e-05,
 -5.92602513e-04,-6.81181855e-04,-2.80024350e-04,-4.86999657e-06,
 -4.66870399e-04,-5.22380259e-04,-1.13988373e-04,-3.73354842e-05,
  2.10000000e-01,-5.78344122e-03, 9.00000000e-02, 3.23050528e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42800369,  0.42397078,  0.05861688,  0.42397078,  0.44487855,
       -0.1220544 ,  0.05861688, -0.1220544 ,  1.3108125 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003078180174178518
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69589118e-01,  2.44728064e-01, -2.26183519e-03,  2.44727398e-01,
        9.69591757e-01,  5.70894444e-04,  2.33277064e-03,  0.00000000e+00,
       -9.99997279e-01])
  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([ 0.1040423 , -0.08900536,  0.14119796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34556684,  0.33707538,  0.07613558,  0.33707538,  0.44726147,
       -0.45023307,  0.07613558, -0.45023307,  2.33888566,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008200847212516004
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65514458e-01,  4.69808342e-01, -4.39622265e-01,  4.07405908e-01,
        8.82768442e-01,  2.33966460e-01,  4.98004056e-01,  2.77555756e-17,
       -8.67174700e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10392496, -0.08834385,  0.15015013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.52682663,   8.91534966,   5.59737612,   8.91534966,
        24.86854736, -22.84310579,   5.59737612, -22.84310579,
        46.91070915,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004528315716814113
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.12933756e-14,  3.06466878e-14,  1.00000000e+00,  1.87843895e-27,
        1.00000000e+00, -3.06466878e-14, -1.00000000e+00,  0.00000000e+00,
       -6.12933756e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0992051 , -0.0519196 ,  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:
[-9.05659704e-06, 4.07752461e-05,-5.60240238e-06, 2.38061435e-05,
  2.67694285e-05,-3.52940513e-05, 9.31811045e-06, 3.02533448e-05,
  1.90256444e-05,-7.34593120e-05,-2.54800170e-07,-1.95533508e-05,
  2.64236798e-01,-4.74711518e-04, 9.25885337e-02, 3.42474536e-02,
 -1.02419748e-04, 6.60954560e-05,-9.80994463e+00,-1.18337203e-02,
 -2.39650171e-02, 4.53650291e-05]


--- Step 517 ---
qpos:
[-1.35702222e-02, 1.35079556e-02, 1.00398858e-02, 1.47372771e-02,
 -1.90625384e-02,-9.05503933e-03,-1.74532167e-02, 1.63350926e-02,
 -1.21211518e-02,-6.72062034e-03,-1.43620838e-02, 1.51547568e-02,
  1.40341339e+00, 3.22063780e-02, 2.87242418e-01,-2.86096824e-02,
  9.52229208e-02,-7.05090623e-02, 1.04557477e-01, 9.99993583e-01,
  1.04449321e-03,-5.54767897e-05,-3.42621489e-03]

qacc:
[-7.05468010e+00, 7.15802286e-01,-5.00291629e+00, 1.52747822e+01,
 -2.79026108e-01,-1.49637505e+00, 5.00520828e+00,-5.66922076e+00,
 -4.07993337e+00,-3.36800172e-01,-1.46753404e-01, 2.53588395e+00,
 -3.43972099e-01, 1.11981742e+01, 1.26203396e+02,-3.06117559e+02,
 -1.32457958e+00,-5.44876674e-01,-2.00723155e-01, 1.46475657e+01,
 -5.00708371e+01, 5.08889728e+01]

qfrc_actuator:
[ 5.38648276e-04,-5.02173708e-04,-1.59900753e-04,-4.45756922e-06,
 -5.95108551e-04,-6.74705883e-04,-2.51892349e-04,-4.14622020e-06,
 -4.91503202e-04,-5.36781541e-04,-1.11191511e-04,-3.05995565e-05,
  2.10000000e-01,-5.77372686e-03, 9.00000000e-02, 3.24136037e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42744768,  0.42680513,  0.02342869,  0.42680513,  0.42953769,
       -0.03807416,  0.02342869, -0.03807416,  1.12105222,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003060737424924802
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69598174e-01,  2.44692384e-01, -2.23997131e-03,  2.44691731e-01,
        9.69600762e-01,  5.65288252e-04,  2.31019962e-03,  0.00000000e+00,
       -9.99997331e-01])
  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([ 0.10403916, -0.0890158 ,  0.14119742])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34650911,  0.31957546,  0.13394062,  0.31957546,  0.67926049,
       -0.79392775,  0.13394062, -0.79392775,  2.24078009,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008239355686796438
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65895780e-01,  4.69093306e-01, -4.39721644e-01,  4.06813280e-01,
        8.83148612e-01,  2.33562593e-01,  4.97902209e-01,  2.77555756e-17,
       -8.67233181e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10392093, -0.08835271,  0.15014759])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.51891533, -10.16517514,  -2.70495731, -10.16517514,
        16.27021092, -21.61325305,  -2.70495731, -21.61325305,
        91.74108522,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045222352227913126
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.13757893e-14, -1.53439473e-14,  1.00000000e+00,  9.41746878e-28,
        1.00000000e+00,  1.53439473e-14, -1.00000000e+00,  0.00000000e+00,
        6.13757893e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09920776, -0.05192406,  0.06198078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.19295901e-05, 2.12266167e-05, 2.01120819e-05, 3.32809595e-05,
 -1.75942752e-06,-1.00540528e-05, 2.30277968e-05, 1.19987025e-07,
 -2.41270951e-05,-5.63928628e-05,-1.30958345e-05, 3.19590392e-06,
  2.63714570e-01,-6.02227017e-04, 8.90962192e-02, 3.51284879e-02,
 -2.01502814e-05, 1.43820536e-05,-9.81000357e+00,-1.18237009e-02,
 -2.39606436e-02, 4.66150435e-05]


--- Step 518 ---
qpos:
[-1.35701458e-02, 1.35082912e-02, 1.00403622e-02, 1.47382225e-02,
 -1.90619432e-02,-9.05460350e-03,-1.74537868e-02, 1.63351672e-02,
 -1.21218363e-02,-6.72106044e-03,-1.43612176e-02, 1.51552287e-02,
  1.40342451e+00, 3.22162058e-02, 2.87328508e-01,-2.86783835e-02,
  9.52166322e-02,-7.05161773e-02, 1.04557562e-01, 9.99993765e-01,
  1.10373639e-03,-1.73052269e-04,-3.34978256e-03]

qacc:
[-4.36290803e+00,-2.44488323e-03,-1.80243448e+00, 8.22897305e+00,
 -3.04959270e-01,-1.36814133e+00, 7.89759301e+00,-1.98804046e+01,
 -8.63554486e+00, 2.31326960e+00,-9.80387170e+00, 1.74159477e+01,
 -5.03974056e-01,-7.56402582e+00, 1.96625171e+01,-5.09140259e+01,
 -9.17422515e-02, 2.06557869e-01, 2.64148845e-01, 4.18394605e+00,
 -1.15611230e+01, 3.74354017e+01]

qfrc_actuator:
[ 5.13902973e-04,-5.20973531e-04,-1.53193929e-04, 1.37086452e-05,
 -5.96843802e-04,-6.70861619e-04,-2.52801163e-04,-3.95196413e-05,
 -5.41628374e-04,-5.09454717e-04,-1.27816071e-04,-8.90743756e-06,
  2.10000000e-01,-5.79079874e-03, 9.00000000e-02, 3.25650503e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42579097,  0.42359281,  0.04320973,  0.42359281,  0.4388905 ,
       -0.12841705,  0.04320973, -0.12841705,  1.68468642,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030079140101240385
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69601684e-01,  2.44676975e-01, -2.39852318e-03,  2.44676227e-01,
        9.69604650e-01,  6.05260502e-04,  2.47371254e-03, -1.08420217e-19,
       -9.99996940e-01])
  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([ 0.10402871, -0.08903149,  0.14119554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34765563,  0.33394172,  0.0966818 ,  0.33394172,  0.5830966 ,
       -0.81321991,  0.0966818 , -0.81321991,  3.15654069,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008287101206092474
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76671399,  0.46791207, -0.43955426,  0.40593446,  0.88377502,
        0.2327207 ,  0.4973599 ,  0.        , -0.86754431])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10390663, -0.08836557,  0.1501472 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.49416569,   8.97067746,   5.44559081,   8.97067746,
        19.79036818, -15.3139002 ,   5.44559081, -15.3139002 ,
        35.72119138,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045031052955042813
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08395525e-06,  9.24547855e-14,  1.00000000e+00, -1.00216850e-19,
        1.00000000e+00, -9.24547855e-14, -1.00000000e+00,  0.00000000e+00,
        1.08395525e-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([ 0.09051998, -0.05666282,  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:
[-2.59685994e-05,-1.38296632e-06, 1.47159975e-05, 2.04201482e-05,
 -1.79905276e-06, 2.96015333e-06,-1.51991791e-07,-3.50063935e-05,
 -5.08341446e-05,-6.79545455e-06,-2.97789604e-05, 1.88847298e-05,
  2.63455671e-01,-6.67726694e-04, 8.59531743e-02, 3.58252188e-02,
 -1.60639422e-05,-8.23104724e-06,-9.80997625e+00,-1.18213838e-02,
 -2.39657392e-02, 5.08769755e-05]


--- Step 519 ---
qpos:
[-1.35703674e-02, 1.35087502e-02, 1.00405840e-02, 1.47393863e-02,
 -1.90613735e-02,-9.05420919e-03,-1.74546058e-02, 1.63348484e-02,
 -1.21227716e-02,-6.72137029e-03,-1.43606307e-02, 1.51555842e-02,
  1.40342987e+00, 3.22247590e-02, 2.87373449e-01,-2.87381611e-02,
  9.52144152e-02,-7.05204295e-02, 1.04558035e-01, 9.99993963e-01,
  1.13971450e-03,-2.36167710e-04,-3.27397444e-03]

qacc:
[-2.59446809e+00, 1.32985565e+00,-5.41816443e+00, 9.50481817e+00,
 -2.28728198e-01,-1.68733424e-01, 2.18415954e+00,-8.56634598e+00,
 -2.20055451e+00, 7.17578886e-01,-1.81044337e+00, 1.40461817e-01,
 -2.12051201e-01,-1.02380794e+01,-8.80303895e+01, 2.19301941e+02,
  1.01787823e+00, 7.15685703e-01, 9.70625760e-02,-1.17237366e+01,
  2.71905401e+01,-3.40118844e-01]

qfrc_actuator:
[ 4.99327811e-04,-5.14580845e-04,-1.67262794e-04, 2.39953589e-05,
 -5.98102037e-04,-6.86516066e-04,-2.70876636e-04,-6.03601634e-05,
 -5.53084550e-04,-4.92910952e-04,-1.37832949e-04,-1.40715734e-05,
  2.10000000e-01,-5.78628962e-03, 9.00000000e-02, 3.26670937e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42443954,  0.41662167,  0.08108827,  0.41662167,  0.47006043,
       -0.23439457,  0.08108827, -0.23439457,  1.6287304 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029638433740674497
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69605398e-01,  2.44660220e-01, -2.59791468e-03,  2.44659342e-01,
        9.69608878e-01,  6.55528630e-04,  2.67934292e-03,  0.00000000e+00,
       -9.99996411e-01])
  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([ 0.10401859, -0.08904498,  0.14119426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008336213837871324
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.67482241e-01,  4.66838975e-01, -4.39354506e-01,  4.05149236e-01,
        8.84342338e-01,  2.31932588e-01,  4.96814963e-01, -2.77555756e-17,
       -8.67856493e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10389246, -0.08837696,  0.15014777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.51881116,   9.1926162 ,   5.11284613,   9.1926162 ,
        17.37261672, -12.32276554,   5.11284613, -12.32276554,
        32.67446602,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004522155048507573
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.13768774e-14,  7.67210968e-15,  1.00000000e+00, -4.70890135e-28,
        1.00000000e+00, -7.67210968e-15, -1.00000000e+00,  0.00000000e+00,
        6.13768774e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08143054, -0.06162237,  0.06198077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53458060e-05, 9.52414176e-06,-1.18342519e-05, 1.11353159e-05,
 -1.31686778e-06,-1.55528877e-05,-1.87010618e-05,-2.14014838e-05,
 -1.29094578e-05, 7.40939465e-06,-1.44256996e-05,-6.11480343e-06,
  2.63649584e-01,-5.84234998e-04, 8.55341417e-02, 3.60479504e-02,
 -4.86765469e-05, 1.27474999e-05,-9.80994278e+00,-1.18236965e-02,
 -2.39732286e-02, 5.62777822e-05]


--- Step 520 ---
qpos:
[-1.35707627e-02, 1.35093117e-02, 1.00406542e-02, 1.47403147e-02,
 -1.90611681e-02,-9.05395234e-03,-1.74556241e-02, 1.63346368e-02,
 -1.21231477e-02,-6.72148634e-03,-1.43599752e-02, 1.51561875e-02,
  1.40343112e+00, 3.22324668e-02, 2.87379904e-01,-2.87898594e-02,
  9.52156714e-02,-7.05227293e-02, 1.04558700e-01, 9.99994131e-01,
  1.15539654e-03,-2.49717018e-04,-3.21581434e-03]

qacc:
[-1.51226775e+00, 7.72396764e-02, 9.19692793e-01,-4.83150183e+00,
 -3.16768774e+00, 6.01984425e-01,-2.85273262e+00, 5.11877957e+00,
  4.87965628e+00, 5.64797381e-01,-2.70511258e+00, 6.75981268e+00,
  4.19262630e-02,-7.99991270e+00,-8.15171342e+01, 2.02275907e+02,
  8.68309847e-01, 4.88092452e-01, 4.79811663e-02,-1.02311808e+01,
  2.47396320e+01,-8.84985204e+00]

qfrc_actuator:
[ 4.90850252e-04,-5.11002888e-04,-1.75640062e-04, 1.18182145e-05,
 -6.16822188e-04,-6.96041555e-04,-2.81244987e-04,-5.47482473e-05,
 -5.23928349e-04,-4.65186269e-04,-1.26157576e-04, 5.10135695e-07,
  2.10000000e-01,-5.75073549e-03, 9.00000000e-02, 3.27291241e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42425677,  0.41611715,  0.08270629,  0.41611715,  0.47168171,
       -0.23860734,  0.08270629, -0.23860734,  1.62475324,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029578130429013476
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69613299e-01,  2.44627767e-01, -2.70287354e-03,  2.44626816e-01,
        9.69617067e-01,  6.81916542e-04,  2.78756803e-03,  0.00000000e+00,
       -9.99996115e-01])
  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([ 0.10401482, -0.08905101,  0.1411942 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34960366, -0.27993767, -0.20942212, -0.27993767,  1.46625411,
       -1.49264329, -0.20942212, -1.49264329,  2.34484218,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008370706022019722
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.67803835e-01,  4.66321761e-01, -4.39341878e-01,  4.04745074e-01,
        8.84615179e-01,  2.31597516e-01,  4.96647456e-01, -2.77555756e-17,
       -8.67952363e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10388694, -0.08838275,  0.15014714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004528606126363646
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.29835419e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.29835419e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08143252, -0.06162577,  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:
[-8.93856395e-06, 6.94112703e-06,-7.47805485e-06,-1.19602903e-05,
 -1.87658678e-05,-2.30236393e-05,-1.66317648e-05, 3.88056156e-06,
  2.87934378e-05, 2.86559269e-05, 1.12283816e-05, 1.42835279e-05,
  2.63937429e-01,-4.84318950e-04, 8.75918638e-02, 3.56638290e-02,
 -2.64857341e-05, 1.28044481e-05,-9.80997679e+00,-1.18200377e-02,
 -2.39746234e-02, 5.99459578e-05]


--- Step 521 ---
qpos:
[-1.35705676e-02, 1.35099474e-02, 1.00406416e-02, 1.47407436e-02,
 -1.90615336e-02,-9.05389696e-03,-1.74564465e-02, 1.63341295e-02,
 -1.21228268e-02,-6.72128464e-03,-1.43595306e-02, 1.51569638e-02,
  1.40342982e+00, 3.22397698e-02, 2.87351034e-01,-2.88346762e-02,
  9.52198755e-02,-7.05238591e-02, 1.04559385e-01, 9.99994222e-01,
  1.15340575e-03,-2.17884490e-04,-3.19017604e-03]

qacc:
[ 5.11491675e+00,-7.09110194e-01, 4.76246467e+00,-1.33115164e+01,
 -4.94706147e+00,-1.41238135e+00, 5.91597493e+00,-1.12200833e+01,
  6.07153793e+00, 1.35323179e+00,-4.96645066e+00, 8.08469601e+00,
  2.23811950e-01,-5.48350195e+00,-7.31879163e+01, 1.79982682e+02,
  7.36970553e-01, 2.92521285e-01, 4.89616879e-03,-8.91335213e+00,
  2.26435710e+01,-1.62849396e+01]

qfrc_actuator:
[ 5.21531321e-04,-5.09142117e-04,-1.80603587e-04,-1.34708811e-05,
 -6.45670430e-04,-7.01777110e-04,-2.69186516e-04,-6.91135170e-05,
 -4.88867064e-04,-4.48621320e-04,-1.37208395e-04, 8.86913956e-06,
  2.10000000e-01,-5.74973144e-03, 9.00000000e-02, 3.27999267e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42492411,  0.41681695,  0.08260828,  0.41681695,  0.47145337,
       -0.23477285,  0.08260828, -0.23477285,  1.60951851,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002979749763158024
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69625277e-01,  2.44580079e-01, -2.72153701e-03,  2.44579116e-01,
        9.69629097e-01,  6.86482840e-04,  2.80678150e-03, -1.08420217e-19,
       -9.99996061e-01])
  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([ 0.10401627, -0.08905177,  0.14119503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008392180714650577
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76778704,  0.46621655, -0.43948286,  0.40461954,  0.88467063,
        0.23160505,  0.49677569,  0.        , -0.86787898])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10388851, -0.08838457,  0.15014544])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004522950377192428
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.30122818e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.30122818e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08143377, -0.06162825,  0.06198077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.04033181e-05, 3.69827329e-06,-4.85881212e-06,-2.54816123e-05,
 -2.93929801e-05,-2.18933663e-05, 5.38671100e-06,-1.58515748e-05,
  3.58902050e-05, 3.55439946e-05,-3.25177901e-06, 1.02529241e-05,
  2.64143050e-01,-4.41140765e-04, 8.95163130e-02, 3.53306562e-02,
 -1.02789976e-05, 5.52019192e-06,-9.80999594e+00,-1.18172928e-02,
 -2.39740174e-02, 6.12263875e-05]


--- Step 522 ---
qpos:
[-1.35696619e-02, 1.35106916e-02, 1.00402613e-02, 1.47408818e-02,
 -1.90618973e-02,-9.05389658e-03,-1.74569085e-02, 1.63334231e-02,
 -1.21217430e-02,-6.72113044e-03,-1.43590417e-02, 1.51575185e-02,
  1.40342737e+00, 3.22470974e-02, 2.87290095e-01,-2.88739351e-02,
  9.52265838e-02,-7.05244603e-02, 1.04559940e-01, 9.99994194e-01,
  1.13586181e-03,-1.44164626e-04,-3.20949885e-03]

qacc:
[ 6.14654606e+00, 5.60262712e-01,-5.82346535e-01,-3.92117092e+00,
  2.67268745e-02,-1.48876650e+00, 6.04326892e+00,-1.00227921e+01,
  6.66078992e+00,-6.55342028e-01, 3.15829814e+00,-7.00315345e+00,
  3.32188907e-01,-2.86293985e+00,-6.43366238e+01, 1.56072685e+02,
  6.26055648e-01, 1.32135109e-01,-3.24282519e-02,-7.84816832e+00,
  2.08927962e+01,-2.25030833e+01]

qfrc_actuator:
[ 5.57260246e-04,-5.08324522e-04,-2.01279596e-04,-2.85162189e-05,
 -6.44738089e-04,-6.87367075e-04,-2.43987353e-04,-7.73522189e-05,
 -4.50624214e-04,-4.74458945e-04,-1.43890172e-04,-4.28231407e-06,
  2.10000000e-01,-5.76956001e-03, 9.00000000e-02, 3.28917113e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42620973,  0.41837684,  0.08133602,  0.41837684,  0.46964664,
       -0.22343111,  0.08133602, -0.22343111,  1.57549634,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030213885642756333
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69641110e-01,  2.44517971e-01, -2.66081474e-03,  2.44517050e-01,
        9.69644761e-01,  6.70984929e-04,  2.74411294e-03,  0.00000000e+00,
       -9.99996235e-01])
  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([ 0.1040219 , -0.08904911,  0.14119646])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000840413492642664
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76752254,  0.4663992 , -0.43975098,  0.40468266,  0.88457435,
        0.23186237,  0.49713287,  0.        , -0.86767443])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10389579, -0.0883838 ,  0.15014272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045076051687375357
  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([ 0.08143444, -0.06163   ,  0.06198084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.65844148e-05, 7.95682530e-07,-2.13950223e-05,-1.55523918e-05,
  8.76617043e-08, 2.60371430e-06, 2.07975195e-05,-9.29693792e-06,
  3.92687606e-05,-6.19405350e-06, 6.08319867e-07,-1.15437828e-05,
  2.64270693e-01,-4.41512612e-04, 9.12825415e-02, 3.50783420e-02,
 -3.89793919e-06,-9.99404185e-07,-9.80999905e+00,-1.18165252e-02,
 -2.39721327e-02, 6.03947746e-05]


--- Step 523 ---
qpos:
[-1.35690245e-02, 1.35112368e-02, 1.00400273e-02, 1.47408425e-02,
 -1.90619022e-02,-9.05408267e-03,-1.74572771e-02, 1.63326589e-02,
 -1.21198642e-02,-6.72132090e-03,-1.43576232e-02, 1.51575432e-02,
  1.40342506e+00, 3.22548967e-02, 2.87200624e-01,-2.89093015e-02,
  9.52354074e-02,-7.05250944e-02, 1.04560234e-01, 9.99993995e-01,
  1.10471010e-03,-3.15320621e-05,-3.28473124e-03]

qacc:
[-2.31841347e+00,-1.03268607e+00, 4.05692020e+00,-7.22197437e+00,
  3.12199937e+00,-6.32689139e-01, 2.13268603e+00,-3.13686838e+00,
  6.97396545e+00,-4.15764779e+00, 1.63787868e+01,-2.67616364e+01,
  3.63313880e-01, 7.13040288e-02,-5.40288154e+01, 1.27684665e+02,
  5.28829420e-01,-8.21864711e-03,-6.51156017e-02,-6.87022934e+00,
  1.94026353e+01,-2.79760137e+01]

qfrc_actuator:
[ 5.42403725e-04,-5.25949362e-04,-1.95559839e-04,-3.74241599e-05,
 -6.26281566e-04,-7.14193473e-04,-2.46651918e-04,-8.18935452e-05,
 -4.10817136e-04,-4.89994700e-04,-9.48634618e-05,-3.00148490e-05,
  2.10000000e-01,-5.76665031e-03, 9.00000000e-02, 3.29236457e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42793779,  0.42055705,  0.07913607,  0.42055705,  0.46704525,
       -0.20783091,  0.07913607, -0.20783091,  1.5324247 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003076120012920126
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69660522e-01,  2.44442405e-01, -2.52649686e-03,  2.44441575e-01,
        9.69663813e-01,  6.36904212e-04,  2.60553897e-03,  0.00000000e+00,
       -9.99996606e-01])
  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([ 0.10403086, -0.08904457,  0.14119826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008410323494374432
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76708381,  0.46676769, -0.44012537,  0.40485985,  0.88437996,
        0.23229416,  0.49766547,  0.        , -0.86736905])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10390761, -0.08838158,  0.15013899])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004484646521598218
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.18902192e-14,  6.18902192e-14,  1.00000000e+00, -3.83039923e-27,
        1.00000000e+00, -6.18902192e-14, -1.00000000e+00,  0.00000000e+00,
        6.18902192e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08143465, -0.06163117,  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:
[-1.38225489e-05,-2.22839182e-05, 2.69911939e-06,-9.92027726e-06,
  1.84665012e-05,-2.14597712e-05, 1.17733507e-07,-3.89018879e-06,
  4.09176219e-05,-1.93951304e-05, 4.74077372e-05,-2.62058642e-05,
  2.64328873e-01,-4.41230597e-04, 9.28858798e-02, 3.48323337e-02,
 -1.32851275e-05, 5.95849922e-07,-9.80998577e+00,-1.18184255e-02,
 -2.39694404e-02, 5.76731747e-05]


--- Step 524 ---
qpos:
[-1.35689150e-02, 1.35116046e-02, 1.00398842e-02, 1.47403526e-02,
 -1.90620303e-02,-9.05462934e-03,-1.74575481e-02, 1.63315237e-02,
 -1.21182125e-02,-6.72165056e-03,-1.43554102e-02, 1.51575870e-02,
  1.40342619e+00, 3.22635802e-02, 2.87122389e-01,-2.89519391e-02,
  9.52423754e-02,-7.05272237e-02, 1.04560924e-01, 9.99993713e-01,
  1.09564534e-03, 6.59340639e-05,-3.37173652e-03]

qacc:
[-4.57053214e+00,-1.40839392e+00, 6.59998465e+00,-1.44330396e+01,
 -1.06036307e+00,-1.50996907e+00, 6.26268613e+00,-1.25776075e+01,
 -1.95582101e+00,-2.36051008e+00, 8.07599354e+00,-8.92072521e+00,
  2.78616090e-01, 5.83432437e+00, 3.87073113e+01,-1.11130473e+02,
 -4.63897820e-01,-3.73815629e-01, 9.88663597e-02, 1.10681830e+01,
 -7.55340293e+00,-5.87851788e+00]

qfrc_actuator:
[ 5.15643229e-04,-5.36622939e-04,-1.92122118e-04,-6.03994735e-05,
 -6.33173624e-04,-7.47855625e-04,-2.48159276e-04,-1.02030481e-04,
 -4.23666733e-04,-4.81280540e-04,-4.88200118e-05,-2.73935760e-05,
  2.10000000e-01,-5.73280204e-03, 9.00000000e-02, 3.29546174e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42996465,  0.42545766,  0.06209169,  0.42545766,  0.50415761,
       -0.50837655,  0.06209169, -0.50837655,  3.91340483,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003138603971309882
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69683201e-01,  2.44354440e-01, -2.32342506e-03,  2.44353738e-01,
        9.69685984e-01,  5.85487712e-04,  2.39605923e-03,  0.00000000e+00,
       -9.99997129e-01])
  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([ 0.10404237, -0.08903943,  0.14120022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008414420622544546
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76653305,  0.46723298, -0.440591  ,  0.405085  ,  0.88413424,
        0.23283641,  0.49833044,  0.        , -0.86698718])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10392297, -0.08837887,  0.15013424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.43454673,   9.30837941,   4.71527711,   9.30837941,
        19.45740741, -17.81193526,   4.71527711, -17.81193526,
        45.59690255,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00044563393894627367
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24566705e-13,  8.00775830e-07,  1.00000000e+00,  9.97500063e-20,
        1.00000000e+00, -8.00775830e-07, -1.00000000e+00, -1.20370622e-35,
       -1.24566705e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0887413 , -0.05764722,  0.06198105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.71835272e-05,-2.30289397e-05,-1.18282397e-06,-2.40307126e-05,
 -6.35491213e-06,-4.57981613e-05,-6.06074305e-06,-2.11289299e-05,
 -1.16949409e-05, 6.48322288e-06, 4.69452479e-05, 2.91448558e-06,
  2.64322325e-01,-4.32924205e-04, 9.43123100e-02, 3.46686171e-02,
 -4.51927112e-05, 1.68318208e-05,-9.80995620e+00,-1.18234306e-02,
 -2.39662422e-02, 5.32534566e-05]


--- Step 525 ---
qpos:
[-1.35687827e-02, 1.35118919e-02, 1.00394609e-02, 1.47396046e-02,
 -1.90625843e-02,-9.05529447e-03,-1.74576553e-02, 1.63301203e-02,
 -1.21174175e-02,-6.72182373e-03,-1.43533255e-02, 1.51580329e-02,
  1.40343613e+00, 3.22746382e-02, 2.87111941e-01,-2.90074172e-02,
  9.52429751e-02,-7.05324808e-02, 1.04560529e-01, 9.99993619e-01,
  1.12693796e-03, 6.28111326e-05,-3.38933829e-03]

qacc:
[ 1.90128221e-01, 1.45278722e-01, 4.16402180e-01,-4.37420296e+00,
 -3.69209566e+00,-1.15891411e+00, 5.05017468e+00,-9.88042452e+00,
 -7.48307276e+00, 1.40728469e+00,-6.39008958e+00, 1.34111415e+01,
 -2.03235325e-01, 1.96182220e+01, 1.39425605e+02,-3.41600886e+02,
 -1.59209814e+00,-7.81929826e-01,-2.71378390e-01, 2.03457522e+01,
 -5.01881607e+01, 3.47582856e+01]

qfrc_actuator:
[ 5.17612466e-04,-5.43067815e-04,-2.07809507e-04,-7.37182462e-05,
 -6.54936383e-04,-7.32112647e-04,-2.31261155e-04,-1.13436016e-04,
 -4.67406093e-04,-4.75836662e-04,-5.80610612e-05,-8.09715975e-06,
  2.10000000e-01,-5.71649687e-03, 9.00000000e-02, 3.29768655e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4314417 ,  0.43120885, -0.01417277,  0.43120885,  0.43538476,
        0.11996824, -0.01417277,  0.11996824,  4.08149455,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003183037210447785
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69705583e-01,  2.44267283e-01, -2.13914399e-03,  2.44266688e-01,
        9.69707943e-01,  5.38845634e-04,  2.20596728e-03,  1.08420217e-19,
       -9.99997567e-01])
  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([ 0.10405127, -0.08903899,  0.14120169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35097561,  0.34970184, -0.02987475,  0.34970184,  0.3756815 ,
        0.28919728, -0.02987475,  0.28919728,  3.7362031 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008431697856896882
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76621975,  0.46735877, -0.44100235,  0.40505891,  0.88406775,
        0.23313408,  0.49883321,  0.        , -0.866698  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10393472, -0.08837999,  0.1501296 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.44082429,   8.95866142,   5.3622008 ,   8.95866142,
        27.26629737, -28.11041997,   5.3622008 , -28.11041997,
        57.4050735 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004461309921942533
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.66604699e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.66604699e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09921777, -0.05193875,  0.06198103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16776852e-06,-2.06095277e-05,-2.14216794e-05,-1.48134046e-05,
 -2.19349906e-05,-1.20220760e-05, 5.96237910e-06,-1.39884765e-05,
 -4.40881928e-05, 1.88259730e-05,-2.03907240e-06, 2.12518752e-05,
  2.64150701e-01,-4.62584964e-04, 9.37503211e-02, 3.50543562e-02,
 -4.20712266e-05, 2.44999989e-05,-9.80996825e+00,-1.18238268e-02,
 -2.39614029e-02, 5.07196497e-05]


--- Step 526 ---
qpos:
[-1.35693179e-02, 1.35122313e-02, 1.00387665e-02, 1.47386851e-02,
 -1.90633946e-02,-9.05595357e-03,-1.74576353e-02, 1.63285769e-02,
 -1.21171533e-02,-6.72194190e-03,-1.43515677e-02, 1.51583885e-02,
  1.40345029e+00, 3.22864958e-02, 2.87163228e-01,-2.90718426e-02,
  9.52382549e-02,-7.05399723e-02, 1.04559318e-01, 9.99993827e-01,
  1.18329935e-03,-4.23065452e-05,-3.30809540e-03]

qacc:
[-5.79617046e+00, 4.84687966e-01,-8.84335341e-01,-1.71138215e+00,
 -2.22070152e+00,-6.30900862e-01, 2.86003058e+00,-5.49951823e+00,
 -4.64423994e+00, 8.09674517e-01,-2.38530903e+00, 1.29052861e+00,
 -5.26070617e-01, 1.02493099e+01, 1.18588522e+02,-2.81928874e+02,
 -1.32996336e+00,-5.58614578e-01,-2.03777322e-01, 1.27038742e+01,
 -5.08988783e+01, 4.94807899e+01]

qfrc_actuator:
[ 4.83222141e-04,-5.29248745e-04,-2.16884460e-04,-8.12555180e-05,
 -6.67516825e-04,-7.22329719e-04,-2.21177745e-04,-1.19557092e-04,
 -4.93453748e-04,-4.90347591e-04,-8.21152396e-05,-1.46914669e-05,
  2.10000000e-01,-5.71256181e-03, 9.00000000e-02, 3.30201099e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4313044 ,  0.43063934,  0.02394259,  0.43063934,  0.43358699,
       -0.04105546,  0.02394259, -0.04105546,  1.16974142,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031789447853090727
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69721451e-01,  2.44204359e-01, -2.13035991e-03,  2.44203770e-01,
        9.69723791e-01,  5.36485936e-04,  2.19687289e-03, -1.08420217e-19,
       -9.99997587e-01])
  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([ 0.10405115, -0.08904714,  0.14120126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35165212,  0.32080034,  0.14403596,  0.32080034,  0.71835973,
       -0.81673996,  0.14403596, -0.81673996,  2.17071492,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008462490738093126
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76648911,  0.46678704, -0.44113979,  0.40456741,  0.88436975,
        0.2328419 ,  0.49881826,  0.        , -0.86670661])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10393401, -0.08838773,  0.15012661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004453272744873796
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.79078029e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.79078029e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09921941, -0.05194119,  0.06198107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.43661485e-05,-2.76985806e-06,-1.64851469e-05,-9.45049786e-06,
 -1.31872508e-05, 3.70479831e-06, 7.85800621e-06,-6.70001446e-06,
 -2.73238790e-05,-3.53975707e-06,-1.96908624e-05,-5.44492591e-06,
  2.63710164e-01,-5.77846649e-04, 9.03610565e-02, 3.57396100e-02,
  4.63918085e-07, 1.21418645e-06,-9.80999940e+00,-1.18180265e-02,
 -2.39606209e-02, 5.24110980e-05]


--- Step 527 ---
qpos:
[-1.35702613e-02, 1.35128469e-02, 1.00375280e-02, 1.47380173e-02,
 -1.90640041e-02,-9.05671356e-03,-1.74574486e-02, 1.63269831e-02,
 -1.21168591e-02,-6.72211244e-03,-1.43500653e-02, 1.51586720e-02,
  1.40345903e+00, 3.22974445e-02, 2.87175481e-01,-2.91281602e-02,
  9.52373737e-02,-7.05447653e-02, 1.04558576e-01, 9.99994025e-01,
  1.21816703e-03,-9.33505737e-05,-3.23373836e-03]

qacc:
[-3.56097760e+00, 2.41164033e+00,-9.11996209e+00, 1.41312974e+01,
  1.74987866e+00,-7.06531592e-01, 2.53318409e+00,-3.59320274e+00,
  2.54210873e-01, 4.95023733e-01,-1.56143687e+00, 7.59084136e-01,
 -4.91173372e-01,-7.27173552e+00,-8.23889598e+01, 2.04209115e+02,
  9.59764597e-01, 6.74629145e-01, 1.17218860e-01,-1.08363689e+01,
  2.69970320e+01,-3.47446248e+00]

qfrc_actuator:
[ 4.63202522e-04,-5.03371634e-04,-2.39641605e-04,-6.75544873e-05,
 -6.56834662e-04,-7.33952573e-04,-2.15211953e-04,-1.22528375e-04,
 -4.91116901e-04,-4.99039876e-04,-9.70546911e-05,-1.87362325e-05,
  2.10000000e-01,-5.71542351e-03, 9.00000000e-02, 3.31304530e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42988456,  0.42455669,  0.06747114,  0.42455669,  0.46241703,
       -0.20470794,  0.06747114, -0.20470794,  1.71799272,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031361687087735766
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69731811e-01,  2.44161612e-01, -2.30709147e-03,  2.44160921e-01,
        9.69734555e-01,  5.80883882e-04,  2.37909587e-03,  1.08420217e-19,
       -9.99997170e-01])
  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([ 0.10404362, -0.08906063,  0.14119946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35248211, -0.3059694 , -0.1750039 , -0.3059694 ,  0.71561149,
       -0.63487999, -0.1750039 , -0.63487999,  1.46247933,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008500975153164742
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.67207396e-01,  4.65754954e-01, -4.40982012e-01,  4.03802800e-01,
        8.84913738e-01,  2.32101219e-01,  4.98333333e-01, -2.77555756e-17,
       -8.66985518e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10392282, -0.08839933,  0.15012617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.43157083,  9.06720372,  5.15785679,  9.06720372, 15.20419206,
       -8.38998264,  5.15785679, -8.38998264, 25.18065845,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000445397922877816
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.67372672e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.67372672e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08143866, -0.06163939,  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:
[-2.10126799e-05, 2.05254663e-05,-2.56796607e-05, 1.28303682e-05,
  1.03309298e-05,-8.19032695e-06, 7.47720049e-06,-2.66863642e-06,
  1.53689165e-06,-1.49929245e-05,-1.82882838e-05,-4.98364207e-06,
  2.63499292e-01,-6.19943083e-04, 8.72746330e-02, 3.62973472e-02,
 -4.51137584e-05, 1.48873748e-05,-9.80994951e+00,-1.18203050e-02,
 -2.39680363e-02, 5.70568031e-05]


--- Step 528 ---
qpos:
[-1.35707483e-02, 1.35135325e-02, 1.00366055e-02, 1.47378305e-02,
 -1.90648253e-02,-9.05736931e-03,-1.74575853e-02, 1.63260644e-02,
 -1.21165398e-02,-6.72222558e-03,-1.43493724e-02, 1.51589294e-02,
  1.40346383e+00, 3.23078470e-02, 2.87151178e-01,-2.91770842e-02,
  9.52397784e-02,-7.05477122e-02, 1.04558110e-01, 9.99994172e-01,
  1.23387636e-03,-9.51890913e-05,-3.18191466e-03]

qacc:
[ 3.96690075e+00, 1.92231342e-01,-2.59512833e+00, 1.03772039e+01,
 -1.84965023e+00, 2.43433647e+00,-1.13257392e+01, 2.34478992e+01,
  1.93817317e-01, 2.28409473e+00,-7.92534281e+00, 8.72887954e+00,
 -2.39026631e-01,-5.44357471e+00,-7.65466046e+01, 1.89122348e+02,
  8.21458878e-01, 4.61542070e-01, 6.88380329e-02,-9.65969388e+00,
  2.45579049e+01,-1.12957591e+01]

qfrc_actuator:
[ 4.87318377e-04,-4.88257306e-04,-2.16968823e-04,-4.14651976e-05,
 -6.68054638e-04,-7.22809133e-04,-2.29559903e-04,-8.81380488e-05,
 -4.89850419e-04,-5.04155612e-04,-1.41971410e-04,-2.12331323e-05,
  2.10000000e-01,-5.73872723e-03, 9.00000000e-02, 3.31965686e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42964941,  0.42422189,  0.06807644,  0.42422189,  0.46248892,
       -0.20464115,  0.06807644, -0.20464115,  1.7048815 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003129002690575833
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69745997e-01,  2.44104471e-01, -2.38927947e-03,  2.44103730e-01,
        9.69748940e-01,  6.01427624e-04,  2.46381241e-03,  1.08420217e-19,
       -9.99996965e-01])
  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([ 0.10404207, -0.08906723,  0.14119882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.3530249 , -0.28070836, -0.21407801, -0.28070836,  1.60942709,
       -1.64744899, -0.21407801, -1.64744899,  2.51323141,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008526590874191399
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7675078 ,  0.46523875, -0.44100417,  0.40338943,  0.88518524,
        0.23178451,  0.49820552,  0.        , -0.86705897])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10391979, -0.08840577,  0.15012456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044694237219274763
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24202033e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.24202033e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08144119, -0.06164353,  0.061981  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.35112731e-05, 2.18649689e-05, 2.42048356e-05, 2.63327303e-05,
 -1.08965692e-05, 8.01925736e-06,-1.52042221e-05, 3.42470940e-05,
  1.29418587e-06,-1.75020884e-05,-5.04437411e-05,-3.87025276e-06,
  2.63770344e-01,-5.97795818e-04, 8.92264870e-02, 3.59580712e-02,
 -2.29154352e-05, 1.16219689e-05,-9.80998128e+00,-1.18163997e-02,
 -2.39688267e-02, 6.03392078e-05]


--- Step 529 ---
qpos:
[-1.35705980e-02, 1.35143653e-02, 1.00359601e-02, 1.47376046e-02,
 -1.90654292e-02,-9.05778570e-03,-1.74579918e-02, 1.63258890e-02,
 -1.21158629e-02,-6.72230176e-03,-1.43495227e-02, 1.51588150e-02,
  1.40346612e+00, 3.23180984e-02, 2.87093302e-01,-2.92196873e-02,
  9.52449823e-02,-7.05495505e-02, 1.04557745e-01, 9.99994226e-01,
  1.23257950e-03,-5.19590314e-05,-3.16636325e-03]

qacc:
[ 5.52982178e+00,-6.71563696e-01, 2.82327054e+00,-4.03132678e+00,
  1.87425679e+00, 2.59547216e+00,-1.19405265e+01, 2.50665398e+01,
  3.09329548e+00, 1.63281481e+00,-4.19153072e+00,-9.12852658e-01,
 -7.18043968e-02,-3.18600575e+00,-6.88648532e+01, 1.68702733e+02,
  6.99792777e-01, 2.77120085e-01, 2.55601668e-02,-8.57642129e+00,
  2.24847191e+01,-1.81631850e+01]

qfrc_actuator:
[ 5.19461357e-04,-4.79504959e-04,-2.03185702e-04,-4.37780848e-05,
 -6.56578497e-04,-6.98170676e-04,-2.37919914e-04,-4.97889291e-05,
 -4.71480780e-04,-5.07214237e-04,-1.86465433e-04,-4.05712932e-05,
  2.10000000e-01,-5.73879021e-03, 9.00000000e-02, 3.32691239e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43027111,  0.42484145,  0.06813934,  0.42484145,  0.46233482,
       -0.1999138 ,  0.06813934, -0.1999138 ,  1.67671204,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003147897432289198
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69763920e-01,  2.44033295e-01, -2.38531243e-03,  2.44032556e-01,
        9.69766854e-01,  6.00242881e-04,  2.45967618e-03,  0.00000000e+00,
       -9.99996975e-01])
  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([ 0.10404541, -0.08906897,  0.14119902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008540835350684486
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.67491427e-01,  4.65106227e-01, -4.41172424e-01,  4.03234199e-01,
        8.85254877e-01,  2.31788660e-01,  4.98356389e-01, -2.77555756e-17,
       -8.66972266e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10392345, -0.08840853,  0.15012194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044718137589511153
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.20678255e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.20678255e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0814429 , -0.06164661,  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:
[ 3.28129649e-05, 2.71348468e-05, 2.21966259e-05,-2.58643044e-08,
  1.11919082e-05, 2.74759178e-05,-7.38137280e-06, 3.88354322e-05,
  1.83982110e-05,-2.34426854e-05,-5.44612372e-05,-2.19099681e-05,
  2.63967276e-01,-5.71254561e-04, 9.10543258e-02, 3.56609273e-02,
 -8.16808900e-06, 3.70773413e-06,-9.80999739e+00,-1.18138117e-02,
 -2.39677738e-02, 6.13129269e-05]


--- Step 530 ---
qpos:
[-1.35700639e-02, 1.35155073e-02, 1.00348952e-02, 1.47370353e-02,
 -1.90658905e-02,-9.05817605e-03,-1.74581185e-02, 1.63258181e-02,
 -1.21156607e-02,-6.72243582e-03,-1.43496756e-02, 1.51584233e-02,
  1.40346727e+00, 3.23286191e-02, 2.87005294e-01,-2.92574659e-02,
  9.52525512e-02,-7.05509324e-02, 1.04557330e-01, 9.99994142e-01,
  1.21632209e-03, 3.27903610e-05,-3.19936643e-03]

qacc:
[ 3.30978914e+00, 8.67899874e-01,-1.06330671e+00,-4.42404648e+00,
  1.24705507e+00,-5.34353574e-01, 1.50950172e+00,-1.61221173e-01,
 -4.14324783e+00,-6.31611905e-01, 3.32591418e+00,-8.09341662e+00,
  2.71696320e-02,-5.73590840e-01,-5.92147045e+01, 1.42398694e+02,
  5.91280037e-01, 1.14117614e-01,-1.27963083e-02,-7.54713673e+00,
  2.07059338e+01,-2.43025714e+01]

qfrc_actuator:
[ 5.38304751e-04,-4.74675091e-04,-2.30329274e-04,-6.28046206e-05,
 -6.49581565e-04,-7.01117295e-04,-2.24858793e-04,-4.49078079e-05,
 -4.96449535e-04,-4.91288491e-04,-1.77090684e-04,-5.19052978e-05,
  2.10000000e-01,-5.74283790e-03, 9.00000000e-02, 3.32904006e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43150933,  0.426316  ,  0.06674557,  0.426316  ,  0.46114791,
       -0.18930698,  0.06674557, -0.18930698,  1.64064723,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003185050352439825
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69785377e-01,  2.43948811e-01, -2.30223033e-03,  2.43948124e-01,
        9.69788110e-01,  5.79122746e-04,  2.37395191e-03,  0.00000000e+00,
       -9.99997182e-01])
  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([ 0.1040527 , -0.08906759,  0.1411998 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008546879980176427
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.67243023e-01,  4.65242377e-01, -4.41460842e-01,  4.03254281e-01,
        8.85183332e-01,  2.32026840e-01,  4.98722497e-01,  2.77555756e-17,
       -8.66761715e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10393251, -0.0884089 ,  0.15011836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044636440155471774
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.32721411e-14, -1.39908212e-13,  1.00000000e+00,  1.30495384e-26,
        1.00000000e+00,  1.39908212e-13, -1.00000000e+00,  0.00000000e+00,
        9.32721411e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08144395, -0.06164885,  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:
[ 1.97761241e-05, 2.45958708e-05,-1.88082880e-05,-1.70978867e-05,
  7.34774199e-06, 1.25832174e-05, 1.91775866e-05, 6.55979367e-06,
 -2.44420794e-05,-9.38934726e-06,-2.94263564e-06,-1.46517691e-05,
  2.64093489e-01,-5.69092704e-04, 9.27329322e-02, 3.53661216e-02,
 -5.04292023e-06,-1.19592873e-06,-9.80999706e+00,-1.18134633e-02,
 -2.39655172e-02, 6.02218550e-05]


--- Step 531 ---
qpos:
[-1.35696527e-02, 1.35164961e-02, 1.00342387e-02, 1.47365903e-02,
 -1.90669537e-02,-9.05824993e-03,-1.74587699e-02, 1.63261704e-02,
 -1.21164489e-02,-6.72277734e-03,-1.43494013e-02, 1.51578873e-02,
  1.40346820e+00, 3.23385433e-02, 2.86940412e-01,-2.92975921e-02,
  9.52572818e-02,-7.05529665e-02, 1.04557762e-01, 9.99994046e-01,
  1.21484023e-03, 8.61209018e-05,-3.22887609e-03]

qacc:
[ -1.05126093, -1.08631808,  3.05830028, -1.45106059, -5.24792253,
   2.76468356,-11.02050848, 18.93169322, -8.62604222, -1.74769698,
   6.4724333 , -9.53197446, -0.10644607, -1.80098387, 41.32050729,
 -94.90943875, -0.70960742, -0.16303962,  0.2117733 ,  7.43794225,
 -15.68357275,  1.76608171]

qfrc_actuator:
[ 5.31414144e-04,-4.90172012e-04,-2.10432418e-04,-5.60341899e-05,
 -6.80789742e-04,-6.84992115e-04,-2.52644565e-04,-2.42609166e-05,
 -5.46732023e-04,-4.99397313e-04,-1.53650427e-04,-5.83826633e-05,
  2.10000000e-01,-5.71413102e-03, 9.00000000e-02, 3.33153834e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43317517,  0.42934268,  0.05749424,  0.42934268,  0.4710864 ,
       -0.28310505,  0.05749424, -0.28310505,  2.54728392,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032340619292860743
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69810090e-01,  2.43851971e-01, -2.14596289e-03,  2.43851374e-01,
        9.69812464e-01,  5.39586054e-04,  2.21276068e-03,  0.00000000e+00,
       -9.99997552e-01])
  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([ 0.10406307, -0.08906459,  0.14120093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000854850741335614
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.66835039e-01,  4.65545397e-01, -4.41850095e-01,  4.03374962e-01,
        8.85024002e-01,  2.32424519e-01,  4.99252104e-01, -2.77555756e-17,
       -8.66456772e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10394581, -0.08840799,  0.15011384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.42295925,  10.09373974,   2.59894165,  10.09373974,
        13.60321626, -12.35144564,   2.59894165, -12.35144564,
        58.39336201,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004447135407668742
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.00825428e-06,  7.09185318e-06,  1.00000000e+00,  1.42422445e-11,
        1.00000000e+00, -7.09185318e-06, -1.00000000e+00,  1.61558713e-27,
       -2.00825428e-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([ 0.09095602, -0.05845813,  0.06198109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.33789322e-06,-6.37059312e-06, 2.20622932e-05, 6.83877039e-06,
 -3.09774372e-05, 2.74232858e-05,-2.25921637e-05, 2.19781353e-05,
 -5.09776470e-05,-1.46102260e-05, 2.06303280e-05,-7.26599983e-06,
  2.64151287e-01,-5.55774483e-04, 9.42393547e-02, 3.51498197e-02,
 -1.95776743e-05, 4.01129864e-06,-9.80998014e+00,-1.18159685e-02,
 -2.39624960e-02, 5.72823940e-05]


--- Step 532 ---
qpos:
[-1.35693277e-02, 1.35172627e-02, 1.00341507e-02, 1.47365728e-02,
 -1.90680376e-02,-9.05816486e-03,-1.74599615e-02, 1.63264439e-02,
 -1.21174887e-02,-6.72326218e-03,-1.43488728e-02, 1.51576268e-02,
  1.40347302e+00, 3.23488228e-02, 2.86946644e-01,-2.93427957e-02,
  9.52554475e-02,-7.05570992e-02, 1.04557557e-01, 9.99994159e-01,
  1.23754832e-03, 3.66227479e-05,-3.18582075e-03]

qacc:
[-7.24785467e-01,-1.00091593e+00, 1.34010948e+00, 5.31120328e+00,
 -1.98542197e-01, 1.55695167e+00,-4.91370461e+00, 4.29621242e+00,
 -2.18671791e+00,-3.28673125e-01,-2.58442609e-01, 4.71639000e+00,
 -3.62183490e-01, 7.56924431e+00, 1.20714840e+02,-2.69305232e+02,
 -1.64120691e+00,-5.24676651e-01,-1.58954733e-01, 1.22576581e+01,
 -5.13309196e+01, 3.63461211e+01]

qfrc_actuator:
[ 5.27189151e-04,-4.99773815e-04,-1.80724176e-04,-3.41158897e-05,
 -6.80975592e-04,-6.93229973e-04,-2.86493263e-04,-3.00201868e-05,
 -5.58239492e-04,-5.04001533e-04,-1.39952240e-04,-4.42154846e-05,
  2.10000000e-01,-5.70051872e-03, 9.00000000e-02, 3.33833374e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43390337,  0.42513397,  0.08679426,  0.42513397,  0.49046356,
       -0.27704204,  0.08679426, -0.27704204,  1.79090541,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032551489719113524
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69831851e-01,  2.43766293e-01, -2.04351171e-03,  2.43765752e-01,
        9.69834003e-01,  5.13633543e-04,  2.10707369e-03,  1.08420217e-19,
       -9.99997780e-01])
  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([ 0.10406967, -0.0890654 ,  0.14120145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35366026,  0.32809685,  0.13201529,  0.32809685,  0.83602   ,
       -1.19880597,  0.13201529, -1.19880597,  3.333046  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008557055232648679
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76670037,  0.46558013, -0.44204714,  0.40334255,  0.88500573,
        0.23255032,  0.49948506,  0.        , -0.8663225 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10395386, -0.08840956,  0.15011143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004449061172237511
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48028007e-06,  4.22937149e-06,  1.00000000e+00,  6.26065432e-12,
        1.00000000e+00, -4.22937149e-06, -1.00000000e+00, -1.61558713e-27,
       -1.48028007e-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([ 0.09971606, -0.05391044,  0.06198108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.43831545e-06,-8.32859996e-06, 3.13419935e-05, 2.25411198e-05,
 -1.05861189e-06, 3.40031894e-06,-3.01931000e-05,-4.93450847e-06,
 -1.29629227e-05,-8.81263771e-06, 1.29816015e-05, 1.41175755e-05,
  2.64162443e-01,-5.13829639e-04, 9.30830248e-02, 3.53351125e-02,
 -9.03879815e-06, 4.08865673e-06,-9.80999219e+00,-1.18153885e-02,
 -2.39600592e-02, 5.60579456e-05]


--- Step 533 ---
qpos:
[-1.35690567e-02, 1.35181501e-02, 1.00340520e-02, 1.47364687e-02,
 -1.90691150e-02,-9.05831174e-03,-1.74611358e-02, 1.63270039e-02,
 -1.21183139e-02,-6.72376617e-03,-1.43485144e-02, 1.51578968e-02,
  1.40347356e+00, 3.23570339e-02, 2.86971256e-01,-2.93859362e-02,
  9.52520084e-02,-7.05605883e-02, 1.04558394e-01, 9.99994394e-01,
  1.26398037e-03,-4.02249114e-05,-3.10052860e-03]

qacc:
[-4.70270802e-01, 1.18659363e-02, 5.56547196e-01,-2.12954669e+00,
  5.97949048e-02, 2.34782459e-01,-2.49213553e+00, 7.59497565e+00,
  1.86962758e+00, 1.53869466e+00,-7.77034765e+00, 1.72486309e+01,
 -3.06337156e-01,-1.07796758e+01, 2.08516466e+01,-3.37171260e+01,
 -4.01202347e-01, 1.60926139e-01, 2.60272422e-01, 1.90468720e+00,
 -1.36426082e+01, 2.11354727e+01]

qfrc_actuator:
[ 5.24575810e-04,-4.87955596e-04,-1.80957718e-04,-3.89670444e-05,
 -6.80641204e-04,-7.16054712e-04,-2.88249169e-04,-1.57852332e-05,
 -5.46824343e-04,-5.06484130e-04,-1.49849926e-04,-1.80235677e-05,
  2.10000000e-01,-5.74993420e-03, 9.00000000e-02, 3.33742271e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43282308,  0.35068782,  0.25368064,  0.35068782,  1.27125141,
       -1.15904232,  0.25368064, -1.15904232,  2.03508181,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032237935352066963
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69844941e-01,  2.43713478e-01, -2.12867947e-03,  2.43712891e-01,
        9.69847277e-01,  5.34917084e-04,  2.19486049e-03,  0.00000000e+00,
       -9.99997591e-01])
  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([ 0.10406719, -0.08907284,  0.14120022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35395673, -0.27596446, -0.22165058, -0.27596446,  1.3176759 ,
       -1.1998716 , -0.22165058, -1.1998716 ,  1.8478482 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008571456409474067
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.67107294e-01,  4.65080058e-01, -4.41867558e-01,  4.03003444e-01,
        8.85268625e-01,  2.32137211e-01,  4.99133873e-01,  2.77555756e-17,
       -8.66524885e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10394934, -0.08841552,  0.15011248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.41320137,   8.93509282,   5.34779199,   8.93509282,
        20.90070319, -17.52252189,   5.34779199, -17.52252189,
        39.68983736,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004439355227501902
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.96622127e-07,  1.83236804e-06,  1.00000000e+00,  1.45970492e-12,
        1.00000000e+00, -1.83236804e-06, -1.00000000e+00,  0.00000000e+00,
       -7.96622127e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09095799, -0.05846184,  0.06198112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.77314514e-06, 1.45900113e-05, 2.68341383e-06,-3.68528751e-06,
  3.16824610e-07,-2.73322084e-05,-4.93091337e-06, 1.32422791e-05,
  1.10516431e-05,-4.09004463e-06,-9.61771330e-06, 2.65411468e-05,
  2.63967576e-01,-5.81097430e-04, 8.95274430e-02, 3.55798788e-02,
 -1.11052397e-05, 4.49306540e-06,-9.80998899e+00,-1.18147636e-02,
 -2.39626152e-02, 5.82323184e-05]


--- Step 534 ---
qpos:
[-1.35688196e-02, 1.35190040e-02, 1.00340201e-02, 1.47363220e-02,
 -1.90701798e-02,-9.05864296e-03,-1.74620927e-02, 1.63284006e-02,
 -1.21186508e-02,-6.72421945e-03,-1.43485840e-02, 1.51584879e-02,
  1.40347058e+00, 3.23643996e-02, 2.86963442e-01,-2.94219532e-02,
  9.52518565e-02,-7.05624220e-02, 1.04559348e-01, 9.99994569e-01,
  1.27228567e-03,-6.88746874e-05,-3.03942759e-03]

qacc:
[-2.91837787e-01,-3.17820853e-01, 1.24974931e+00,-2.06950568e+00,
  1.20241830e-01, 8.70993100e-01,-6.99301552e+00, 2.12648100e+01,
  4.24735620e+00, 1.91522992e+00,-8.10163998e+00, 1.43201414e+01,
  1.56834560e-01,-7.83785967e+00,-6.96528137e+01, 1.73785384e+02,
  8.21793567e-01, 4.13832538e-01, 2.91314751e-02,-9.13849145e+00,
  2.40554157e+01,-1.21256953e+01]

qfrc_actuator:
[ 5.22931764e-04,-4.99044659e-04,-1.81051964e-04,-4.17841091e-05,
 -6.80013395e-04,-7.11799005e-04,-2.71090741e-04, 2.78650848e-05,
 -5.22021416e-04,-5.07760601e-04,-1.73582449e-04,-2.73485416e-06,
  2.10000000e-01,-5.74612163e-03, 9.00000000e-02, 3.33847793e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43147018,  0.42894818,  0.04658301,  0.42894818,  0.45001852,
       -0.17079783,  0.04658301, -0.17079783,  2.00421985,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031838852563264474
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69855109e-01,  2.43671781e-01, -2.26495985e-03,  2.43671117e-01,
        9.69857754e-01,  5.69059534e-04,  2.33535263e-03,  0.00000000e+00,
       -9.99997273e-01])
  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([ 0.10406305, -0.08907984,  0.14119914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35424829,  0.28652572,  0.20831433,  0.28652572,  1.56724608,
       -1.66841648,  0.20831433, -1.66841648,  2.64906991,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008585739813813576
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76758427,  0.46459197, -0.44155259,  0.40271425,  0.88552487,
        0.23166124,  0.49863375,  0.        , -0.86681277])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10394241, -0.08842075,  0.15011563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.42441927,   9.91335208,   3.22396767,   9.91335208,
        14.67601217, -13.07318858,   3.22396767, -13.07318858,
        50.62306097,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004448297187417266
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.23959561e-14,  1.24791912e-13,  1.00000000e+00,  7.78651068e-27,
        1.00000000e+00, -1.24791912e-13, -1.00000000e+00,  0.00000000e+00,
       -6.23959561e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08144845, -0.06165878,  0.06198109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74963608e-06,-2.54190753e-06, 3.12030294e-06,-2.17106367e-06,
  6.44933959e-07,-1.14401632e-05, 1.13763309e-05, 4.25685604e-05,
  2.51308290e-05,-4.37798013e-06,-2.48343400e-05, 1.52985336e-05,
  2.64181916e-01,-4.73570100e-04, 8.86086534e-02, 3.54872960e-02,
 -3.42120322e-05, 1.81306526e-05,-9.80997309e+00,-1.18160508e-02,
 -2.39665116e-02, 6.12278953e-05]


--- Step 535 ---
qpos:
[-1.35682597e-02, 1.35196195e-02, 1.00340775e-02, 1.47365133e-02,
 -1.90708839e-02,-9.05899655e-03,-1.74623021e-02, 1.63295603e-02,
 -1.21190322e-02,-6.72473213e-03,-1.43486094e-02, 1.51588938e-02,
  1.40346555e+00, 3.23713372e-02, 2.86925526e-01,-2.94519485e-02,
  9.52545309e-02,-7.05632926e-02, 1.04560261e-01, 9.99994653e-01,
  1.26451524e-03,-5.30615165e-05,-3.01534916e-03]

qacc:
[ 2.80555459e+00, 1.25720245e-01,-2.34179129e+00, 8.23413876e+00,
  3.15645827e+00,-2.61177508e+00, 1.02606064e+01,-1.55314177e+01,
 -3.86377429e-01,-5.82481110e-01, 2.74629748e+00,-5.97999504e+00,
  3.33890972e-01,-5.50304117e+00,-6.28560234e+01, 1.55049730e+02,
  7.06576750e-01, 2.40783096e-01,-9.98618250e-03,-8.10660609e+00,
  2.21833674e+01,-1.85390592e+01]

qfrc_actuator:
[ 5.39623513e-04,-5.23772236e-04,-1.81135758e-04,-2.56375107e-05,
 -6.61465741e-04,-6.91249858e-04,-2.25038011e-04, 1.74892777e-05,
 -5.25050483e-04,-5.08375597e-04,-1.69784696e-04,-1.17432730e-05,
  2.10000000e-01,-5.76402578e-03, 9.00000000e-02, 3.34367485e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43108975,  0.42830066,  0.04895825,  0.42830066,  0.45058897,
       -0.17058476,  0.04895825, -0.17058476,  1.92341355,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003172531152012676
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69868093e-01,  2.43619611e-01, -2.31651949e-03,  2.43618917e-01,
        9.69870860e-01,  5.81881157e-04,  2.38848241e-03, -1.08420217e-19,
       -9.99997148e-01])
  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([ 0.10406357, -0.08908208,  0.14119903])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008590787327138464
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76773995,  0.46446495, -0.44141554,  0.40265551,  0.8855915 ,
        0.2315086 ,  0.49844149,  0.        , -0.86692334])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10394197, -0.08842253,  0.15011737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004445288046549048
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.24381937e-14,  1.40485936e-13,  1.00000000e+00, -8.77168808e-27,
        1.00000000e+00, -1.40485936e-13, -1.00000000e+00,  0.00000000e+00,
        6.24381937e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08144958, -0.06166155,  0.0619811 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66101443e-05,-2.56040746e-05,-3.01562634e-07, 1.61030614e-05,
  1.85801655e-05, 1.83647214e-05, 4.65766566e-05,-9.64154401e-06,
 -2.29446211e-06,-7.51494653e-06, 3.67077641e-07,-9.75795973e-06,
  2.64357593e-01,-4.49524621e-04, 9.02300948e-02, 3.51830884e-02,
 -1.18291158e-05, 7.62568316e-06,-9.80999482e+00,-1.18131648e-02,
 -2.39665418e-02, 6.24976927e-05]


--- Step 536 ---
qpos:
[-1.35671597e-02, 1.35199800e-02, 1.00341490e-02, 1.47372496e-02,
 -1.90720498e-02,-9.05881331e-03,-1.74624468e-02, 1.63302160e-02,
 -1.21191014e-02,-6.72542391e-03,-1.43485184e-02, 1.51588537e-02,
  1.40345985e+00, 3.23782964e-02, 2.86860326e-01,-2.94774294e-02,
  9.52596211e-02,-7.05638158e-02, 1.04560996e-01, 9.99994608e-01,
  1.24265138e-03, 4.00748676e-06,-3.03980238e-03]

qacc:
[ 4.68736806e+00, 7.36826003e-01,-5.43313521e+00, 1.50485146e+01,
 -4.01881249e+00,-5.00649729e-01, 4.95652188e+00,-1.41932166e+01,
  2.73152710e+00,-1.48530352e+00, 6.82666705e+00,-1.45907548e+01,
  4.22070422e-01,-2.72605230e+00,-5.40929275e+01, 1.30515561e+02,
  6.03949466e-01, 8.68322138e-02,-4.47969502e-02,-7.11009083e+00,
  2.05758697e+01,-2.42915990e+01]

qfrc_actuator:
[ 5.66973544e-04,-5.38711954e-04,-1.81262607e-04, 1.52379037e-06,
 -6.85777290e-04,-6.43260245e-04,-2.15523823e-04,-6.81049505e-06,
 -5.08936006e-04,-5.26256525e-04,-1.67522437e-04,-3.49522091e-05,
  2.10000000e-01,-5.74178122e-03, 9.00000000e-02, 3.34408099e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43141111,  0.42842669,  0.05065682,  0.42842669,  0.45102609,
       -0.16589237,  0.05065682, -0.16589237,  1.83443467,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000318212614328413
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69883844e-01,  2.43557153e-01, -2.28967237e-03,  2.43556474e-01,
        9.69886547e-01,  5.74980740e-04,  2.36076310e-03,  0.00000000e+00,
       -9.99997213e-01])
  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([ 0.10406787, -0.08908122,  0.1411996 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008589188831116502
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76765565,  0.46459141, -0.44142907,  0.40275108,  0.88552517,
        0.23159607,  0.4984941 ,  0.        , -0.86689309])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10394682, -0.08842205,  0.15011778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004433141368132068
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.82615907e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.82615907e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08145019, -0.06166354,  0.06198115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.77960456e-05,-2.86424203e-05,-4.90226808e-06, 2.63652719e-05,
 -2.37589374e-05, 6.74985529e-05, 1.87189029e-05,-2.20878773e-05,
  1.60644883e-05,-2.24110424e-05, 4.22566750e-07,-2.37072027e-05,
  2.64460662e-01,-4.06773336e-04, 9.17352015e-02, 3.48860481e-02,
 -1.49532199e-06,-2.92049555e-07,-9.81000029e+00,-1.18123427e-02,
 -2.39654594e-02, 6.17722998e-05]


--- Step 537 ---
qpos:
[-1.35657405e-02, 1.35202053e-02, 1.00339012e-02, 1.47383135e-02,
 -1.90734979e-02,-9.05838401e-03,-1.74626983e-02, 1.63316609e-02,
 -1.21186315e-02,-6.72623752e-03,-1.43487149e-02, 1.51589022e-02,
  1.40345470e+00, 3.23857294e-02, 2.86770754e-01,-2.95000759e-02,
  9.52667789e-02,-7.05645075e-02, 1.04561429e-01, 9.99994390e-01,
  1.20838241e-03, 9.96592218e-05,-3.12253989e-03]

qacc:
[ 2.75904935e+00, 1.38349599e+00,-6.58437763e+00, 1.28745414e+01,
 -2.45607795e+00, 2.25212405e+00,-1.08829306e+01, 2.45235858e+01,
  4.69789997e+00, 8.15667690e-01,-3.53201563e+00, 5.63206304e+00,
  4.30228529e-01, 2.57601324e-01,-4.46648120e+01, 1.03866303e+02,
  5.16898656e-01,-4.21048364e-02,-7.52092003e-02,-6.26093523e+00,
  1.92361942e+01,-2.91662500e+01]

qfrc_actuator:
[ 5.82619496e-04,-5.47666948e-04,-1.99128444e-04, 1.71990500e-05,
 -6.99620643e-04,-6.50367142e-04,-2.27548883e-04, 3.19076420e-05,
 -4.81674345e-04,-5.36600899e-04,-1.84023979e-04,-3.08413097e-05,
  2.10000000e-01,-5.69572581e-03, 9.00000000e-02, 3.34152253e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43223102,  0.42911394,  0.05181581,  0.42911394,  0.45119   ,
       -0.15700929,  0.05181581, -0.15700929,  1.73250737,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003206417870125442
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69902230e-01,  2.43484846e-01, -2.18972101e-03,  2.43484225e-01,
        9.69904701e-01,  5.49707492e-04,  2.25766614e-03, -1.08420217e-19,
       -9.99997451e-01])
  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([ 0.10407515, -0.08907869,  0.14120063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008584265520974822
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76740103,  0.46487544, -0.44157274,  0.40293147,  0.88537609,
        0.23185212,  0.4987403 ,  0.        , -0.86675147])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10395588, -0.0884204 ,  0.15011688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004413781416347934
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.14419463e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.14419463e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08145037, -0.06166492,  0.06198123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64210776e-05,-2.48836954e-05,-2.34873543e-05, 1.47879424e-05,
 -1.45101026e-05, 3.35921044e-05, 3.47314988e-06, 4.18320840e-05,
  2.77390378e-05,-2.37950531e-05,-2.18982345e-05, 2.70338052e-06,
  2.64494838e-01,-3.63218983e-04, 9.30992780e-02, 3.46347071e-02,
 -8.97131952e-06, 1.11557144e-06,-9.80998940e+00,-1.18141642e-02,
 -2.39636374e-02, 5.92535696e-05]


--- Step 538 ---
qpos:
[-1.35641448e-02, 1.35203062e-02, 1.00334430e-02, 1.47392029e-02,
 -1.90751009e-02,-9.05804994e-03,-1.74626078e-02, 1.63332265e-02,
 -1.21185277e-02,-6.72704673e-03,-1.43492015e-02, 1.51593288e-02,
  1.40345696e+00, 3.23945888e-02, 2.86756686e-01,-2.95314039e-02,
  9.52667548e-02,-7.05678154e-02, 1.04561090e-01, 9.99994302e-01,
  1.21088320e-03, 9.33222129e-05,-3.14976606e-03]

qacc:
[ 1.52661566e+00, 6.12266549e-02, 2.74806844e-01,-2.86228952e+00,
 -1.33361137e+00,-8.29867471e-01, 2.27111182e+00,-6.62475198e-01,
 -3.20323601e+00, 1.60074525e+00,-7.28487901e+00, 1.42774991e+01,
  8.33142114e-03, 1.37080705e+01, 1.38177355e+02,-3.20833035e+02,
 -1.79546040e+00,-6.54044311e-01,-1.93150041e-01, 1.85411628e+01,
 -5.09031455e+01, 2.78191738e+01]

qfrc_actuator:
[ 5.91247946e-04,-5.53049009e-04,-2.09557253e-04, 8.22945969e-06,
 -7.07178218e-04,-6.72703262e-04,-2.16846589e-04, 3.63344537e-05,
 -5.01333975e-04,-5.24656354e-04,-1.93673757e-04,-1.06946890e-05,
  2.10000000e-01,-5.70685530e-03, 9.00000000e-02, 3.34427376e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43339392,  0.43242672,  0.02893828,  0.43242672,  0.43921509,
       -0.08698603,  0.02893828, -0.08698603,  1.73323218,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003240417800718532
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69923089e-01,  2.43403197e-01, -2.02104905e-03,  2.43402669e-01,
        9.69925195e-01,  5.07183238e-04,  2.08371642e-03,  0.00000000e+00,
       -9.99997829e-01])
  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([ 0.10408473, -0.08907569,  0.1412019 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008579154255717338
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7670332 ,  0.46523675, -0.44183123,  0.40313778,  0.88518629,
        0.23221792,  0.49913926,  0.        , -0.86652178])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10396826, -0.08841847,  0.15011465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.38380439,  9.61420592,  3.92306489,  9.61420592, 13.43610353,
       -7.48023124,  3.92306489, -7.48023124, 28.71551328,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004415751712663039
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.73179344e-06,  4.94798131e-06,  1.00000000e+00,  8.56888156e-12,
        1.00000000e+00, -4.94798131e-06, -1.00000000e+00,  0.00000000e+00,
       -1.73179344e-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([ 0.09972098, -0.05391895,  0.06198123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.08596226e-06,-2.35602678e-05,-1.79672584e-05,-1.05644940e-05,
 -7.98135466e-06,-9.93970251e-07, 1.95338400e-05, 6.80447618e-06,
 -1.88409704e-05,-5.77362715e-06,-1.71742960e-05, 1.84197810e-05,
  2.64467709e-01,-3.99938621e-04, 9.43176874e-02, 3.45204432e-02,
 -4.07350697e-05, 1.79256252e-05,-9.80996245e+00,-1.18190072e-02,
 -2.39613034e-02, 5.51094747e-05]


--- Step 539 ---
qpos:
[-1.35628027e-02, 1.35202293e-02, 1.00331634e-02, 1.47396121e-02,
 -1.90764380e-02,-9.05740708e-03,-1.74627491e-02, 1.63337854e-02,
 -1.21186595e-02,-6.72761672e-03,-1.43498804e-02, 1.51589198e-02,
  1.40346226e+00, 3.24033297e-02, 2.86813156e-01,-2.95674370e-02,
  9.52605997e-02,-7.05728977e-02, 1.04560190e-01, 9.99994460e-01,
  1.23467316e-03,-1.52756020e-05,-3.09118823e-03]

qacc:
[-2.19059952e+00,-1.71893957e+00, 7.82234812e+00,-1.62944290e+01,
  2.29642499e+00,-1.02097654e+00, 8.47641138e+00,-2.57513602e+01,
 -2.06812326e+00,-8.62405701e-01, 7.06890342e+00,-2.14072221e+01,
 -2.61748944e-01, 4.45005539e+00, 1.18697212e+02,-2.63573627e+02,
 -1.53276818e+00,-4.43610004e-01,-1.40126315e-01, 1.08014253e+01,
 -5.10446460e+01, 4.29650471e+01]

qfrc_actuator:
[ 5.77928114e-04,-5.56243903e-04,-1.97752365e-04,-1.51559385e-05,
 -6.93225917e-04,-6.50676156e-04,-2.28419185e-04,-1.49660684e-05,
 -5.12951708e-04,-4.99415946e-04,-1.99094928e-04,-5.22620549e-05,
  2.10000000e-01,-5.71793261e-03, 9.00000000e-02, 3.34947378e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43259951,  0.43152587,  0.03045914,  0.43152587,  0.43626937,
       -0.05199222,  0.03045914, -0.05199222,  1.16919254,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032172484856964913
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69934743e-01,  2.43356661e-01, -2.03238257e-03,  2.43356126e-01,
        9.69936872e-01,  5.09923739e-04,  2.09537614e-03,  0.00000000e+00,
       -9.99997805e-01])
  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([ 0.10408425, -0.08908142,  0.14120111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35427038,  0.31820317,  0.15573773,  0.31820317,  0.847673  ,
       -1.00811972,  0.15573773, -1.00811972,  2.41405951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008586826731455641
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.67287149e-01,  4.64904786e-01, -4.41739711e-01,  4.02904120e-01,
        8.85360684e-01,  2.31958465e-01,  4.98937573e-01, -2.77555756e-17,
       -8.66637928e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10396688, -0.08842281,  0.15011509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004417740008172365
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.65763496e-06,  4.73609994e-06,  1.00000000e+00,  7.85072481e-12,
        1.00000000e+00, -4.73609994e-06, -1.00000000e+00, -1.61558713e-27,
       -1.65763496e-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([ 0.09972226, -0.0539219 ,  0.06198122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30652108e-05,-2.05887781e-05, 4.34032554e-06,-2.52261709e-05,
  1.37044226e-05, 2.58531099e-05,-9.11701930e-06,-5.05308027e-05,
 -1.21254730e-05, 1.92462827e-05,-8.09111144e-06,-4.20498707e-05,
  2.64097146e-01,-4.82772006e-04, 9.05426152e-02, 3.50065203e-02,
 -1.74636746e-06, 5.24115869e-07,-9.81000028e+00,-1.18146139e-02,
 -2.39597038e-02, 5.57150790e-05]


--- Step 540 ---
qpos:
[-1.35619754e-02, 1.35200361e-02, 1.00329937e-02, 1.47397345e-02,
 -1.90769082e-02,-9.05651586e-03,-1.74630399e-02, 1.63337274e-02,
 -1.21189294e-02,-6.72786317e-03,-1.43504086e-02, 1.51576353e-02,
  1.40346335e+00, 3.24110432e-02, 2.86837042e-01,-2.95974037e-02,
  9.52580263e-02,-7.05760294e-02, 1.04559789e-01, 9.99994572e-01,
  1.24138925e-03,-7.22454461e-05,-3.05109684e-03]

qacc:
[-4.45743581e+00,-1.04326237e+00, 4.72293383e+00,-9.79498044e+00,
  7.51750840e+00,-5.37921253e-01, 4.97354888e+00,-1.55657741e+01,
 -1.20538577e+00,-1.79325671e+00, 1.07153218e+01,-2.63516934e+01,
 -7.46164512e-03,-8.52903615e+00,-6.66837570e+01, 1.63059564e+02,
  8.95451329e-01, 4.87629393e-01, 1.24597098e-01,-8.61680112e+00,
  2.57760406e+01,-9.27498529e+00]

qfrc_actuator:
[ 5.51798927e-04,-5.58023459e-04,-1.90664772e-04,-2.90628424e-05,
 -6.48974028e-04,-6.37902314e-04,-2.35167220e-04,-4.53658516e-05,
 -5.19728154e-04,-4.66434608e-04,-1.84208051e-04,-9.42901873e-05,
  2.10000000e-01,-5.76350957e-03, 9.00000000e-02, 3.34899163e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43030078,  0.42883927,  0.035435  ,  0.42883927,  0.44083756,
       -0.12751758,  0.035435  , -0.12751758,  1.97353626,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031487951877198214
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69937807e-01,  2.43342702e-01, -2.23161468e-03,  2.43342058e-01,
        9.69940374e-01,  5.59876833e-04,  2.30077512e-03,  0.00000000e+00,
       -9.99997353e-01])
  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([ 0.10407535, -0.08909247,  0.14119881])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35455723,  0.03019906, -0.3532688 ,  0.03019906,  3.63748703,
        0.28064015, -0.3532688 ,  0.28064015,  0.37854765,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008601008607873471
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76801715,  0.46412122, -0.44129486,  0.40242092,  0.88577169,
        0.23122698,  0.49820384,  0.        , -0.86705993])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10395384, -0.08843061,  0.15011888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.39979039,  9.48706433,  4.26042844,  9.48706433, 14.33367879,
       -8.75992939,  4.26042844, -8.75992939, 29.90628246,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004428618061139075
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.13366102e-14, -3.13366102e-14,  1.00000000e+00,  9.81983141e-28,
        1.00000000e+00,  3.13366102e-14, -1.00000000e+00,  0.00000000e+00,
        3.13366102e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08145426, -0.06167351,  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:
[-2.65071994e-05,-1.35310398e-05, 2.48087595e-06,-1.51323968e-05,
  4.46350373e-05, 2.32356984e-05,-4.26454556e-06,-3.05884160e-05,
 -7.08548656e-06, 4.02737805e-05, 1.64139649e-05,-4.23006193e-05,
  2.63944772e-01,-5.21461423e-04, 8.70160407e-02, 3.52370006e-02,
 -3.67965346e-05, 1.15600207e-05,-9.80996373e+00,-1.18171248e-02,
 -2.39649651e-02, 5.91841078e-05]


--- Step 541 ---
qpos:
[-1.35621573e-02, 1.35196809e-02, 1.00331866e-02, 1.47400226e-02,
 -1.90771894e-02,-9.05578202e-03,-1.74627324e-02, 1.63339964e-02,
 -1.21192782e-02,-6.72756343e-03,-1.43511844e-02, 1.51562009e-02,
  1.40346159e+00, 3.24180834e-02, 2.86829931e-01,-2.96220441e-02,
  9.52585652e-02,-7.05779024e-02, 1.04559683e-01, 9.99994610e-01,
  1.23257321e-03,-8.17105059e-05,-3.04213570e-03]

qacc:
[-8.73519369e+00,-8.69534847e-01, 2.11969154e+00, 2.55624732e-01,
  1.66334688e+00,-1.20981444e+00, 2.62617619e+00, 2.19711352e+00,
 -7.06795403e-01, 1.10630686e+00,-2.26154067e+00,-3.43473950e-01,
  2.17220316e-01,-6.74163932e+00,-6.20841545e+01, 1.50403775e+02,
  7.78049247e-01, 3.14697324e-01, 7.37327008e-02,-7.83957451e+00,
  2.37092432e+01,-1.55940720e+01]

qfrc_actuator:
[ 5.00594082e-04,-5.58944066e-04,-1.68657608e-04,-1.95311620e-05,
 -6.40507508e-04,-6.48496153e-04,-2.03504708e-04,-2.77072105e-05,
 -5.23603317e-04,-4.28988724e-04,-1.92907725e-04,-1.00715407e-04,
  2.10000000e-01,-5.82882987e-03, 9.00000000e-02, 3.35308755e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42919513,  0.42742678,  0.03892055,  0.42742678,  0.44126376,
       -0.13253803,  0.03892055, -0.13253803,  1.88473218,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031150919387161176
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69943681e-01,  2.43318281e-01, -2.33891772e-03,  2.43317574e-01,
        9.69946501e-01,  5.86734875e-04,  2.41138837e-03,  1.08420217e-19,
       -9.99997093e-01])
  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([ 0.10407159, -0.08909797,  0.14119775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008608509950831807
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76838142,  0.46374633, -0.4410548 ,  0.40219743,  0.88596802,
        0.23086335,  0.49782248,  0.        , -0.86727895])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10394797, -0.08843446,  0.15012111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044473280253275876
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.56023884e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.56023884e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08145629, -0.0616775 ,  0.06198109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.19647971e-05,-8.66325448e-06, 1.89850865e-05, 8.74238569e-06,
  9.73236342e-06, 2.40530355e-07, 3.48818030e-05, 1.79106537e-05,
 -4.04499813e-06, 6.15536201e-05, 1.81758636e-07,-4.95336367e-06,
  2.64155416e-01,-5.35057412e-04, 8.86454171e-02, 3.49746697e-02,
 -1.19036117e-05, 5.74197018e-06,-9.80998987e+00,-1.18146851e-02,
 -2.39665223e-02, 6.10838086e-05]


--- Step 542 ---
qpos:
[-1.35632968e-02, 1.35196275e-02, 1.00331501e-02, 1.47407487e-02,
 -1.90777120e-02,-9.05495728e-03,-1.74624493e-02, 1.63355218e-02,
 -1.21193258e-02,-6.72688254e-03,-1.43522934e-02, 1.51547277e-02,
  1.40345825e+00, 3.24248272e-02, 2.86793865e-01,-2.96423551e-02,
  9.52618030e-02,-7.05791115e-02, 1.04559691e-01, 9.99994538e-01,
  1.20964654e-03,-4.71882873e-05,-3.07541310e-03]

qacc:
[-8.31355811e+00, 1.95915456e+00,-8.22826002e+00, 1.59257243e+01,
 -2.09812271e+00, 2.77760839e+00,-1.50286365e+01, 3.67410975e+01,
  2.61250623e+00, 1.34943798e+00,-3.92614024e+00, 3.51772974e+00,
  3.61023818e-01,-4.59927280e+00,-5.60229438e+01, 1.33634691e+02,
  6.74721326e-01, 1.65980636e-01, 2.86103278e-02,-7.12383567e+00,
  2.19460219e+01,-2.11458595e+01]

qfrc_actuator:
[ 4.52796851e-04,-5.23751932e-04,-1.73500685e-04, 3.72584102e-06,
 -6.53181210e-04,-6.37298921e-04,-2.02741818e-04, 3.58421425e-05,
 -5.07988836e-04,-4.24721427e-04,-2.15421214e-04,-1.03906747e-04,
  2.10000000e-01,-5.87043417e-03, 9.00000000e-02, 3.35798640e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42895396,  0.42692003,  0.04172277,  0.42692003,  0.44192511,
       -0.1327247 ,  0.04172277, -0.1327247 ,  1.78703322,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003107670786595977
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69952466e-01,  2.43283038e-01, -2.36160813e-03,  2.43282316e-01,
        9.69955341e-01,  5.92335723e-04,  2.43475965e-03,  0.00000000e+00,
       -9.99997036e-01])
  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([ 0.1040721 , -0.08909961,  0.14119761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000861016241346386
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.68463951e-01,  4.63673388e-01, -4.40987693e-01,  4.02160034e-01,
        8.86006201e-01,  2.30781971e-01,  4.97725289e-01,  2.77555756e-17,
       -8.67334731e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10394808, -0.08843555,  0.1501219 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004452606861134467
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.23355631e-14, -1.40255017e-13,  1.00000000e+00,  8.74287547e-27,
        1.00000000e+00,  1.40255017e-13, -1.00000000e+00,  0.00000000e+00,
        6.23355631e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0814576 , -0.06168046,  0.06198107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.92900062e-05, 3.46314984e-05,-3.98764854e-06, 2.37154141e-05,
 -1.24264275e-05, 1.93178059e-05, 5.73220399e-06, 6.51155338e-05,
  1.55217229e-05, 3.85247449e-05,-9.94315300e-06,-6.42421806e-07,
  2.64297973e-01,-5.43250756e-04, 9.01954235e-02, 3.47573531e-02,
 -3.53349284e-07, 5.68682059e-07,-9.80999975e+00,-1.18138645e-02,
 -2.39666724e-02, 6.09420787e-05]


--- Step 543 ---
qpos:
[-1.35643113e-02, 1.35200455e-02, 1.00323961e-02, 1.47417598e-02,
 -1.90787282e-02,-9.05361809e-03,-1.74631472e-02, 1.63374635e-02,
 -1.21195309e-02,-6.72590322e-03,-1.43533611e-02, 1.51532127e-02,
  1.40345459e+00, 3.24317005e-02, 2.86731460e-01,-2.96597795e-02,
  9.52673642e-02,-7.05802020e-02, 1.04559652e-01, 9.99994314e-01,
  1.17414028e-03, 2.82763719e-05,-3.16116647e-03]

qacc:
[ 1.05306381e+00, 3.21365581e+00,-1.17606348e+01, 1.74955981e+01,
 -4.32455161e+00, 4.28515494e+00,-1.60370678e+01, 2.44183445e+01,
 -1.37882273e+00, 1.95952248e-01, 5.50108713e-02,-1.06992729e+00,
  4.16071976e-01,-1.90839800e+00,-4.77537644e+01, 1.10394836e+02,
  5.80873427e-01, 2.96504332e-02,-1.18133834e-02,-6.35387038e+00,
  2.04200225e+01,-2.62625395e+01]

qfrc_actuator:
[ 4.60654136e-04,-5.02796376e-04,-2.11759501e-04, 1.71267039e-05,
 -6.78184145e-04,-6.13212389e-04,-2.55640619e-04, 5.48551052e-05,
 -5.16534505e-04,-4.04909464e-04,-2.10533274e-04,-1.05209051e-04,
  2.10000000e-01,-5.84465861e-03, 9.00000000e-02, 3.35615260e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42934026,  0.42707925,  0.0440043 ,  0.42707925,  0.44272934,
       -0.12994636,  0.0440043 , -0.12994636,  1.69052142,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003119545700767732
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69964147e-01,  2.43236995e-01, -2.30586511e-03,  2.43236308e-01,
        9.69966888e-01,  5.78237986e-04,  2.37726168e-03, -1.08420217e-19,
       -9.99997174e-01])
  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([ 0.1040761 , -0.0890988 ,  0.14119814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008608029764776988
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.68336182e-01,  4.63809747e-01, -4.41066924e-01,  4.02243820e-01,
        8.85934828e-01,  2.30909918e-01,  4.97854819e-01,  2.77555756e-17,
       -8.67260387e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10395309, -0.08843493,  0.15012136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044469838392076355
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.24143838e-14, -1.71639555e-13,  1.00000000e+00,  1.07127771e-26,
        1.00000000e+00,  1.71639555e-13, -1.00000000e+00,  0.00000000e+00,
        6.24143838e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08145834, -0.0616826 ,  0.06198109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.44787746e-06, 4.05383730e-05,-3.07602451e-05, 1.52132101e-05,
 -2.53936083e-05, 3.88780050e-05,-4.59425895e-05, 2.13081002e-05,
 -8.09558967e-06, 3.92800700e-05, 1.15991284e-05,-8.17615757e-09,
  2.64376808e-01,-5.03473650e-04, 9.16431596e-02, 3.45225310e-02,
 -6.19151994e-06, 2.39978689e-06,-9.80999325e+00,-1.18153451e-02,
 -2.39658293e-02, 5.89365065e-05]


--- Step 544 ---
qpos:
[-1.35648794e-02, 1.35205591e-02, 1.00310637e-02, 1.47426178e-02,
 -1.90796922e-02,-9.05210631e-03,-1.74640162e-02, 1.63382251e-02,
 -1.21198372e-02,-6.72459621e-03,-1.43541261e-02, 1.51520168e-02,
  1.40345501e+00, 3.24394025e-02, 2.86691766e-01,-2.96866481e-02,
  9.52703997e-02,-7.05829455e-02, 1.04560074e-01, 9.99994065e-01,
  1.16766726e-03, 7.58009517e-05,-3.24037675e-03]

qacc:
[ 3.85154196e+00, 1.42053877e+00,-4.24808494e+00, 2.46655343e+00,
  4.44057635e-01,-1.72335154e+00, 1.14579779e+01,-3.17368940e+01,
 -8.78678554e-01, 2.45427963e-01,-1.59115781e+00, 6.38583650e+00,
  3.01705076e-01, 6.30272422e+00, 6.22711251e+01,-1.68905336e+02,
 -6.31436546e-01,-4.13258923e-01, 1.15403940e-01, 1.45606213e+01,
 -1.39202293e+01, 3.28829844e+00]

qfrc_actuator:
[ 4.83451997e-04,-5.26178330e-04,-2.51735370e-04, 6.83922815e-06,
 -6.74730686e-04,-6.17357455e-04,-2.68759483e-04,-5.77412619e-06,
 -5.21485335e-04,-3.75840448e-04,-1.89445445e-04,-8.76066747e-05,
  2.10000000e-01,-5.83202023e-03, 9.00000000e-02, 3.35380084e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43017299,  0.42965113,  0.02118269,  0.42965113,  0.43420911,
       -0.08186506,  0.02118269, -0.08186506,  2.09065185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003144926250966271
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69978619e-01,  2.43180469e-01, -2.17687755e-03,  2.43179857e-01,
        9.69981061e-01,  5.45757155e-04,  2.24424748e-03,  0.00000000e+00,
       -9.99997482e-01])
  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([ 0.10408288, -0.08909682,  0.14119909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008604894671723911
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.68060595e-01,  4.64070287e-01, -4.41272809e-01,  4.02387393e-01,
        8.85798379e-01,  2.31183081e-01,  4.98163938e-01,  2.77555756e-17,
       -8.67082863e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10396204, -0.08843352,  0.15011951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.41049698,   9.22626716,   4.82228593,   9.22626716,
        18.39139647, -15.26950329,   4.82228593, -15.26950329,
        39.62496471,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004437194161773359
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.13076291e-06, -1.25104174e-13,  1.00000000e+00,  2.66567335e-19,
        1.00000000e+00,  1.25104174e-13, -1.00000000e+00,  4.81482486e-35,
        2.13076291e-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([ 0.09054838, -0.05672433,  0.06198113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29900316e-05,-6.37493232e-06,-3.48527626e-05,-9.31644685e-06,
  2.69206959e-06, 9.04700289e-06,-9.99764430e-06,-6.01350166e-05,
 -5.18907147e-06, 5.34328800e-05, 3.06330235e-05, 1.96879391e-05,
  2.64393543e-01,-4.98635614e-04, 9.29599639e-02, 3.43546544e-02,
 -3.47074980e-05, 1.71655521e-05,-9.80997055e+00,-1.18195967e-02,
 -2.39642876e-02, 5.52348962e-05]


--- Step 545 ---
qpos:
[-1.35648248e-02, 1.35210584e-02, 1.00295708e-02, 1.47433316e-02,
 -1.90802633e-02,-9.05091178e-03,-1.74639838e-02, 1.63378978e-02,
 -1.21198562e-02,-6.72311621e-03,-1.43545665e-02, 1.51514045e-02,
  1.40346343e+00, 3.24490306e-02, 2.86720583e-01,-2.97258142e-02,
  9.52674340e-02,-7.05885615e-02, 1.04559450e-01, 9.99994027e-01,
  1.19860694e-03, 2.34223639e-05,-3.24167587e-03]

qacc:
[ 5.39190404e+00, 1.22302852e-01, 1.26729398e-01,-2.33445379e+00,
  3.44371206e+00,-5.18413753e+00, 2.24638130e+01,-4.25071521e+01,
  2.51487004e+00, 5.18204971e-01,-3.98911944e+00, 1.34548922e+01,
 -1.35901899e-01, 1.68325625e+01, 1.38818854e+02,-3.37996946e+02,
 -1.50030540e+00,-7.18125588e-01,-2.61668027e-01, 1.88650279e+01,
 -4.98451925e+01, 3.90154378e+01]

qfrc_actuator:
[ 5.14842622e-04,-5.22717682e-04,-2.57088270e-04, 4.15416249e-07,
 -6.54551684e-04,-6.38305384e-04,-2.22922670e-04,-5.95008591e-05,
 -5.06520014e-04,-3.76871077e-04,-1.76668460e-04,-5.90057023e-05,
  2.10000000e-01,-5.84576789e-03, 9.00000000e-02, 3.35580644e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43041139,  0.4291027 ,  0.03353861,  0.4291027 ,  0.43667021,
       -0.08007713,  0.03353861, -0.08007713,  1.45494141,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003152138491294667
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69991402e-01,  2.43130251e-01, -2.08813233e-03,  2.43129688e-01,
        9.69993650e-01,  5.23393259e-04,  2.15272783e-03,  0.00000000e+00,
       -9.99997683e-01])
  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([ 0.10408613, -0.0890999 ,  0.14119957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35493577,  0.33272882,  0.12357561,  0.33272882,  0.76946042,
       -1.11611264,  0.12357561, -1.11611264,  3.36008252,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008619912810665153
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76805631,  0.4639368 , -0.44142061,  0.40223766,  0.8858683 ,
        0.23117575,  0.49829146,  0.        , -0.86700958])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10396619, -0.08843637,  0.15011775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004443536687012903
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24925606e-13,  6.24628029e-14,  1.00000000e+00, -7.80320349e-27,
        1.00000000e+00, -6.24628029e-14, -1.00000000e+00,  0.00000000e+00,
        1.24925606e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09924035, -0.05198664,  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:
[ 3.20482891e-05,-7.67396299e-06,-1.12798363e-05,-8.08397090e-06,
  2.02161553e-05,-2.04948498e-05, 4.44041919e-05,-5.48533111e-05,
  1.47975737e-05, 3.60263764e-05, 2.82720715e-05, 3.23349066e-05,
  2.64190153e-01,-5.54742084e-04, 9.18244908e-02, 3.48469005e-02,
 -2.14302714e-05, 1.46370276e-05,-9.80998948e+00,-1.18184353e-02,
 -2.39608105e-02, 5.40127664e-05]


--- Step 546 ---
qpos:
[-1.35640495e-02, 1.35214093e-02, 1.00286360e-02, 1.47435844e-02,
 -1.90805889e-02,-9.05012438e-03,-1.74633351e-02, 1.63373059e-02,
 -1.21200414e-02,-6.72150508e-03,-1.43547832e-02, 1.51511526e-02,
  1.40347031e+00, 3.24578531e-02, 2.86763093e-01,-2.97692854e-02,
  9.52634646e-02,-7.05941096e-02, 1.04559641e-01, 9.99994138e-01,
  1.24271446e-03,-5.39148129e-05,-3.19006234e-03]

qacc:
[ 6.26894450e+00,-2.71822688e+00, 1.13326165e+01,-2.00726630e+01,
  2.15882436e+00,-2.80836108e+00, 1.03437965e+01,-1.56035587e+01,
 -1.44629467e+00, 2.92882882e-01,-2.30928734e+00, 8.08613239e+00,
 -3.31250850e-01,-3.03164883e+00, 3.32850417e+01,-8.70692214e+01,
 -2.50906823e-01, 1.69709530e-02, 2.03855957e-01, 6.62362836e+00,
 -1.24261681e+01, 2.64715169e+01]

qfrc_actuator:
[ 5.51034314e-04,-5.20832389e-04,-2.24101308e-04,-2.13905663e-05,
 -6.42451502e-04,-6.68914235e-04,-1.95974321e-04,-7.32000394e-05,
 -5.15458221e-04,-3.78185252e-04,-1.69020880e-04,-4.19504281e-05,
  2.10000000e-01,-5.84127076e-03, 9.00000000e-02, 3.36108956e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.429258  ,  0.42158719,  0.08078786,  0.42158719,  0.51456021,
       -0.44514507,  0.08078786, -0.44514507,  2.75222417,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000311702252743596
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69997420e-01,  2.43105479e-01, -2.17505694e-03,  2.43104868e-01,
        9.69999859e-01,  5.45121995e-04,  2.24232706e-03,  0.00000000e+00,
       -9.99997486e-01])
  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([ 0.10408083, -0.08911049,  0.1411984 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35557042,  0.35450771, -0.02747023,  0.35450771,  0.37589825,
        0.26233379, -0.02747023,  0.26233379,  3.74102948,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008652114113928336
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76857789,  0.4631723 , -0.4413156 ,  0.40166618,  0.88626826,
        0.23063577,  0.4979481 ,  0.        , -0.86720683])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10395855, -0.08844509,  0.15011755])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.40504933,   8.74856277,   5.63273478,   8.74856277,
        23.59469864, -20.48569289,   5.63273478, -20.48569289,
        42.22269688,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004432834636108403
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.69606232e-07, -1.72187413e-13,  1.00000000e+00,  9.80790236e-20,
        1.00000000e+00,  1.72187413e-13, -1.00000000e+00,  0.00000000e+00,
        5.69606232e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09055096, -0.0567298 ,  0.06198115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.71118184e-05,-5.07313629e-06, 2.97299212e-05,-2.26839795e-05,
  1.26325406e-05,-3.52204599e-05, 2.62927421e-05,-1.41079545e-05,
 -8.55132729e-06, 2.60589629e-05, 1.96892528e-05, 2.02060531e-05,
  2.63789604e-01,-6.46150400e-04, 8.83991046e-02, 3.55146271e-02,
 -4.65396210e-06,-2.91952024e-06,-9.80999266e+00,-1.18151429e-02,
 -2.39624978e-02, 5.66522985e-05]


--- Step 547 ---
qpos:
[-1.35625012e-02, 1.35217111e-02, 1.00280755e-02, 1.47435734e-02,
 -1.90811122e-02,-9.04952176e-03,-1.74629723e-02, 1.63365889e-02,
 -1.21203333e-02,-6.71988829e-03,-1.43545549e-02, 1.51514534e-02,
  1.40347298e+00, 3.24658172e-02, 2.86769391e-01,-2.98059830e-02,
  9.52630411e-02,-7.05975743e-02, 1.04560023e-01, 9.99994222e-01,
  1.26553931e-03,-8.15495159e-05,-3.15394052e-03]

qacc:
[ 6.71227858e+00,-1.66784784e+00, 6.94378837e+00,-1.20477769e+01,
 -1.72338603e+00, 3.00334082e-01,-8.91267270e-01,-6.87233998e-01,
 -9.16003704e-01,-9.62699028e-02,-1.97699847e+00, 1.08262342e+01,
 -7.58754140e-02,-7.63401999e+00,-7.41853307e+01, 1.81532367e+02,
  8.86438845e-01, 5.20844246e-01, 4.75294428e-02,-1.07209579e+01,
  2.48075181e+01,-7.77615749e+00]

qfrc_actuator:
[ 5.89759287e-04,-5.19752551e-04,-2.04270034e-04,-3.42986477e-05,
 -6.52961186e-04,-6.87350236e-04,-2.15939865e-04,-8.10239703e-05,
 -5.20647273e-04,-3.79696896e-04,-1.46727188e-04,-1.40800206e-05,
  2.10000000e-01,-5.85937076e-03, 9.00000000e-02, 3.36270605e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42814541,  0.42609146,  0.04188745,  0.42609146,  0.44109505,
       -0.13172763,  0.04188745, -0.13172763,  1.76811748,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030826035673237344
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70002844e-01,  2.43082648e-01, -2.30392974e-03,  2.43081962e-01,
        9.70005580e-01,  5.77363012e-04,  2.37517164e-03,  0.00000000e+00,
       -9.99997179e-01])
  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([ 0.10407462, -0.08912101,  0.1411975 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35632409,  0.32718682,  0.1411228 ,  0.32718682,  0.87662875,
       -1.20630274,  0.1411228 , -1.20630274,  3.15308225,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008691235179501226
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.69143829e-01,  4.62369896e-01, -4.41170998e-01,  4.01076025e-01,
        8.86687137e-01,  2.30052044e-01,  4.97549789e-01,  2.77555756e-17,
       -8.67435420e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10394949, -0.08845397,  0.15011805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.41828064,   9.0335481 ,   5.18994992,   9.0335481 ,
        20.74701496, -17.97803827,   5.18994992, -17.97803827,
        41.7105813 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004443408413020433
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.24929212e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.24929212e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08146253, -0.06169156,  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:
[ 3.97908270e-05, 3.39714217e-06, 2.16490895e-05,-1.25415726e-05,
 -1.01936245e-05,-3.32886455e-05,-2.44864313e-05,-8.69771886e-06,
 -5.48177183e-06, 1.79922778e-05, 3.08020359e-05, 3.00622140e-05,
  2.63866199e-01,-6.23309799e-04, 8.77146953e-02, 3.57460805e-02,
 -2.15566075e-05, 5.43247764e-06,-9.80997347e+00,-1.18155232e-02,
 -2.39670322e-02, 6.04288922e-05]


--- Step 548 ---
qpos:
[-1.35605006e-02, 1.35219984e-02, 1.00277411e-02, 1.47437588e-02,
 -1.90817577e-02,-9.04930408e-03,-1.74627865e-02, 1.63361478e-02,
 -1.21206863e-02,-6.71821895e-03,-1.43540158e-02, 1.51517439e-02,
  1.40347293e+00, 3.24733266e-02, 2.86742155e-01,-2.98369251e-02,
  9.52656443e-02,-7.05997295e-02, 1.04560431e-01, 9.99994237e-01,
  1.26969052e-03,-6.35722779e-05,-3.14799920e-03]

qacc:
[ 3.92983231e+00,-2.54434163e-01, 3.63912542e-02, 3.02730989e+00,
 -1.05931483e+00, 5.55923040e-01,-3.88250976e+00, 9.22263657e+00,
 -5.25761940e-01,-8.19392628e-01, 3.06798563e+00,-3.78480907e+00,
  1.29905559e-01,-5.42271754e+00,-6.71214913e+01, 1.62616983e+02,
  7.56713316e-01, 3.27395931e-01, 6.69266949e-03,-9.40987738e+00,
  2.27572908e+01,-1.51183733e+01]

qfrc_actuator:
[ 6.11911270e-04,-5.19195987e-04,-1.92371673e-04,-2.41281734e-05,
 -6.58938981e-04,-7.16294637e-04,-2.27892800e-04,-6.76038204e-05,
 -5.23580028e-04,-3.81253983e-04,-1.33709300e-04,-1.55624243e-05,
  2.10000000e-01,-5.89065392e-03, 9.00000000e-02, 3.36296218e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4280166 ,  0.42599362,  0.04156488,  0.42599362,  0.44041763,
       -0.12709676,  0.04156488, -0.12709676,  1.73061661,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030785833817933815
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70012053e-01,  2.43045489e-01, -2.34661462e-03,  2.43044778e-01,
        9.70014892e-01,  5.87964270e-04,  2.41915319e-03,  1.08420217e-19,
       -9.99997074e-01])
  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([ 0.10407369, -0.08912582,  0.14119756])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008715803320800945
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76935154,  0.46200433, -0.44119181,  0.40078102,  0.88687767,
        0.22983161,  0.49746637,  0.        , -0.86748326])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10394764, -0.08845855,  0.15011737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004443233015085854
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.12335359e-14, -3.12335359e-14,  1.00000000e+00,  9.75533767e-28,
        1.00000000e+00,  3.12335359e-14, -1.00000000e+00,  0.00000000e+00,
        3.12335359e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08146382, -0.06169408,  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:
[ 2.32959051e-05, 6.34905298e-06, 1.48126488e-05, 1.08159118e-05,
 -6.30608239e-06,-5.29743030e-05,-2.21395932e-05, 1.09786374e-05,
 -3.14785950e-06, 1.61580735e-05, 2.15704940e-05, 9.40007581e-07,
  2.64077175e-01,-6.11702676e-04, 8.95254655e-02, 3.54099734e-02,
 -5.94795947e-06, 2.72023304e-06,-9.80999416e+00,-1.18130286e-02,
 -2.39672212e-02, 6.24444628e-05]


--- Step 549 ---
qpos:
[-1.35585943e-02, 1.35222317e-02, 1.00273326e-02, 1.47437454e-02,
 -1.90817804e-02,-9.04947094e-03,-1.74627643e-02, 1.63362156e-02,
 -1.21210732e-02,-6.71647014e-03,-1.43532659e-02, 1.51513276e-02,
  1.40347156e+00, 3.24808065e-02, 2.86684443e-01,-2.98634402e-02,
  9.52708230e-02,-7.06012414e-02, 1.04560721e-01, 9.99994137e-01,
  1.25749223e-03,-3.45409227e-06,-3.18501390e-03]

qacc:
[-8.20555058e-01,-2.72229062e-01, 1.70976937e+00,-4.99708585e+00,
  5.40919655e+00, 9.85302177e-01,-6.41749021e+00, 1.57879803e+01,
 -2.90177452e-01,-1.93807587e+00, 1.00485490e+01,-2.26792327e+01,
  2.47830626e-01,-2.85008662e+00,-5.85465918e+01, 1.39250174e+02,
  6.43841647e-01, 1.60806950e-01,-2.94293239e-02,-8.24232624e+00,
  2.10173443e+01,-2.15043008e+01]

qfrc_actuator:
[ 6.06378079e-04,-5.36720772e-04,-2.02987161e-04,-3.59705510e-05,
 -6.26688929e-04,-7.33517393e-04,-2.35032682e-04,-4.17883004e-05,
 -5.25161699e-04,-3.82887503e-04,-1.26300747e-04,-5.20671211e-05,
  2.10000000e-01,-5.89440215e-03, 9.00000000e-02, 3.36223295e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4285931 ,  0.42660281,  0.04125629,  0.42660281,  0.44026018,
       -0.12064127,  0.04125629, -0.12064127,  1.67606121,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030965186964285033
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70024905e-01,  2.42994544e-01, -2.30985840e-03,  2.42993855e-01,
        9.70027655e-01,  5.78625760e-04,  2.38122943e-03,  0.00000000e+00,
       -9.99997165e-01])
  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([ 0.10407703, -0.0891268 ,  0.14119829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008728955087109843
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76929224,  0.46195233, -0.44134963,  0.4006928 ,  0.88690475,
        0.22988093,  0.49762911,  0.        , -0.86738992])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10395165, -0.08846023,  0.15011559])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004433401210326496
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.69542023e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.69542023e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08146455, -0.06169588,  0.06198115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.86719864e-06,-1.05147231e-05,-7.12961690e-06,-1.08526638e-05,
  3.20413621e-05,-5.09271095e-05,-2.04214085e-05, 2.29946974e-05,
 -1.73448875e-06, 1.19037083e-05, 1.34376569e-05,-3.50471362e-05,
  2.64213223e-01,-5.93401191e-04, 9.12022015e-02, 3.51148875e-02,
 -1.01510123e-06, 3.09940593e-08,-9.80999938e+00,-1.18122818e-02,
 -2.39659992e-02, 6.22829916e-05]


--- Step 550 ---
qpos:
[-1.35567691e-02, 1.35223487e-02, 1.00268373e-02, 1.47435996e-02,
 -1.90814166e-02,-9.04971904e-03,-1.74632513e-02, 1.63365769e-02,
 -1.21211327e-02,-6.71446264e-03,-1.43528026e-02, 1.51508342e-02,
  1.40347008e+00, 3.24886739e-02, 2.86599290e-01,-2.98869256e-02,
  9.52782022e-02,-7.06026501e-02, 1.04560769e-01, 9.99993873e-01,
  1.23079208e-03, 9.59445306e-05,-3.27550708e-03]

qacc:
[-7.02432161e-01,-1.82312527e-01, 9.88119168e-01,-3.05667780e+00,
  3.34279841e+00, 1.91266387e+00,-8.22703420e+00, 1.41949808e+01,
  2.84433210e+00, 9.78516942e-01,-2.67722446e+00, 1.62162494e+00,
  2.86757277e-01,-1.52866270e-01,-4.97998525e+01, 1.15234306e+02,
  5.50144215e-01, 2.58199790e-02,-6.07846319e-02,-7.31342969e+00,
  1.95833845e+01,-2.67640167e+01]

qfrc_actuator:
[ 6.02352367e-04,-5.47296625e-04,-2.09148603e-04,-4.29512593e-05,
 -6.07703444e-04,-7.25800943e-04,-2.56979948e-04,-2.66313298e-05,
 -5.08183038e-04,-3.66862198e-04,-1.40034634e-04,-5.56267009e-05,
  2.10000000e-01,-5.88187276e-03, 9.00000000e-02, 3.36259039e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42966776,  0.4276895 ,  0.04118346,  0.4276895 ,  0.44053085,
       -0.11281305,  0.04118346, -0.11281305,  1.60122933,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003129562620956777
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70041177e-01,  2.42930603e-01, -2.19932100e-03,  2.42929978e-01,
        9.70043670e-01,  5.50781777e-04,  2.26723917e-03,  0.00000000e+00,
       -9.99997430e-01])
  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([ 0.10408376, -0.08912552,  0.14119946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000873468933136367
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76904207,  0.46210768, -0.44162291,  0.40073376,  0.88682382,
        0.23012162,  0.49798268,  0.        , -0.86718697])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10396035, -0.08846019,  0.15011274])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004415902194000662
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.28536919e-14,  9.42805379e-14,  1.00000000e+00, -5.92587989e-27,
        1.00000000e+00, -9.42805379e-14, -1.00000000e+00,  0.00000000e+00,
        6.28536919e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08146483, -0.06169711,  0.06198122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.17273097e-06,-1.84639999e-05,-9.60938651e-06,-7.89329447e-06,
  1.98957515e-05,-2.39825625e-05,-3.41873299e-05, 1.27141975e-05,
  1.68629061e-05, 2.39628515e-05,-1.08304758e-05,-3.26603777e-06,
  2.64279658e-01,-5.80673855e-04, 9.27258691e-02, 3.48970796e-02,
 -1.21694647e-05, 4.60653750e-06,-9.80998854e+00,-1.18140169e-02,
 -2.39638803e-02, 6.01777778e-05]


--- Step 551 ---
qpos:
[-1.35550061e-02, 1.35220202e-02, 1.00269548e-02, 1.47437104e-02,
 -1.90811723e-02,-9.04992960e-03,-1.74643547e-02, 1.63367636e-02,
 -1.21213344e-02,-6.71243255e-03,-1.43524421e-02, 1.51506650e-02,
  1.40347513e+00, 3.24977449e-02, 2.86587047e-01,-2.99187339e-02,
  9.52785146e-02,-7.06064942e-02, 1.04560145e-01, 9.99993768e-01,
  1.23848545e-03, 9.28321267e-05,-3.30466549e-03]

qacc:
[-5.13172270e-01,-1.77263536e+00, 4.38424588e+00,-5.96894559e-01,
 -1.05827690e+00, 1.41425673e+00,-4.23046232e+00, 2.16371834e+00,
 -1.24516448e+00, 9.86591174e-01,-4.83927824e+00, 1.05938099e+01,
 -1.10591571e-01, 1.24624335e+01, 1.33242482e+02,-3.09161803e+02,
 -1.76667857e+00,-6.08864744e-01,-1.67831824e-01, 1.73615029e+01,
 -5.11611339e+01, 3.07321877e+01]

qfrc_actuator:
[ 5.99255391e-04,-5.71371813e-04,-1.77090028e-04,-2.92493445e-05,
 -6.14442299e-04,-7.21023090e-04,-2.87400590e-04,-3.56104369e-05,
 -5.15921141e-04,-3.75957854e-04,-1.48288270e-04,-3.97662159e-05,
  2.10000000e-01,-5.87773454e-03, 9.00000000e-02, 3.36533775e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43108282,  0.43050761,  0.02226197,  0.43050761,  0.43480279,
       -0.07193765,  0.02226197, -0.07193765,  1.82223114,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031723240454747806
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70060619e-01,  2.42854518e-01, -2.01968030e-03,  2.42853992e-01,
        9.70062721e-01,  5.05625540e-04,  2.08201002e-03,  0.00000000e+00,
       -9.99997833e-01])
  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([ 0.10409316, -0.08912325,  0.14120087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008736741737816648
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.68661890e-01,  4.62384228e-01, -4.41995163e-01,  4.00840517e-01,
        8.86679664e-01,  2.30490898e-01,  4.98483479e-01, -2.77555756e-17,
       -8.66899199e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10397276, -0.08845937,  0.15010882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.38226848,  9.62401796,  3.89483981,  9.62401796, 13.54975055,
       -7.82674149,  3.89483981, -7.82674149, 29.72188305,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004414511644221406
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.49584439e-08, -1.28452569e-07,  1.00000000e+00,  5.77502761e-15,
        1.00000000e+00,  1.28452569e-07, -1.00000000e+00,  7.88860905e-31,
        4.49584439e-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([ 0.09973654, -0.05395137,  0.06198123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.22124133e-06,-3.67913769e-05, 2.67662210e-05, 1.24205530e-05,
 -6.15963569e-06,-1.51560720e-05,-3.91507939e-05,-1.09440513e-05,
 -7.32314216e-06, 1.92862930e-06,-4.75346257e-06, 1.64480529e-05,
  2.64285706e-01,-5.97718978e-04, 9.40978116e-02, 3.47730120e-02,
 -4.56766994e-05, 2.27413445e-05,-9.80996160e+00,-1.18186940e-02,
 -2.39611912e-02, 5.63136069e-05]


--- Step 552 ---
qpos:
[-1.35539836e-02, 1.35214698e-02, 1.00276973e-02, 1.47436089e-02,
 -1.90810099e-02,-9.05036622e-03,-1.74654497e-02, 1.63364865e-02,
 -1.21219733e-02,-6.71089936e-03,-1.43513779e-02, 1.51506984e-02,
  1.40346496e+00, 3.24988291e-02, 2.86677973e-01,-2.99029478e-02,
  9.52689070e-02,-7.06035676e-02, 1.04558669e-01, 9.99993894e-01,
  1.16782145e-03,-2.62015666e-05,-3.29367580e-03]

qacc:
[ -6.39634318, -2.46529551,  9.28203233,-13.81457968, -0.7079061 ,
  -1.27536379,  6.07526437,-13.95377965, -3.78456419, -2.19841083,
   6.04348059, -3.31087558, -0.42026073,-43.80750619,  8.08213441,
 192.16925277, -2.48002735,  1.69268209, -0.21296241,-38.98890903,
 -58.06490539, 20.14245907]

qfrc_actuator:
[ 5.61224110e-04,-5.67665556e-04,-1.40516929e-04,-3.89790958e-05,
 -6.18511581e-04,-7.35847310e-04,-2.87089150e-04,-5.87205098e-05,
 -5.38150578e-04,-4.17746104e-04,-1.17817765e-04,-3.03767599e-05,
  2.10000000e-01,-5.87960216e-03, 9.00000000e-02, 3.37053314e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43059752,  0.38292211,  0.19693879,  0.38292211,  1.03748239,
       -1.18000942,  0.19693879, -1.18000942,  2.7249738 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031577528813094566
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70071523e-01,  2.42810934e-01, -2.02227093e-03,  2.42810407e-01,
        9.70073631e-01,  5.06177550e-04,  2.08465715e-03,  0.00000000e+00,
       -9.99997827e-01])
  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([ 0.1040928 , -0.08912928,  0.14120021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35748337, -0.31511576, -0.16880884, -0.31511576,  0.76431001,
       -0.75942402, -0.16880884, -0.75942402,  1.77510155,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008753480294555203
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.68889884e-01,  4.62005141e-01, -4.41995018e-01,  4.00541429e-01,
        8.86877246e-01,  2.30250546e-01,  4.98372261e-01,  2.77555756e-17,
       -8.66963142e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10397174, -0.0884644 ,  0.15010794])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.3896004 , -3.94768913,  9.61038746, -3.94768913, 26.30312638,
        6.53684919,  9.61038746,  6.53684919, 13.07476253,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044204251771839953
  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([ 0.10395521, -0.07080784,  0.0619812 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.81284164e-05,-1.08723739e-05, 3.26790285e-05,-1.01423043e-05,
 -4.22970602e-06,-3.18661713e-05,-8.02323581e-06,-2.53276260e-05,
 -2.25163519e-05,-4.09887916e-05, 3.08527608e-05, 9.62804720e-06,
  2.63959148e-01,-6.60163036e-04, 9.04523722e-02, 3.52411085e-02,
 -1.60874994e-06, 8.67741334e-07,-9.81000052e+00,-1.18135560e-02,
 -2.39596122e-02, 5.70410498e-05]


--- Step 553 ---
qpos:
[-1.35541147e-02, 1.35213450e-02, 1.00280851e-02, 1.47426852e-02,
 -1.90812419e-02,-9.05116066e-03,-1.74659280e-02, 1.63359091e-02,
 -1.21225298e-02,-6.71018681e-03,-1.43500071e-02, 1.51509142e-02,
  1.40345361e+00, 3.24981842e-02, 2.86786287e-01,-2.98905233e-02,
  9.52588256e-02,-7.06016159e-02, 1.04558619e-01, 9.99994014e-01,
  1.11918424e-03,-1.53587143e-04,-3.27057501e-03]

qacc:
[-1.00202984e+01,-1.20003118e-01, 4.74976054e+00,-1.87651594e+01,
 -3.39909027e+00,-2.80646866e+00, 1.06011200e+01,-1.65357836e+01,
  7.42280162e-01,-1.56686073e+00, 3.24026426e+00, 3.43552247e-02,
  6.99727002e-01,-1.06565052e+01, 3.57854733e+01,-8.81548760e+01,
 -1.18462187e-01,-2.43729411e-01, 3.56531066e-01, 1.10272427e+01,
 -4.13256995e+00, 6.06008986e+00]

qfrc_actuator:
[ 5.02935362e-04,-5.29583232e-04,-1.54750325e-04,-8.01543017e-05,
 -6.38721535e-04,-7.44431565e-04,-2.50964127e-04,-7.21974210e-05,
 -5.33217806e-04,-4.96392079e-04,-1.18135996e-04,-2.48779787e-05,
  2.10000000e-01,-5.84085913e-03, 9.00000000e-02, 3.37193853e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42658842,  0.12424143,  0.40809527,  0.12424143,  2.11369807,
       -0.51362739,  0.40809527, -0.51362739,  0.58295828,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000303350178148272
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70056163e-01,  2.42869946e-01, -2.28705354e-03,  2.42869271e-01,
        9.70058859e-01,  5.72600894e-04,  2.35764409e-03,  0.00000000e+00,
       -9.99997221e-01])
  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([ 0.10408043, -0.08913051,  0.14119565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35632424,  0.23800857, -0.26517708,  0.23800857,  0.96898363,
        0.54988985, -0.26517708,  0.54988985,  0.84987554,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008691242829585336
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76951443,  0.46209864, -0.4408088 ,  0.40096992,  0.88682853,
        0.22969169,  0.49706204,  0.        , -0.867715  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10395441, -0.08845947,  0.15012169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.43274955,  7.6774981 , -7.06387189,  7.6774981 , 41.10537902,
       33.33710719, -7.06387189, 33.33710719, 46.66579299,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044549143585158313
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.23032754e-14, -6.22043749e-06,  1.00000000e+00,  3.87553630e-19,
        1.00000000e+00,  6.22043749e-06, -1.00000000e+00,  0.00000000e+00,
        6.23032754e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08878333, -0.0577154 ,  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:
[-5.93815813e-05, 3.82668772e-05,-1.28154446e-05,-4.07084221e-05,
 -2.03121446e-05,-2.91536768e-05, 2.76764329e-05,-1.56132017e-05,
  4.20386442e-06,-9.47721569e-05,-4.64541889e-06, 4.99917644e-06,
  2.64719550e-01,-2.20206515e-04, 8.52943151e-02, 3.28755553e-02,
 -4.33945951e-05, 2.94859610e-05,-9.80996130e+00,-1.18171715e-02,
 -2.39639951e-02, 5.72399274e-05]


--- Step 554 ---
qpos:
[-1.35549439e-02, 1.35215796e-02, 1.00277013e-02, 1.47416583e-02,
 -1.90820589e-02,-9.05186573e-03,-1.74661724e-02, 1.63354881e-02,
 -1.21226791e-02,-6.71004518e-03,-1.43489706e-02, 1.51512079e-02,
  1.40343846e+00, 3.24955207e-02, 2.86869411e-01,-2.98730014e-02,
  9.52521330e-02,-7.05990438e-02, 1.04559346e-01, 9.99994030e-01,
  1.05980471e-03,-2.32774762e-04,-3.28074438e-03]

qacc:
[ -6.08067119,  2.43158196, -7.52417508,  6.68489944, -5.07351288,
  -0.20389314,  0.2550554 ,  1.99403371,  3.55315759,  0.33298652,
  -2.62288829,  4.93792872,  0.99352589,-16.15764228,-52.91309732,
 130.49943678,  0.84723631,  0.15507661,  0.19413963, -5.4524387 ,
  24.0626422 ,-16.66130052]

qfrc_actuator:
[ 4.68706802e-04,-5.24691905e-04,-1.98737915e-04,-8.62439201e-05,
 -6.68270736e-04,-7.13544379e-04,-2.29467702e-04,-6.21197312e-05,
 -5.12332305e-04,-5.25619672e-04,-1.36811848e-04,-2.17745398e-05,
  2.10000000e-01,-5.83407053e-03, 9.00000000e-02, 3.37071121e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42315196,  0.42277368, -0.01788852,  0.42277368,  0.42669352,
        0.0837005 , -0.01788852,  0.0837005 ,  2.40131232,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002920993099514692
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70037513e-01,  2.42941727e-01, -2.55742418e-03,  2.42940883e-01,
        9.70040884e-01,  6.40493670e-04,  2.63640865e-03, -1.08420217e-19,
       -9.99996525e-01])
  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([ 0.1040669 , -0.08913321,  0.14119222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35563609,  0.34315889,  0.09337564,  0.34315889,  0.54560048,
       -0.69812602,  0.09337564, -0.69812602,  2.92127456,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000865548380119641
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77017753,  0.46201187, -0.4397404 ,  0.40121963,  0.88687374,
        0.22908027,  0.49583202,  0.        , -0.86841845])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10393582, -0.08845655,  0.15013451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045034340760762015
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.16320238e-14, -1.69488065e-13,  1.00000000e+00,  1.04458925e-26,
        1.00000000e+00,  1.69488065e-13, -1.00000000e+00,  0.00000000e+00,
        6.16320238e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08146922, -0.06170837,  0.06198085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.59234287e-05, 2.18826375e-05,-3.90659123e-05,-5.68282179e-06,
 -3.01088750e-05, 1.96334549e-05, 1.83472252e-05, 9.48362249e-06,
  2.09305386e-05,-8.29516433e-05,-3.86467927e-05,-1.02059927e-06,
  2.64778069e-01,-1.24740407e-04, 8.44254030e-02, 3.30314712e-02,
 -4.60498686e-05, 2.47258300e-05,-9.80996134e+00,-1.18199568e-02,
 -2.39688934e-02, 5.77511893e-05]


--- Step 555 ---
qpos:
[-1.35561773e-02, 1.35218953e-02, 1.00271316e-02, 1.47409071e-02,
 -1.90825337e-02,-9.05250013e-03,-1.74661346e-02, 1.63348442e-02,
 -1.21225776e-02,-6.71011221e-03,-1.43483920e-02, 1.51521889e-02,
  1.40342138e+00, 3.24914815e-02, 2.86929223e-01,-2.98515459e-02,
  9.52484388e-02,-7.05963921e-02, 1.04560562e-01, 9.99993916e-01,
  9.91341785e-04,-2.66674359e-04,-3.33389759e-03]

qacc:
[-3.51223717e+00, 1.20198533e+00,-5.28255618e+00, 1.02804421e+01,
  2.97873665e+00,-1.15901968e+00, 5.19936836e+00,-9.54903610e+00,
  2.17940286e+00, 2.41402307e+00,-1.19174726e+01, 2.47079229e+01,
  1.14012631e+00,-1.24157620e+01,-4.65755127e+01, 1.12448622e+02,
  7.49575825e-01, 1.99397221e-02, 1.22286516e-01,-4.62089461e+00,
  2.26061833e+01,-2.15149388e+01]

qfrc_actuator:
[ 4.48920075e-04,-5.22066613e-04,-2.06761366e-04,-7.16723726e-05,
 -6.49817237e-04,-7.12536300e-04,-2.16612545e-04,-7.37511993e-05,
 -4.99985567e-04,-5.07365068e-04,-1.48231366e-04, 1.54286029e-05,
  2.10000000e-01,-5.86322602e-03, 9.00000000e-02, 3.36896811e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42090175,  0.41865733,  0.04340876,  0.41865733,  0.43877193,
       -0.17234957,  0.04340876, -0.17234957,  2.08313324,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028439660747954705
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70020228e-01,  2.43008751e-01, -2.73949697e-03,  2.43007782e-01,
        9.70024096e-01,  6.86294021e-04,  2.82415352e-03,  0.00000000e+00,
       -9.99996012e-01])
  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([ 0.10405748, -0.08913237,  0.14119045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008233066813632909
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77054463,  0.46217077, -0.43892956,  0.40158642,  0.88679095,
        0.22875788,  0.49496396,  0.        , -0.8689135 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10392321, -0.08845155,  0.1501452 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045288092427184234
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.66083702e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.66083702e-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([ 0.08147005, -0.061711  ,  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:
[-2.08149382e-05, 6.56661349e-06,-8.50072772e-06, 1.40500456e-05,
  1.76217868e-05, 1.62022864e-05, 1.95095834e-05,-9.96758252e-06,
  1.29010273e-05,-3.61473722e-05,-3.33499817e-05, 3.22904591e-05,
  2.64967206e-01,-5.12270687e-05, 8.56852498e-02, 3.27592623e-02,
 -2.24475319e-05, 1.42947458e-05,-9.80997958e+00,-1.18202972e-02,
 -2.39731228e-02, 5.66905465e-05]


--- Step 556 ---
qpos:
[-1.35566044e-02, 1.35223513e-02, 1.00267252e-02, 1.47399588e-02,
 -1.90824383e-02,-9.05324606e-03,-1.74664102e-02, 1.63344768e-02,
 -1.21226737e-02,-6.71039462e-03,-1.43479836e-02, 1.51532427e-02,
  1.40340383e+00, 3.24865575e-02, 2.86966813e-01,-2.98277316e-02,
  9.52473932e-02,-7.05940891e-02, 1.04562026e-01, 9.99993637e-01,
  9.14860194e-04,-2.57899892e-04,-3.43851235e-03]

qacc:
[ 6.99269627e+00,-6.91143027e-01, 3.54210140e+00,-7.29384488e+00,
  4.94327427e+00, 1.28728828e+00,-5.98852201e+00, 1.13760895e+01,
 -1.72681559e+00, 3.44414584e-01,-1.94268881e+00, 3.62728440e+00,
  1.26425022e+00,-9.56525263e+00,-4.01666772e+01, 9.24358260e+01,
  6.62159653e-01,-8.71999778e-02, 6.20431123e-02,-4.08722455e+00,
  2.12980059e+01,-2.57509810e+01]

qfrc_actuator:
[ 4.91041916e-04,-5.02913765e-04,-1.93483343e-04,-8.05470753e-05,
 -6.21007905e-04,-7.47225355e-04,-2.44589088e-04,-6.25861940e-05,
 -5.10521300e-04,-5.14012925e-04,-1.55039828e-04, 1.91930659e-05,
  2.10000000e-01,-5.87827820e-03, 9.00000000e-02, 3.36860326e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41954986,  0.41628595,  0.05223116,  0.41628595,  0.44233815,
       -0.18162427,  0.05223116, -0.18162427,  1.86710784,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027962979759805443
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70004352e-01,  2.43070980e-01, -2.83815664e-03,  2.43069940e-01,
        9.70008504e-01,  7.11203577e-04,  2.92590903e-03,  0.00000000e+00,
       -9.99995720e-01])
  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([ 0.10405148, -0.08912928,  0.14118999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008216836720734145
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77067888,  0.46249071, -0.43835648,  0.40201007,  0.88662413,
        0.22866037,  0.49441073,  0.        , -0.86922841])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10391564, -0.08844544,  0.1501537 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045382759637797865
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.05794269e-14,  1.52897134e-14,  1.00000000e+00,  4.67550675e-28,
        1.00000000e+00, -1.52897134e-14, -1.00000000e+00,  0.00000000e+00,
       -3.05794269e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08147039, -0.06171288,  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:
[ 4.15205799e-05, 2.17087374e-05, 1.40884717e-05,-8.61058477e-06,
  2.93460343e-05,-2.20027634e-05,-2.25666894e-05, 1.23407694e-05,
 -1.01853430e-05,-3.23661976e-05,-1.72680704e-05, 1.68880651e-06,
  2.65063514e-01, 3.78978202e-06, 8.68511047e-02, 3.25589990e-02,
 -1.98814029e-05, 1.11766686e-05,-9.80998144e+00,-1.18224672e-02,
 -2.39763854e-02, 5.40192400e-05]


--- Step 557 ---
qpos:
[-1.35561788e-02, 1.35228979e-02, 1.00262210e-02, 1.47389359e-02,
 -1.90823424e-02,-9.05405323e-03,-1.74670082e-02, 1.63338958e-02,
 -1.21232403e-02,-6.71060716e-03,-1.43475320e-02, 1.51542814e-02,
  1.40338700e+00, 3.24811930e-02, 2.86983096e-01,-2.98028978e-02,
  9.52487167e-02,-7.05924412e-02, 1.04563533e-01, 9.99993149e-01,
  8.30887225e-04,-2.08598348e-04,-3.60106691e-03]

qacc:
[ 7.38821350e+00, 2.25477545e-01,-3.40544457e-01,-8.32423185e-01,
 -4.58542856e-03, 3.80069369e-01,-5.70360505e-01,-2.56766139e+00,
 -4.10665340e+00,-5.16361890e-02, 3.96110409e-01,-7.94447110e-01,
  1.31834617e+00,-6.87008365e+00,-3.47305007e+01, 7.54503083e+01,
  5.92263154e-01,-1.63766746e-01, 1.06442024e-02,-3.82271786e+00,
  2.02239994e+01,-2.89876481e+01]

qfrc_actuator:
[ 5.33754717e-04,-5.09441244e-04,-2.03204634e-04,-8.53742533e-05,
 -6.21855195e-04,-7.49920861e-04,-2.61076766e-04,-7.36587875e-05,
 -5.34438329e-04,-4.82254184e-04,-1.41433444e-04, 2.09865396e-05,
  2.10000000e-01,-5.92031430e-03, 9.00000000e-02, 3.37261605e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41886708,  0.41483014,  0.05801366,  0.41483014,  0.44329557,
       -0.17467742,  0.05801366, -0.17467742,  1.66790831,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002771803075536169
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69990198e-01,  2.43127225e-01, -2.85798160e-03,  2.43126170e-01,
        9.69994408e-01,  7.16347569e-04,  2.94638977e-03, -1.08420217e-19,
       -9.99995659e-01])
  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([ 0.10404831, -0.08912507,  0.14119053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008210974710839681
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.70636471e-01,  4.62901353e-01, -4.37997450e-01,  4.02442148e-01,
        8.86409802e-01,  2.28731239e-01,  4.94125233e-01,  2.77555756e-17,
       -8.69390737e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10391228, -0.08843899,  0.15016004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045347874877337685
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.12059015e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.12059015e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08147034, -0.06171414,  0.06198072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.39079363e-05, 8.18427667e-06,-3.79646743e-06,-3.57792842e-06,
  2.15077233e-08,-1.91250100e-05,-2.33875608e-05,-1.25576323e-05,
 -2.42163377e-05, 1.01652629e-05, 4.85346364e-06,-1.57757566e-07,
  2.65086852e-01, 6.83941608e-06, 8.79623725e-02, 3.24812390e-02,
 -4.22692781e-05, 2.07628068e-05,-9.80996731e+00,-1.18269398e-02,
 -2.39788135e-02, 4.98687244e-05]


--- Step 558 ---
qpos:
[-1.35555889e-02, 1.35232883e-02, 1.00257031e-02, 1.47382350e-02,
 -1.90822566e-02,-9.05474026e-03,-1.74673218e-02, 1.63324299e-02,
 -1.21240895e-02,-6.71063735e-03,-1.43470010e-02, 1.51553155e-02,
  1.40337171e+00, 3.24756722e-02, 2.86978344e-01,-2.97787708e-02,
  9.52521450e-02,-7.05916912e-02, 1.04564915e-01, 9.99992394e-01,
  7.39575588e-04,-1.20802631e-04,-3.82750625e-03]

qacc:
[ 1.42659073e+00, 4.92056239e-01,-3.41782443e+00, 9.13158270e+00,
 -8.17003797e-02,-2.45628691e+00, 1.27257357e+01,-2.85849561e+01,
 -2.46611787e+00, 1.44728024e-02, 3.25609190e-01,-6.74419674e-01,
  1.37105469e+00,-5.15203845e+00,-2.90807626e+01, 5.63165841e+01,
  5.26190505e-01,-2.24480651e-01,-3.09617541e-02,-3.74517094e+00,
  1.92071732e+01,-3.19578785e+01]

qfrc_actuator:
[ 5.40947850e-04,-5.31383357e-04,-2.08776983e-04,-7.00640770e-05,
 -6.22402247e-04,-7.15673297e-04,-2.35031443e-04,-1.15446978e-04,
 -5.48279577e-04,-4.63155846e-04,-1.33476166e-04, 2.16562851e-05,
  2.10000000e-01,-5.92537328e-03, 9.00000000e-02, 3.37396920e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41869151,  0.41785012,  0.02653039,  0.41785012,  0.42315908,
       -0.07036353,  0.02653039, -0.07036353,  1.52690792,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002765457962779203
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69978018e-01,  2.43176454e-01, -2.80287747e-03,  2.43175438e-01,
        9.69982068e-01,  7.02687014e-04,  2.88961782e-03,  0.00000000e+00,
       -9.99995825e-01])
  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([ 0.10404751, -0.08912059,  0.14119182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008566846150478048
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77046286,  0.46335102, -0.43782739,  0.40284911,  0.88617483,
        0.22892522,  0.49406435,  0.        , -0.86942534])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1039125 , -0.08843279,  0.15016431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045209034235277334
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.53484674e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.53484674e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08146997, -0.06171492,  0.06198078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.45090089e-06,-1.83020212e-05,-4.48005075e-06, 1.54569313e-05,
 -5.13993579e-07, 1.81805338e-05, 1.87783042e-05,-4.36616700e-05,
 -1.45314156e-05, 2.57905932e-05, 1.06565357e-05, 1.27225243e-06,
  2.65050778e-01, 2.42262700e-05, 8.90278171e-02, 3.24438258e-02,
 -9.29298580e-05, 4.71976880e-05,-9.80993767e+00,-1.18340464e-02,
 -2.39804815e-02, 4.43224639e-05]


--- Step 559 ---
qpos:
[-1.35549170e-02, 1.35234907e-02, 1.00251557e-02, 1.47377285e-02,
 -1.90818325e-02,-9.05524060e-03,-1.74679759e-02, 1.63311996e-02,
 -1.21254428e-02,-6.71083326e-03,-1.43464572e-02, 1.51557086e-02,
  1.40336985e+00, 3.24731753e-02, 2.87047157e-01,-2.97727138e-02,
  9.52487663e-02,-7.05945862e-02, 1.04565124e-01, 9.99991763e-01,
  7.08538988e-04,-1.28368020e-04,-3.99444522e-03]

qacc:
[ 7.13009503e-01, 2.32869193e-01,-2.01439187e+00, 5.56813874e+00,
  2.92372463e+00, 1.67672998e+00,-6.62526399e+00, 1.11196152e+01,
 -4.39836991e+00,-1.56554594e+00, 7.98568384e+00,-1.89942327e+01,
  1.03185441e+00, 2.15676332e+01, 1.63796508e+02,-4.14477382e+02,
 -1.70171668e+00,-9.11224497e-01,-2.93597255e-01, 3.03233355e+01,
 -4.75428294e+01, 2.97818184e+01]

qfrc_actuator:
[ 5.44929195e-04,-5.44611116e-04,-2.11905049e-04,-6.07907454e-05,
 -6.05006080e-04,-7.12674655e-04,-2.54954722e-04,-1.03897394e-04,
 -5.73827826e-04,-5.05052079e-04,-1.46714497e-04,-1.38580399e-05,
  2.10000000e-01,-5.90835394e-03, 9.00000000e-02, 3.37030789e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41886821,  0.41818063,  0.02399039,  0.41818063,  0.42110979,
       -0.03907335,  0.02399039, -0.03907335,  1.09996252,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002771844079811826
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69968306e-01,  2.43216611e-01, -2.67669061e-03,  2.43215685e-01,
        9.69972000e-01,  6.71169495e-04,  2.75955451e-03,  0.00000000e+00,
       -9.99996192e-01])
  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([ 0.1040487 , -0.08911659,  0.14119359])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008560862668159162
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.70201341e-01,  4.63795031e-01, -4.37817386e-01,  4.03203980e-01,
        8.85942532e-01,  2.29199435e-01,  4.94182603e-01,  2.77555756e-17,
       -8.69358128e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10391572, -0.08842736,  0.15016669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.54219488,  9.27286923,  5.01515396,  9.27286923, 13.73594015,
       -5.90513918,  5.01515396, -5.90513918, 21.46062008,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004540080285960063
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.11345480e-14,  4.58509110e-14,  1.00000000e+00, -2.80307472e-27,
        1.00000000e+00, -4.58509110e-14, -1.00000000e+00,  0.00000000e+00,
        6.11345480e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09925916, -0.05204014,  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:
[ 4.21166556e-06,-2.37433192e-05,-6.93314157e-06, 8.63300263e-06,
  1.74206955e-05, 1.51695500e-05,-1.53667139e-05, 1.21285592e-05,
 -2.59633599e-05,-2.51933875e-05,-6.54459521e-06,-3.40134206e-05,
  2.64973473e-01, 4.90615860e-05, 9.00794953e-02, 3.24425599e-02,
 -1.75757093e-04, 9.40196241e-05,-9.80989272e+00,-1.18439911e-02,
 -2.39815401e-02, 3.74388027e-05]


--- Step 560 ---
qpos:
[-1.35548922e-02, 1.35235224e-02, 1.00245725e-02, 1.47373354e-02,
 -1.90815472e-02,-9.05586332e-03,-1.74689920e-02, 1.63298137e-02,
 -1.21274368e-02,-6.71129928e-03,-1.43459814e-02, 1.51553481e-02,
  1.40337619e+00, 3.24721479e-02, 2.87183999e-01,-2.97806174e-02,
  9.52398298e-02,-7.06001291e-02, 1.04564471e-01, 9.99991432e-01,
  7.18317360e-04,-2.32632575e-04,-4.07003144e-03]

qacc:
[-5.60755896e+00, 1.19175783e-01,-1.21181513e+00, 3.33654512e+00,
 -1.21414233e+00, 5.31589142e-01,-1.46941769e+00,-5.58323585e-01,
 -5.58950996e+00,-1.70724893e+00, 8.77081682e+00,-2.15287541e+01,
  3.81412990e-01, 1.30334125e+01, 1.43086918e+02,-3.54098522e+02,
 -1.38947996e+00,-6.61996883e-01,-2.15223701e-01, 2.06062047e+01,
 -4.82352858e+01, 4.57082369e+01]

qfrc_actuator:
[ 5.11494800e-04,-5.52515847e-04,-2.13545270e-04,-5.51408220e-05,
 -6.12693598e-04,-7.46292620e-04,-2.84195359e-04,-1.14369431e-04,
 -6.06065510e-04,-5.30012010e-04,-1.54882727e-04,-5.26919705e-05,
  2.10000000e-01,-5.91671044e-03, 9.00000000e-02, 3.36717776e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41783318,  0.41782568,  0.00250364,  0.41782568,  0.41785206,
       -0.00314953,  0.00250364, -0.00314953,  0.94345131,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000273415381426129
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69951045e-01,  2.43285112e-01, -2.70653843e-03,  2.43284165e-01,
        9.69954821e-01,  6.78856882e-04,  2.79037577e-03, -1.08420217e-19,
       -9.99996107e-01])
  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([ 0.10404025, -0.08912301,  0.14119344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34621195,  0.32189813,  0.12745314,  0.32189813,  0.71173171,
       -0.92316385,  0.12745314, -0.92316385,  2.67777258,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008227142337034069
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77055583,  0.4633725 , -0.43764099,  0.40292152,  0.8861636 ,
        0.22884127,  0.49386027,  0.        , -0.86954128])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10390593, -0.08843067,  0.15016895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.55392901, -10.12778176,  -2.96874622, -10.12778176,
        15.55165214, -17.04957091,  -2.96874622, -17.04957091,
        68.71798905,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004549021238122175
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.1014390e-14, -3.0507195e-14,  1.0000000e+00,  1.8613779e-27,
        1.0000000e+00,  3.0507195e-14, -1.0000000e+00,  0.0000000e+00,
        6.1014390e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09926248, -0.05204734,  0.06198066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.33211251e-05,-2.22673069e-05,-7.10852985e-06, 4.55871985e-06,
 -7.15194064e-06,-2.77988436e-05,-2.75862613e-05,-1.01193796e-05,
 -3.29885751e-05,-4.18175487e-05,-1.53388324e-05,-4.07980033e-05,
  2.64301395e-01,-1.09075956e-04, 8.64014632e-02, 3.33148156e-02,
 -7.87776073e-05, 3.34163131e-05,-9.80998682e+00,-1.18340343e-02,
 -2.39720602e-02, 3.69909260e-05]


--- Step 561 ---
qpos:
[-1.35556130e-02, 1.35233419e-02, 1.00242689e-02, 1.47369964e-02,
 -1.90817003e-02,-9.05663775e-03,-1.74700438e-02, 1.63279495e-02,
 -1.21284224e-02,-6.71188503e-03,-1.43451321e-02, 1.51544749e-02,
  1.40337799e+00, 3.24696818e-02, 2.87284981e-01,-2.97851836e-02,
  9.52348287e-02,-7.06038095e-02, 1.04564457e-01, 9.99991069e-01,
  7.09353406e-04,-2.84588461e-04,-4.15674454e-03]

qacc:
[ -6.45191151, -0.93826366,  2.73174772, -2.1099993 , -3.80482337,
  -1.07696926,  5.5817473 ,-13.70491206,  8.815001  , -2.27427439,
  10.01506128,-19.36692389,  0.27711597,-11.64882771,-63.30616194,
 144.10955986,  0.98386464,  0.46561605,  0.15947695, -9.47881458,
  26.1119701 , -5.58006187]

qfrc_actuator:
[ 4.74059827e-04,-5.57169012e-04,-1.96521981e-04,-5.16616492e-05,
 -6.35089606e-04,-7.48388240e-04,-2.83363536e-04,-1.37757603e-04,
 -5.53215619e-04,-5.09134237e-04,-1.24427911e-04,-7.53959383e-05,
  2.10000000e-01,-5.86893729e-03, 9.00000000e-02, 3.36467820e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41596735,  0.41474378,  0.03188143,  0.41474378,  0.42249732,
       -0.08494805,  0.03188143, -0.08494805,  1.52105194,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002664419462607082
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69927108e-01,  2.43378245e-01, -2.90432192e-03,  2.43377154e-01,
        9.69931456e-01,  7.28761572e-04,  2.99435790e-03,  0.00000000e+00,
       -9.99995517e-01])
  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([ 0.10402397, -0.08913593,  0.14119197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35491083, -0.31493553, -0.16363774, -0.31493553,  0.58002692,
       -0.43325615, -0.16363774, -0.43325615,  1.18875123,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000861866096312234
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77137064,  0.46236609, -0.43726987,  0.402233  ,  0.88668912,
        0.22801538,  0.49314901,  0.        , -0.86994485])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10388541, -0.08843945,  0.1501722 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.53963247,   9.0775302 ,   5.35558568,   9.0775302 ,
        18.90570353, -14.18019751,   5.35558568, -14.18019751,
        34.57457072,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004538123036077202
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.11609148e-14, -1.52902287e-14,  1.00000000e+00, -9.35164373e-28,
        1.00000000e+00,  1.52902287e-14, -1.00000000e+00,  0.00000000e+00,
       -6.11609148e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08147181, -0.06171955,  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:
[-3.83970325e-05,-1.83913868e-05, 1.17061858e-05, 2.36884817e-06,
 -2.25724439e-05,-2.37851869e-05,-8.66157958e-06,-2.57313123e-05,
  5.19048878e-05,-7.36152374e-06, 1.85405859e-05,-2.58148453e-05,
  2.63891096e-01,-1.32064988e-04, 8.30004952e-02, 3.39879517e-02,
 -3.77429692e-05,-1.12862716e-05,-9.80998912e+00,-1.18301077e-02,
 -2.39723796e-02, 3.98844610e-05]


--- Step 562 ---
qpos:
[-1.35560875e-02, 1.35230510e-02, 1.00241576e-02, 1.47363490e-02,
 -1.90821201e-02,-9.05711382e-03,-1.74710154e-02, 1.63254074e-02,
 -1.21284223e-02,-6.71223178e-03,-1.43444220e-02, 1.51540153e-02,
  1.40337701e+00, 3.24665148e-02, 2.87352807e-01,-2.97859438e-02,
  9.52333367e-02,-7.06062752e-02, 1.04564811e-01, 9.99990624e-01,
  6.84017289e-04,-2.87615131e-04,-4.26637243e-03]

qacc:
[ 2.14275380e+00,-1.32280329e+00, 5.79939885e+00,-1.13544187e+01,
 -2.32032574e+00,-1.22081855e+00, 7.79616507e+00,-1.98879890e+01,
  8.59549062e+00, 1.53927494e+00,-6.80604314e+00, 1.40441855e+01,
  2.99943054e-01,-7.12518036e+00,-6.06794005e+01, 1.40839532e+02,
  8.77275255e-01, 3.03693668e-01, 9.21686900e-02,-8.29093296e+00,
  2.44222231e+01,-1.14724884e+01]

qfrc_actuator:
[ 4.87839827e-04,-5.59761343e-04,-1.86354326e-04,-6.72236173e-05,
 -6.48203017e-04,-6.95986925e-04,-2.64669548e-04,-1.68510529e-04,
 -5.03963862e-04,-4.78548804e-04,-1.24471431e-04,-5.28561280e-05,
  2.10000000e-01,-5.83842373e-03, 9.00000000e-02, 3.36848666e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41513806,  0.40253084,  0.10153093,  0.40253084,  0.47443076,
       -0.23507258,  0.10153093, -0.23507258,  1.34710983,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026326455966882727
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69907497e-01,  2.43455107e-01, -3.00956918e-03,  2.43453935e-01,
        9.69912167e-01,  7.55424060e-04,  3.10292961e-03,  0.00000000e+00,
       -9.99995186e-01])
  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([ 0.10401336, -0.0891429 ,  0.14119187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000790634716016799
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7717977 ,  0.46180134, -0.43711306,  0.40183077,  0.88698338,
        0.22757968,  0.49280862,  0.        , -0.87013773])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10387269, -0.08844398,  0.15017385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004554298799726922
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.0943686e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        6.0943686e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08147316, -0.06172189,  0.06198064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26765718e-05,-1.03455759e-05, 7.90179929e-06,-1.58958895e-05,
 -1.37255281e-05, 3.62066591e-05, 1.18263800e-05,-3.25714074e-05,
  5.07495168e-05, 2.92472878e-05,-1.64225744e-07, 2.23636796e-05,
  2.64117289e-01,-2.76107358e-05, 8.47937935e-02, 3.38592309e-02,
 -2.70587961e-05, 1.34546091e-06,-9.80999795e+00,-1.18322612e-02,
 -2.39754111e-02, 4.08063571e-05]


--- Step 563 ---
qpos:
[-1.35560485e-02, 1.35226956e-02, 1.00241542e-02, 1.47355202e-02,
 -1.90830384e-02,-9.05741119e-03,-1.74709204e-02, 1.63224619e-02,
 -1.21285210e-02,-6.71223102e-03,-1.43440658e-02, 1.51538299e-02,
  1.40337463e+00, 3.24630715e-02, 2.87389202e-01,-2.97839417e-02,
  9.52348987e-02,-7.06081210e-02, 1.04565321e-01, 9.99990034e-01,
  6.44250366e-04,-2.45189648e-04,-4.41102826e-03]

qacc:
[ 4.45645158e+00,-7.69279681e-01, 3.37016878e+00,-6.61960166e+00,
 -4.29744288e+00,-3.56475197e+00, 1.47720424e+01,-2.36075090e+01,
 -8.79924531e-01, 2.01397298e+00,-7.66929959e+00, 1.27209101e+01,
  4.42250310e-01,-4.71002054e+00,-5.49438943e+01, 1.24534397e+02,
  7.63501706e-01, 1.54958793e-01, 3.88425637e-02,-7.31728087e+00,
  2.26830793e+01,-1.75275896e+01]

qfrc_actuator:
[ 5.13902501e-04,-5.61134216e-04,-1.80324614e-04,-7.61168659e-05,
 -6.73495612e-04,-6.64534721e-04,-1.99854854e-04,-1.85538648e-04,
 -5.10509568e-04,-4.60202245e-04,-1.42450740e-04,-3.93966098e-05,
  2.10000000e-01,-5.88943870e-03, 9.00000000e-02, 3.36702326e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41513924,  0.40234855,  0.10225574,  0.40234855,  0.47210396,
       -0.22414071,  0.10225574, -0.22414071,  1.297072  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002632691164780747
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69891660e-01,  2.43517968e-01, -3.02773327e-03,  2.43516782e-01,
        9.69896386e-01,  7.60191982e-04,  3.12170797e-03,  0.00000000e+00,
       -9.99995127e-01])
  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([ 0.10400758, -0.08914541,  0.14119284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007932489966715128
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77190637,  0.46157664, -0.43715852,  0.40163883,  0.88710034,
        0.22746261,  0.49279489,  0.        , -0.8701455 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10386667, -0.08844541,  0.15017375])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004556081620653296
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.09198384e-14, -1.52299596e-14,  1.00000000e+00,  9.27806678e-28,
        1.00000000e+00,  1.52299596e-14, -1.00000000e+00,  0.00000000e+00,
        6.09198384e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0814739 , -0.06172352,  0.06198063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.64382792e-05,-6.18670319e-06, 4.32036816e-06,-9.37220426e-06,
 -2.56398665e-05, 5.27563322e-05, 7.26284660e-05,-1.56997347e-05,
 -5.07749879e-06, 3.56442407e-05,-1.11867576e-05, 1.51402936e-05,
  2.64255581e-01,-4.22234220e-05, 8.64518081e-02, 3.36543397e-02,
 -3.50027294e-05, 1.50808954e-05,-9.80999231e+00,-1.18354893e-02,
 -2.39768132e-02, 3.96057020e-05]


--- Step 564 ---
qpos:
[-1.35560418e-02, 1.35223179e-02, 1.00242250e-02, 1.47342427e-02,
 -1.90842523e-02,-9.05774794e-03,-1.74699630e-02, 1.63204128e-02,
 -1.21286970e-02,-6.71196462e-03,-1.43439100e-02, 1.51538071e-02,
  1.40338115e+00, 3.24615630e-02, 2.87491618e-01,-2.97961006e-02,
  9.52305104e-02,-7.06129271e-02, 1.04564944e-01, 9.99989732e-01,
  6.48735035e-04,-2.99832369e-04,-4.47487450e-03]

qacc:
[-2.77619383e-01,-1.16092231e+00, 5.99155571e+00,-1.38603171e+01,
 -2.53910558e+00,-6.11314516e-01,-1.67245852e+00, 1.58296932e+01,
 -6.84842007e-01, 1.24730082e+00,-4.62302631e+00, 7.56258990e+00,
  2.84767417e-01, 1.59170272e+01, 1.40756234e+02,-3.50174520e+02,
 -1.48756984e+00,-7.40066232e-01,-2.21538704e-01, 2.23494746e+01,
 -4.84099552e+01, 4.04308762e+01]

qfrc_actuator:
[ 5.11463731e-04,-5.61777062e-04,-1.76770106e-04,-9.87650459e-05,
 -6.88004857e-04,-6.81156938e-04,-1.61643962e-04,-1.41077389e-04,
 -5.14338163e-04,-4.49403123e-04,-1.53168466e-04,-3.14111736e-05,
  2.10000000e-01,-5.91850471e-03, 9.00000000e-02, 3.36057360e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41576491,  0.38148601,  0.16531451,  0.38148601,  0.66436841,
       -0.57368683,  0.16531451, -0.57368683,  1.7396263 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026567088494118985
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69879653e-01,  2.43566559e-01, -2.96465546e-03,  2.43565422e-01,
        9.69884184e-01,  7.44512533e-04,  3.05671080e-03,  0.00000000e+00,
       -9.99995328e-01])
  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([ 0.10400582, -0.08914502,  0.1411946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007960937956279831
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.71773352e-01,  4.61591685e-01, -4.37377422e-01,  4.01586260e-01,
        8.87092507e-01,  2.27585939e-01,  4.93046011e-01, -2.77555756e-17,
       -8.70003236e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10386622, -0.08844487,  0.150172  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.57072625,  9.35666002,  4.91865497,  9.35666002, 15.74911871,
       -9.85075352,  4.91865497, -9.85075352, 29.30961975,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045617578990683055
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.36605478e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.36605478e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09927379, -0.05207021,  0.06198061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.66351600e-06,-3.60516461e-06, 2.48231757e-06,-2.29476239e-05,
 -1.52150264e-05, 2.72322313e-05, 5.75231480e-05, 4.89328342e-05,
 -3.96554943e-06, 2.90709692e-05,-4.20819194e-06, 9.42082447e-06,
  2.64325837e-01,-5.67481620e-05, 8.80234331e-02, 3.34517460e-02,
 -6.48882158e-05, 3.60596225e-05,-9.80997162e+00,-1.18405155e-02,
 -2.39770448e-02, 3.64923240e-05]


--- Step 565 ---
qpos:
[-1.35560637e-02, 1.35217830e-02, 1.00244164e-02, 1.47323728e-02,
 -1.90852860e-02,-9.05788584e-03,-1.74694145e-02, 1.63193162e-02,
 -1.21292626e-02,-6.71150689e-03,-1.43438591e-02, 1.51538833e-02,
  1.40338429e+00, 3.24593800e-02, 2.87557363e-01,-2.98042227e-02,
  9.52297131e-02,-7.06162112e-02, 1.04564971e-01, 9.99989364e-01,
  6.35892176e-04,-3.04246974e-04,-4.55802769e-03]

qacc:
[-2.42009663e-01,-1.76469861e+00, 8.49293261e+00,-1.88256641e+01,
  1.54920797e+00, 3.36174066e+00,-1.56333940e+01, 3.26335200e+01,
 -3.40722278e+00, 7.56111479e-01,-2.73529316e+00, 4.46187100e+00,
  8.19296302e-02,-6.72110876e+00,-6.65682935e+01, 1.53918684e+02,
  8.97736015e-01, 3.80492758e-01, 1.00917682e-01,-8.77893011e+00,
  2.50687589e+01,-9.66722168e+00]

qfrc_actuator:
[ 5.10017162e-04,-5.79750888e-04,-1.74710327e-04,-1.29326412e-04,
 -6.78294831e-04,-6.90971940e-04,-1.92875688e-04,-9.63662442e-05,
 -5.34271218e-04,-4.43189583e-04,-1.59541170e-04,-2.67084689e-05,
  2.10000000e-01,-5.90099646e-03, 9.00000000e-02, 3.36514088e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41535794,  0.40342697,  0.09883775,  0.40342697,  0.47026321,
       -0.22410732,  0.09883775, -0.22410732,  1.33009884,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002641118841883107
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69861440e-01,  2.43637787e-01, -3.06863738e-03,  2.43636567e-01,
        9.69866294e-01,  7.70865040e-04,  3.16397982e-03,  0.00000000e+00,
       -9.99994995e-01])
  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([ 0.10399576, -0.08915246,  0.14119477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34035784,  0.08329792, -0.33000745,  0.08329792,  3.17817347,
        0.71629941, -0.33000745,  0.71629941,  0.52116059,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007998073369184009
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7721655 ,  0.4609412 , -0.43737129,  0.40107121,  0.88743068,
        0.22717543,  0.49285122,  0.        , -0.8701136 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10385432, -0.08845074,  0.15017143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.57419677,   9.09393332,   5.39574037,   9.09393332,
        19.74973673, -15.46437428,   5.39574037, -15.46437428,
        36.63771704,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004564380389066036
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.52022691e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.52022691e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08147599, -0.06172758,  0.0619806 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47924657e-06,-2.04626720e-05, 8.26202548e-07,-3.10768185e-05,
  9.28272321e-06, 1.94304307e-05,-1.68126616e-05, 4.88243498e-05,
 -2.00481305e-05, 2.20085077e-05,-5.58462389e-07, 5.98666886e-06,
  2.63880280e-01,-1.33965291e-04, 8.47226656e-02, 3.42055334e-02,
 -1.63490642e-05,-2.62268402e-06,-9.80999885e+00,-1.18352160e-02,
 -2.39753421e-02, 3.82020734e-05]


--- Step 566 ---
qpos:
[-1.35557575e-02, 1.35210042e-02, 1.00249553e-02, 1.47301468e-02,
 -1.90858506e-02,-9.05776714e-03,-1.74692131e-02, 1.63180626e-02,
 -1.21300630e-02,-6.71105727e-03,-1.43437748e-02, 1.51536863e-02,
  1.40338534e+00, 3.24569367e-02, 2.87588247e-01,-2.98090024e-02,
  9.52320476e-02,-7.06185885e-02, 1.04565187e-01, 9.99988864e-01,
  6.07531636e-04,-2.62149485e-04,-4.67277882e-03]

qacc:
[ 2.85896580e+00,-2.03304077e+00, 8.27481906e+00,-1.48039979e+01,
  4.05786474e+00, 9.77458884e-01,-2.34398322e+00, 7.02409122e-03,
 -2.04796658e+00,-6.62116290e-01, 3.50577563e+00,-8.28896442e+00,
  2.02454883e-01,-4.33998128e+00,-6.17690113e+01, 1.41065312e+02,
  7.82941239e-01, 2.26719023e-01, 4.72748563e-02,-7.86952427e+00,
  2.32103684e+01,-1.58115262e+01]

qfrc_actuator:
[ 5.26927779e-04,-5.90226923e-04,-1.55870703e-04,-1.46559772e-04,
 -6.54410828e-04,-6.79172454e-04,-2.11588787e-04,-1.05177669e-04,
 -5.45771032e-04,-4.57511990e-04,-1.63322240e-04,-4.17292996e-05,
  2.10000000e-01,-5.85370830e-03, 9.00000000e-02, 3.37151445e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41576444,  0.40340062,  0.10063801,  0.40340062,  0.4698851 ,
       -0.21693899,  0.10063801, -0.21693899,  1.28534963,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026566907997898324
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69847743e-01,  2.43692115e-01, -3.08345755e-03,  2.43690884e-01,
        9.69852645e-01,  7.74771607e-04,  3.17930519e-03,  0.00000000e+00,
       -9.99994946e-01])
  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([ 0.10399086, -0.08915505,  0.14119599])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008034791021233124
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.72226070e-01,  4.60666089e-01, -4.37554170e-01,  4.00798757e-01,
        8.87573520e-01,  2.27098222e-01,  4.92977944e-01,  2.77555756e-17,
       -8.70041807e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10384949, -0.08845312,  0.15016933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045676040081644304
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.07661600e-14,  1.51915400e-14,  1.00000000e+00, -9.23131551e-28,
        1.00000000e+00, -1.51915400e-14, -1.00000000e+00,  0.00000000e+00,
        6.07661600e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08147711, -0.06172972,  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:
[ 1.68833817e-05,-2.30816087e-05, 1.36387327e-05,-1.86867884e-05,
  2.41577550e-05, 2.13252536e-05,-1.50694602e-05,-7.60843918e-06,
 -1.20839316e-05,-1.86207904e-06, 9.10206892e-07,-1.39785465e-05,
  2.64048717e-01,-5.16697283e-05, 8.65563578e-02, 3.40674635e-02,
 -1.91079766e-05, 8.10839576e-06,-9.80999747e+00,-1.18373904e-02,
 -2.39763860e-02, 3.77000657e-05]


--- Step 567 ---
qpos:
[-1.35552507e-02, 1.35203548e-02, 1.00255365e-02, 1.47280494e-02,
 -1.90857796e-02,-9.05754609e-03,-1.74689154e-02, 1.63167024e-02,
 -1.21309954e-02,-6.71075037e-03,-1.43433847e-02, 1.51533097e-02,
  1.40339385e+00, 3.24560955e-02, 2.87681899e-01,-2.98267441e-02,
  9.52285481e-02,-7.06237755e-02, 1.04564631e-01, 9.99988700e-01,
  6.19599967e-04,-3.18279854e-04,-4.70262261e-03]

qacc:
[ 1.73808126e+00, 3.14367622e-01,-1.42184410e+00, 3.49248138e+00,
  5.52026014e+00,-3.63941872e-01, 1.92534981e+00,-3.97903363e+00,
 -1.14081413e+00,-1.41087259e+00, 5.51952855e+00,-9.01750809e+00,
  5.35040858e-02, 1.41410488e+01, 1.32299815e+02,-3.27607567e+02,
 -1.45847770e+00,-7.02427963e-01,-1.93039362e-01, 2.04547355e+01,
 -4.89930886e+01, 4.24785208e+01]

qfrc_actuator:
[ 5.36754821e-04,-5.60549387e-04,-1.44990965e-04,-1.38043078e-04,
 -6.22383396e-04,-6.72294210e-04,-2.04936334e-04,-1.09868854e-04,
 -5.52209924e-04,-4.66280417e-04,-1.47891938e-04,-5.04990993e-05,
  2.10000000e-01,-5.85970726e-03, 9.00000000e-02, 3.37710450e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41679026,  0.37335453,  0.18525797,  0.37335453,  0.79957477,
       -0.77143416,  0.18525797, -0.77143416,  1.97147873,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002695467505271762
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69838537e-01,  2.43729602e-01, -3.01548927e-03,  2.43728424e-01,
        9.69843225e-01,  7.57817326e-04,  3.10925435e-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([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10399031, -0.08915436,  0.14119795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34226561,  0.32745361,  0.09959859,  0.32745361,  0.61202075,
       -0.886883  ,  0.09959859, -0.886883  ,  3.25810045,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000807053187206764
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77203351,  0.46066421, -0.43789581,  0.40069674,  0.88757449,
        0.22727436,  0.49336232,  0.        , -0.8698239 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10385057, -0.08845315,  0.15016581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.58891276,   9.39808967,   4.87862522,   9.39808967,
        16.69839158, -11.76918235,   4.87862522, -11.76918235,
        33.260839  ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004575466249094398
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.06617427e-14,  1.06158050e-13,  1.00000000e+00, -6.43973229e-27,
        1.00000000e+00, -1.06158050e-13, -1.00000000e+00,  0.00000000e+00,
        6.06617427e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09928187, -0.05208643,  0.06198055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03329588e-05, 1.87790810e-05, 7.14013546e-06, 7.63396117e-06,
  3.27274919e-05, 1.53935314e-05, 8.94327016e-06,-4.44664157e-06,
 -6.80192165e-06,-1.01974138e-05, 1.46834211e-05,-9.08792338e-06,
  2.64153250e-01,-4.40640427e-05, 8.82995448e-02, 3.39562512e-02,
 -4.14704270e-05, 2.41293247e-05,-9.80998094e+00,-1.18412892e-02,
 -2.39761215e-02, 3.51930980e-05]


--- Step 568 ---
qpos:
[-1.35546293e-02, 1.35196647e-02, 1.00260088e-02, 1.47264478e-02,
 -1.90849804e-02,-9.05720089e-03,-1.74685117e-02, 1.63146023e-02,
 -1.21319983e-02,-6.71046367e-03,-1.43425728e-02, 1.51528068e-02,
  1.40339848e+00, 3.24545803e-02, 2.87736257e-01,-2.98396426e-02,
  9.52286514e-02,-7.06272220e-02, 1.04564499e-01, 9.99988477e-01,
  6.13915038e-04,-3.23339168e-04,-4.75023076e-03]

qacc:
[ 9.91261143e-01, 1.27012012e+00,-6.70312068e+00, 1.54916461e+01,
  6.32431072e+00,-1.66672989e+00, 9.28463441e+00,-2.23304642e+01,
 -6.01562211e-01,-1.46385704e+00, 5.71622110e+00,-8.56377114e+00,
 -7.23305308e-02,-6.59231282e+00,-7.28880930e+01, 1.70404424e+02,
  9.00701725e-01, 4.35112200e-01, 1.05859853e-01,-8.99942253e+00,
  2.54879832e+01,-8.89521677e+00]

qfrc_actuator:
[ 5.42327988e-04,-5.78066033e-04,-1.56473659e-04,-1.14418694e-04,
 -5.85824060e-04,-6.68317094e-04,-2.01121771e-04,-1.47580821e-04,
 -5.55621049e-04,-4.53825967e-04,-1.21220728e-04,-5.55025355e-05,
  2.10000000e-01,-5.86393138e-03, 9.00000000e-02, 3.38017065e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41672441,  0.40550779,  0.0960347 ,  0.40550779,  0.46913249,
       -0.22129383,  0.0960347 , -0.22129383,  1.35114058,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002693000358017673
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69823803e-01,  2.43786927e-01, -3.11867825e-03,  2.43785666e-01,
        9.69828817e-01,  7.83945549e-04,  3.21569971e-03,  0.00000000e+00,
       -9.99994830e-01])
  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([ 0.1039817 , -0.08916114,  0.14119837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34338151,  0.08613572, -0.33240262,  0.08613572,  3.36915398,
        0.78407049, -0.33240262,  0.78407049,  0.54655823,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000811383656514738
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77236073,  0.46003467, -0.4379806 ,  0.40017156,  0.88790095,
        0.22692425,  0.49327642,  0.        , -0.86987262])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10384043, -0.08845915,  0.150164  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.59198177,   9.15334137,   5.3297673 ,   9.15334137,
        18.00929621, -12.73849446,   5.3297673 , -12.73849446,
        32.46906979,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045777712385841607
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.21262397e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.21262397e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08147995, -0.06173486,  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:
[ 5.89847070e-06,-5.22975415e-06,-6.46676664e-06, 2.48227767e-05,
  3.74983369e-05, 1.42506846e-05, 7.93979525e-06,-3.68309054e-05,
 -3.62453008e-06, 9.42566885e-06, 2.60696288e-05,-5.10688186e-06,
  2.63779732e-01,-1.26580697e-04, 8.51613569e-02, 3.46350657e-02,
 -8.31239066e-06,-3.75540696e-06,-9.80999623e+00,-1.18373389e-02,
 -2.39760149e-02, 3.72008342e-05]


--- Step 569 ---
qpos:
[-1.35542900e-02, 1.35186472e-02, 1.00267701e-02, 1.47251516e-02,
 -1.90840938e-02,-9.05676718e-03,-1.74680531e-02, 1.63120749e-02,
 -1.21326900e-02,-6.70988821e-03,-1.43418724e-02, 1.51525900e-02,
  1.40340071e+00, 3.24528309e-02, 2.87754130e-01,-2.98488197e-02,
  9.52318421e-02,-7.06296600e-02, 1.04564575e-01, 9.99988121e-01,
  5.92720290e-04,-2.81533384e-04,-4.82975016e-03]

qacc:
[-2.43080550e+00,-6.07247155e-01, 2.56295725e-01, 4.79864384e+00,
  7.58133003e-01,-9.17382284e-01, 5.24279484e+00,-1.27893183e+01,
  2.70773159e+00, 1.27675972e+00,-5.21594445e+00, 1.01434469e+01,
  8.39715870e-02,-4.04934400e+00,-6.53121920e+01, 1.49989881e+02,
  7.71827098e-01, 2.52122569e-01, 5.23070279e-02,-7.87124804e+00,
  2.33856246e+01,-1.59676312e+01]

qfrc_actuator:
[ 5.27601929e-04,-6.06028189e-04,-1.45734161e-04,-9.99008763e-05,
 -5.82397736e-04,-6.66143384e-04,-1.99058019e-04,-1.68923970e-04,
 -5.39471658e-04,-4.28703227e-04,-1.23548453e-04,-4.04750381e-05,
  2.10000000e-01,-5.84770269e-03, 9.00000000e-02, 3.37868517e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41746227,  0.40624703,  0.096115  ,  0.40624703,  0.46863967,
       -0.21631035,  0.096115  , -0.21631035,  1.33173622,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000272047816720948
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69813992e-01,  2.43825790e-01, -3.13126487e-03,  2.43824519e-01,
        9.69819047e-01,  7.87242872e-04,  3.22871043e-03,  1.08420217e-19,
       -9.99994788e-01])
  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([ 0.10397845, -0.08916288,  0.14119978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008153447619384738
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.72352592e-01,  4.59799607e-01, -4.38241709e-01,  3.99908039e-01,
        8.88022703e-01,  2.26912403e-01,  4.93502820e-01,  2.77555756e-17,
       -8.69744196e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10383754, -0.08846145,  0.15016085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045815046469635523
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.05817908e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.05817908e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08148141, -0.06173754,  0.06198053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45355459e-05,-3.11812280e-05, 9.71357955e-06, 1.45510501e-05,
  4.49956094e-06, 1.01883960e-05, 4.69993051e-06,-2.11778761e-05,
  1.60293038e-05, 3.55930200e-05, 2.66461138e-06, 1.62364028e-05,
  2.63973478e-01,-7.56182749e-05, 8.71261948e-02, 3.43780713e-02,
 -6.16148275e-06, 2.41336912e-06,-9.80999952e+00,-1.18383318e-02,
 -2.39766221e-02, 3.71030141e-05]


--- Step 570 ---
qpos:
[-1.35544743e-02, 1.35176422e-02, 1.00275162e-02, 1.47243620e-02,
 -1.90835178e-02,-9.05637960e-03,-1.74672761e-02, 1.63100009e-02,
 -1.21331831e-02,-6.70937697e-03,-1.43410891e-02, 1.51532776e-02,
  1.40341001e+00, 3.24526439e-02, 2.87834247e-01,-2.98706943e-02,
  9.52291482e-02,-7.06349569e-02, 1.04563906e-01, 9.99988109e-01,
  6.10681605e-04,-3.38669707e-04,-4.82647516e-03]

qacc:
[-4.53928102e+00, 1.11193727e+00,-6.06481704e+00, 1.48344074e+01,
 -2.68533721e+00,-1.20613775e-02,-1.95116099e+00, 9.31489462e+00,
  1.73786113e+00, 1.54189585e+00,-9.44621852e+00, 2.50230875e+01,
 -7.31049814e-02, 1.41249249e+01, 1.30725989e+02,-3.23219684e+02,
 -1.47113021e+00,-7.14726474e-01,-1.86434324e-01, 1.98282836e+01,
 -4.93513233e+01, 4.14213443e+01]

qfrc_actuator:
[ 5.01047194e-04,-5.86696790e-04,-1.39768446e-04,-7.31022596e-05,
 -5.98501583e-04,-6.65065760e-04,-1.80283583e-04,-1.44957243e-04,
 -5.29692039e-04,-4.49538279e-04,-1.25158316e-04, 3.96181477e-06,
  2.10000000e-01,-5.87263049e-03, 9.00000000e-02, 3.37793767e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4188027 ,  0.37590721,  0.18463335,  0.37590721,  0.8715594 ,
       -0.92179721,  0.18463335, -0.92179721,  2.29555045,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002769478830956759
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69808963e-01,  2.43846693e-01, -3.06037503e-03,  2.43845479e-01,
        9.69813792e-01,  7.69490325e-04,  3.15563158e-03,  1.08420217e-19,
       -9.99995021e-01])
  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([ 0.10397959, -0.08916139,  0.14120189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34530132,  0.3288763 ,  0.10523013,  0.3288763 ,  0.6405042 ,
       -0.92259915,  0.10523013, -0.92259915,  3.22870551,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008190108975355136
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.72096785e-01,  4.59840687e-01, -4.38649173e-01,  3.99820882e-01,
        8.88001432e-01,  2.27149112e-01,  4.93973498e-01, -2.77555756e-17,
       -8.69476960e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10384058, -0.08846137,  0.15015645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.60237749,   9.43137754,   4.8435035 ,   9.43137754,
        17.64195525, -13.70762209,   4.8435035 , -13.70762209,
        37.29416352,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004585561276106362
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.05281970e-14, -1.51320492e-14,  1.00000000e+00,  9.15915657e-28,
        1.00000000e+00,  1.51320492e-14, -1.00000000e+00,  0.00000000e+00,
        6.05281970e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09928898, -0.05210042,  0.06198051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.69549785e-05, 4.50458762e-06, 1.22067814e-06, 2.60812476e-05,
 -1.59855562e-05, 6.80756992e-06, 2.07144088e-05, 2.41516229e-05,
  1.02218759e-05, 3.42896884e-07, 6.63838727e-06, 4.63709618e-05,
  2.64093101e-01,-8.85228446e-05, 8.89504810e-02, 3.41845217e-02,
 -2.19592570e-05, 1.29573327e-05,-9.80998737e+00,-1.18410782e-02,
 -2.39758723e-02, 3.49853736e-05]


--- Step 571 ---
qpos:
[-1.35542854e-02, 1.35167256e-02, 1.00282653e-02, 1.47242336e-02,
 -1.90834843e-02,-9.05608378e-03,-1.74665277e-02, 1.63086054e-02,
 -1.21342453e-02,-6.70897370e-03,-1.43402665e-02, 1.51545015e-02,
  1.40341534e+00, 3.24517902e-02, 2.87874544e-01,-2.98882283e-02,
  9.52299372e-02,-7.06385349e-02, 1.04563681e-01, 9.99988023e-01,
  6.11563556e-04,-3.44836116e-04,-4.84362339e-03]

qacc:
[ 3.23347100e+00, 1.46379516e+00,-7.85159575e+00, 1.92352439e+01,
 -4.71025349e+00, 1.36429160e+00,-7.89016400e+00, 1.97314159e+01,
 -4.96374208e+00, 8.60939751e-01,-5.52462483e+00, 1.48056309e+01,
 -1.21445852e-01,-6.44169427e+00,-7.21411225e+01, 1.66669971e+02,
  8.70715266e-01, 4.29728982e-01, 1.10965706e-01,-8.66601921e+00,
  2.54371891e+01,-1.02243378e+01]

qfrc_actuator:
[ 5.21007458e-04,-5.74703458e-04,-1.36478278e-04,-3.92587008e-05,
 -6.25960628e-04,-6.82299161e-04,-1.87273408e-04,-1.12267049e-04,
 -5.59251466e-04,-4.62205277e-04,-1.26487295e-04, 2.98061706e-05,
  2.10000000e-01,-5.85294456e-03, 9.00000000e-02, 3.37380023e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41895878,  0.41216944,  0.07511867,  0.41216944,  0.45365371,
       -0.19036799,  0.07511867, -0.19036799,  1.46349097,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002775109748564913
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69798546e-01,  2.43886812e-01, -3.16265219e-03,  2.43885515e-01,
        9.69803703e-01,  7.95345652e-04,  3.26112612e-03,  1.08420217e-19,
       -9.99994683e-01])
  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([ 0.10397258, -0.08916751,  0.14120241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35020036,  0.06975478, -0.34318299,  0.06975478,  3.6275931 ,
        0.6661572 , -0.34318299,  0.6661572 ,  0.48560232,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008397003259127296
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77237338,  0.459249  , -0.43878208,  0.3993118 ,  0.88830758,
        0.22684736,  0.49395287,  0.        , -0.86948868])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10383224, -0.08846729,  0.150154  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.61133146,   9.18593897,   5.31214462,   9.18593897,
        17.43127865, -11.79328184,   5.31214462, -11.79328184,
        31.00467069,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045922490973036856
  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([ 0.08148483, -0.06174364,  0.06198048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.92127944e-05, 1.58768550e-05, 5.27631012e-06, 3.45877468e-05,
 -2.79373381e-05,-8.13955955e-06,-2.20234039e-06, 3.41681401e-05,
 -2.92979006e-05,-9.09807142e-06, 1.16808299e-06, 2.69915208e-05,
  2.63739404e-01,-1.45438840e-04, 8.58384720e-02, 3.47780648e-02,
 -6.86238213e-06,-1.68626820e-06,-9.80999234e+00,-1.18386800e-02,
 -2.39770847e-02, 3.72204166e-05]


--- Step 572 ---
qpos:
[-1.35538587e-02, 1.35159546e-02, 1.00296019e-02, 1.47241178e-02,
 -1.90837806e-02,-9.05596184e-03,-1.74664137e-02, 1.63087021e-02,
 -1.21353092e-02,-6.70834170e-03,-1.43401126e-02, 1.51553413e-02,
  1.40341821e+00, 3.24507204e-02, 2.87878231e-01,-2.99026574e-02,
  9.52336947e-02,-7.06411452e-02, 1.04563684e-01, 9.99987793e-01,
  5.97551490e-04,-3.04370610e-04,-4.89539729e-03]

qacc:
[ 2.07820792e+00,-1.42819126e+00, 5.31072115e+00,-6.13017917e+00,
 -2.87903822e+00, 4.61819908e+00,-2.30923822e+01, 5.00522805e+01,
 -4.06213152e-02, 1.38015412e+00,-2.86042597e+00,-2.88774077e+00,
  2.48091288e-02,-3.78267348e+00,-6.36242464e+01, 1.43830309e+02,
  7.42120876e-01, 2.41926520e-01, 5.70188356e-02,-7.56577825e+00,
  2.32689947e+01,-1.73246681e+01]

qfrc_actuator:
[ 5.32684223e-04,-5.49441224e-04,-9.93003524e-05,-3.70504423e-05,
 -6.42123894e-04,-7.10455112e-04,-2.27254715e-04,-3.92439818e-05,
 -5.58468165e-04,-4.52149377e-04,-1.63142626e-04, 8.99616967e-06,
  2.10000000e-01,-5.80488627e-03, 9.00000000e-02, 3.36820815e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41988596,  0.41320395,  0.07461043,  0.41320395,  0.45329573,
       -0.18502845,  0.07461043, -0.18502845,  1.44460178,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028082506067218213
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69793312e-01,  2.43907475e-01, -3.17420687e-03,  2.43906168e-01,
        9.69798507e-01,  7.98323339e-04,  3.27305811e-03,  1.08420217e-19,
       -9.99994644e-01])
  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([ 0.10397082, -0.0891689 ,  0.14120387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000843962334235904
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.72331661e-01,  4.59034971e-01, -4.39079378e-01,  3.99054457e-01,
        8.88418198e-01,  2.26867021e-01,  4.94226006e-01, -2.77555756e-17,
       -8.69333454e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10383097, -0.0884697 ,  0.15015033])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045960545689979065
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.50975011e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.50975011e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08148654, -0.06174673,  0.06198047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22594199e-05, 3.67105393e-05, 4.23010778e-05, 3.74305891e-06,
 -1.69882143e-05,-3.17092457e-05,-4.07507361e-05, 7.32641253e-05,
 -8.71526745e-08, 6.39205660e-06,-3.74445950e-05,-2.06310339e-05,
  2.63937841e-01,-6.33174195e-05, 8.78295623e-02, 3.45051186e-02,
 -7.71463070e-07, 1.35298606e-07,-9.81000009e+00,-1.18384932e-02,
 -2.39772868e-02, 3.75017430e-05]


--- Step 573 ---
qpos:
[-1.35543295e-02, 1.35157363e-02, 1.00306565e-02, 1.47240369e-02,
 -1.90832344e-02,-9.05594090e-03,-1.74662733e-02, 1.63099633e-02,
 -1.21356663e-02,-6.70782606e-03,-1.43405660e-02, 1.51559663e-02,
  1.40341966e+00, 3.24496569e-02, 2.87847386e-01,-2.99154486e-02,
  9.52399766e-02,-7.06433468e-02, 1.04563742e-01, 9.99987346e-01,
  5.69818231e-04,-2.21051426e-04,-4.99344851e-03]

qacc:
[-7.79929705e+00, 1.60610629e+00,-4.78748279e+00, 5.40657774e+00,
  7.31872996e+00, 2.17481747e+00,-1.28910046e+01, 3.31072229e+01,
  6.15293590e+00, 1.08884807e+00,-3.21929829e+00, 5.79847509e-01,
  2.03702426e-01,-2.61869202e+00,-5.60990822e+01, 1.21986982e+02,
  6.31109608e-01, 1.02192226e-01, 1.38920316e-02,-6.97238418e+00,
  2.13791331e+01,-2.31496230e+01]

qfrc_actuator:
[ 4.86118952e-04,-5.16310191e-04,-1.13386065e-04,-3.56867799e-05,
 -5.98247610e-04,-6.91787870e-04,-2.15403239e-04, 2.13885392e-05,
 -5.22066263e-04,-4.82011135e-04,-2.02548746e-04,-3.59525418e-06,
  2.10000000e-01,-5.82875159e-03, 9.00000000e-02, 3.37056956e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42138336,  0.41998822,  0.03426117,  0.41998822,  0.42814461,
       -0.0828824 ,  0.03426117, -0.0828824 ,  1.4373916 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028606897750072343
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69793056e-01,  2.43909415e-01, -3.10245271e-03,  2.43908167e-01,
        9.69798019e-01,  7.80283533e-04,  3.19907099e-03,  0.00000000e+00,
       -9.99994883e-01])
  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([ 0.1039733 , -0.08916735,  0.14120598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008884448725966095
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.72061029e-01,  4.59079101e-01, -4.39508983e-01,  3.98963215e-01,
        8.88395395e-01,  2.27116653e-01,  4.94722266e-01,  2.77555756e-17,
       -8.69051137e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10383543, -0.08846996,  0.15014559])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045872593670274325
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.05057909e-14, -1.51264477e-14,  1.00000000e+00,  9.15237684e-28,
        1.00000000e+00,  1.51264477e-14, -1.00000000e+00,  0.00000000e+00,
        6.05057909e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08148755, -0.06174895,  0.0619805 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.61882613e-05, 6.25460944e-05,-1.16774938e-06, 4.47199862e-06,
  4.33687167e-05,-4.33728659e-06, 2.82138634e-06, 5.92907828e-05,
  3.63774874e-05,-3.48696829e-05,-4.34006684e-05,-1.40126979e-05,
  2.64060753e-01,-7.63682678e-05, 8.96600200e-02, 3.43734686e-02,
 -1.12787897e-05, 6.43633516e-06,-9.80999195e+00,-1.18402292e-02,
 -2.39761574e-02, 3.57992179e-05]


--- Step 574 ---
qpos:
[-1.35553548e-02, 1.35161253e-02, 1.00309349e-02, 1.47240006e-02,
 -1.90821669e-02,-9.05590884e-03,-1.74657094e-02, 1.63108624e-02,
 -1.21366189e-02,-6.70788514e-03,-1.43407672e-02, 1.51567807e-02,
  1.40342931e+00, 3.24505956e-02, 2.87879842e-01,-2.99427816e-02,
  9.52399085e-02,-7.06486366e-02, 1.04563034e-01, 9.99987208e-01,
  5.85973486e-04,-2.37361933e-04,-5.01831951e-03]

qacc:
[-4.84137008e+00, 3.07457481e+00,-9.96979983e+00, 1.15192619e+01,
  4.53926068e+00,-1.92215141e+00, 8.38942408e+00,-1.53271350e+01,
 -5.18058791e+00,-1.06401455e+00, 1.90930737e+00, 1.37081596e+00,
 -6.12562162e-02, 1.69144203e+01, 1.37902745e+02,-3.45984206e+02,
 -1.58749746e+00,-7.72078623e-01,-1.91674816e-01, 2.22007275e+01,
 -4.96837539e+01, 3.66139541e+01]

qfrc_actuator:
[ 4.58906655e-04,-4.96675874e-04,-1.57595406e-04,-3.48571319e-05,
 -5.72645814e-04,-6.80535292e-04,-1.90611725e-04, 3.30694544e-06,
 -5.53764336e-04,-5.17817261e-04,-1.90141393e-04, 6.48145543e-06,
  2.10000000e-01,-5.87815437e-03, 9.00000000e-02, 3.37950084e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42325831,  0.4230589 ,  0.01299103,  0.4230589 ,  0.42469696,
       -0.04685033,  0.01299103, -0.04685033,  1.94896087,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002924565275498773
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69797872e-01,  2.43892106e-01, -2.95417952e-03,  2.43890975e-01,
        9.69802372e-01,  7.42935971e-04,  3.04616653e-03,  0.00000000e+00,
       -9.99995360e-01])
  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([ 0.10397923, -0.08916431,  0.14120846])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009080012274322459
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.71636163e-01,  4.59288276e-01, -4.40036261e-01,  3.98973906e-01,
        8.88287273e-01,  2.27520423e-01,  4.95376073e-01,  2.77555756e-17,
       -8.68678621e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10384451, -0.08846909,  0.15014   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.63162471,   9.42005326,   4.92889851,   9.42005326,
        15.91806103, -10.10337535,   4.92889851, -10.10337535,
        29.94107768,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004607332166826003
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.02421849e-14, -1.80726555e-13,  1.00000000e+00,  1.08873625e-26,
        1.00000000e+00,  1.80726555e-13, -1.00000000e+00,  0.00000000e+00,
        6.02421849e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09929771, -0.05211815,  0.06198042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.85268312e-05, 5.45624077e-05,-3.12702032e-05, 3.55968991e-06,
  2.68411203e-05, 1.19459684e-05, 2.62867664e-05,-1.70189342e-05,
 -3.06806805e-05,-6.48461445e-05,-6.23716070e-07, 6.80706597e-06,
  2.64131684e-01,-1.26760288e-04, 9.13864796e-02, 3.43808440e-02,
 -4.29464771e-05, 2.38409593e-05,-9.80996773e+00,-1.18445780e-02,
 -2.39741391e-02, 3.22854117e-05]


--- Step 575 ---
qpos:
[-1.35560094e-02, 1.35168291e-02, 1.00310503e-02, 1.47239701e-02,
 -1.90814903e-02,-9.05568552e-03,-1.74651583e-02, 1.63108542e-02,
 -1.21386337e-02,-6.70840135e-03,-1.43402753e-02, 1.51573179e-02,
  1.40344247e+00, 3.24519425e-02, 2.87969647e-01,-2.99803167e-02,
  9.52345607e-02,-7.06561055e-02, 1.04561789e-01, 9.99987535e-01,
  6.29578595e-04,-3.54967387e-04,-4.94047456e-03]

qacc:
[ 3.20379814e+00, 8.77465011e-01,-2.56015265e+00, 2.70078816e+00,
 -3.39865691e+00,-1.57210222e+00, 9.81517607e+00,-2.56517921e+01,
 -9.24081919e+00,-3.09340321e+00, 1.13554420e+01,-1.69599253e+01,
 -3.90893652e-01, 7.43394792e+00, 1.15862462e+02,-2.81889822e+02,
 -1.31993511e+00,-5.44750717e-01,-1.34169376e-01, 1.39909715e+01,
 -5.05478004e+01, 5.13848969e+01]

qfrc_actuator:
[ 4.78827355e-04,-4.85415308e-04,-1.66013957e-04,-3.43716360e-05,
 -5.93529774e-04,-6.73803242e-04,-1.93969040e-04,-4.31895996e-05,
 -6.07550040e-04,-5.21179835e-04,-1.47262561e-04,-5.66460118e-06,
  2.10000000e-01,-5.85611496e-03, 9.00000000e-02, 3.38860070e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42368409,  0.42353718,  0.0111564 ,  0.42353718,  0.42414138,
       -0.01736037,  0.0111564 , -0.01736037,  1.08274623,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029388065134861084
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69797461e-01,  2.43893449e-01, -2.97818836e-03,  2.43892298e-01,
        9.69802034e-01,  7.48978250e-04,  3.07092402e-03,  0.00000000e+00,
       -9.99995285e-01])
  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([ 0.1039764 , -0.08917012,  0.14120911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36076074,  0.32412495,  0.15840242,  0.32412495,  0.78872865,
       -0.87571316,  0.15840242, -0.87571316,  2.15265567,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008946717986023617
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.71800627e-01,  4.58784246e-01, -4.40273559e-01,  3.98504176e-01,
        8.88547700e-01,  2.27326651e-01,  4.95497945e-01,  2.77555756e-17,
       -8.68609110e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10384138, -0.08847509,  0.1501363 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.63124653, -10.34142585,  -2.46542372, -10.34142585,
        15.75131852, -21.47656992,  -2.46542372, -21.47656992,
       100.71651423,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046070520205789695
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.51843861e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.51843861e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09929996, -0.05212227,  0.06198042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.91009730e-05, 3.54941767e-05,-8.62217184e-07, 1.81452784e-06,
 -2.01171615e-05, 1.80830861e-05, 1.74576794e-06,-4.54097189e-05,
 -5.46846811e-05,-3.94376996e-05, 2.96555928e-05,-1.48106703e-05,
  2.63722055e-01,-2.04296697e-04, 8.82215174e-02, 3.51989324e-02,
 -1.01958148e-06,-3.88003732e-07,-9.81000040e+00,-1.18393744e-02,
 -2.39727657e-02, 3.36819906e-05]


--- Step 576 ---
qpos:
[-1.35557310e-02, 1.35175063e-02, 1.00314694e-02, 1.47243027e-02,
 -1.90810693e-02,-9.05527239e-03,-1.74649601e-02, 1.63106584e-02,
 -1.21409329e-02,-6.70905423e-03,-1.43390997e-02, 1.51573186e-02,
  1.40344956e+00, 3.24520091e-02, 2.88015712e-01,-3.00117547e-02,
  9.52331029e-02,-7.06608940e-02, 1.04561268e-01, 9.99987841e-01,
  6.54051136e-04,-4.16596509e-04,-4.87005312e-03]

qacc:
[ 8.09801358e+00,-1.52431278e-01,-1.06772316e+00, 6.91457338e+00,
 -2.23355563e+00, 8.55345675e-01,-1.88644615e+00,-9.43375217e-01,
 -2.45972594e+00,-3.19026739e+00, 1.33873805e+01,-2.36760441e+01,
 -3.41297937e-01,-9.99424964e+00,-8.32914318e+01, 1.97179938e+02,
  9.72510907e-01, 6.70095966e-01, 1.80928561e-01,-9.70575104e+00,
  2.79382146e+01,-3.72597613e+00]

qfrc_actuator:
[ 5.26324407e-04,-4.96882000e-04,-1.53260800e-04,-1.63189790e-05,
 -6.06096229e-04,-6.69968103e-04,-2.13948920e-04,-5.27872756e-05,
 -6.20625694e-04,-5.04963994e-04,-1.04395323e-04,-3.07534150e-05,
  2.10000000e-01,-5.82592244e-03, 9.00000000e-02, 3.39084835e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4229232 ,  0.42237435,  0.02153932,  0.42237435,  0.42627739,
       -0.06577383,  0.02153932, -0.06577383,  1.71271226,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029132888997367276
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69792707e-01,  2.43909733e-01, -3.18550455e-03,  2.43908417e-01,
        9.69797939e-01,  8.01172629e-04,  3.28470955e-03,  0.00000000e+00,
       -9.99994605e-01])
  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([ 0.10396645, -0.08918139,  0.14120843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36145867, -0.31783553, -0.17214223, -0.31783553,  0.6603693 ,
       -0.55189491, -0.17214223, -0.55189491,  1.38045217,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000899215486170174
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.72419179e-01,  4.57813513e-01, -4.40199273e-01,  3.97755620e-01,
        8.89048248e-01,  2.26679684e-01,  4.95135415e-01, -2.77555756e-17,
       -8.68815815e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382803, -0.08848507,  0.1501354 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.64139904,  9.26888032,  5.22754543,  9.26888032, 15.35240612,
       -8.35301412,  5.22754543, -8.35301412, 25.45199978,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046145605532977446
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.01478197e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.01478197e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0814942 , -0.06176041,  0.06198039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.80334998e-05, 8.31433439e-06, 2.00494171e-05, 1.95799908e-05,
 -1.31521184e-05, 1.23302390e-05,-1.76082211e-05,-9.64680410e-06,
 -1.46445429e-05,-2.91954333e-07, 3.78872514e-05,-2.60341812e-05,
  2.63545929e-01,-1.92874002e-04, 8.53543096e-02, 3.57315463e-02,
 -4.90658511e-05, 1.60294798e-05,-9.80994859e+00,-1.18426732e-02,
 -2.39798543e-02, 3.80979282e-05]


--- Step 577 ---
qpos:
[-1.35548857e-02, 1.35179303e-02, 1.00324801e-02, 1.47245130e-02,
 -1.90804577e-02,-9.05500785e-03,-1.74646128e-02, 1.63107033e-02,
 -1.21426816e-02,-6.70964559e-03,-1.43380071e-02, 1.51563554e-02,
  1.40345220e+00, 3.24511871e-02, 2.88021127e-01,-3.00377811e-02,
  9.52349646e-02,-7.06638716e-02, 1.04561229e-01, 9.99988060e-01,
  6.61404940e-04,-4.27541266e-04,-4.82283106e-03]

qacc:
[ 4.93773245e+00,-2.25022988e+00, 8.03676794e+00,-1.08933565e+01,
  1.66240439e+00,-1.21113860e-01,-8.74825872e-01, 4.91685463e+00,
  4.80094502e+00,-1.68015641e+00, 1.01624732e+01,-2.67403130e+01,
 -7.81351331e-02,-7.98125953e+00,-7.66299132e+01, 1.80545945e+02,
  8.29857178e-01, 4.52712939e-01, 1.20546052e-01,-8.68748657e+00,
  2.52925857e+01,-1.16127758e+01]

qfrc_actuator:
[ 5.54151519e-04,-5.21769526e-04,-1.28206158e-04,-2.35908408e-05,
 -5.95898525e-04,-6.85698785e-04,-2.08051629e-04,-4.06024023e-05,
 -5.91875444e-04,-5.12643962e-04,-1.15060648e-04,-8.09903128e-05,
  2.10000000e-01,-5.82481792e-03, 9.00000000e-02, 3.39308864e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42316992,  0.42257629,  0.02240668,  0.42257629,  0.42677196,
       -0.0679323 ,  0.02240668, -0.0679323 ,  1.70433179,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000292159665917164
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69793325e-01,  2.43905846e-01, -3.29330700e-03,  2.43904439e-01,
        9.69798916e-01,  8.28271528e-04,  3.39586583e-03,  1.08420217e-19,
       -9.99994234e-01])
  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([ 0.10396272, -0.08918611,  0.14120894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009025742071883565
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.72638815e-01,  4.57345973e-01, -4.40299810e-01,  3.97354864e-01,
        8.89288851e-01,  2.26438626e-01,  4.95114506e-01,  2.77555756e-17,
       -8.68827731e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382304, -0.08849016,  0.1501335 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.66587486,  -8.60135254,  -6.30695022,  -8.60135254,
        43.06585989, -44.18675966,  -6.30695022, -44.18675966,
        70.9273141 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004632558294900835
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.19828284e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.19828284e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08149718, -0.06176537,  0.06198031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.91834202e-05,-1.52481317e-05, 2.99150685e-05,-5.84309960e-06,
  9.80753479e-06,-1.29059447e-05, 5.93683326e-06, 1.19157846e-05,
  2.83402026e-05,-1.05396625e-06,-6.93261313e-06,-4.94393990e-05,
  2.63848786e-01,-1.26964811e-04, 8.75414006e-02, 3.54491014e-02,
 -2.29599751e-05, 1.20231597e-05,-9.80998157e+00,-1.18391405e-02,
 -2.39812539e-02, 4.10925778e-05]


--- Step 578 ---
qpos:
[-1.35547478e-02, 1.35182162e-02, 1.00335109e-02, 1.47246600e-02,
 -1.90797289e-02,-9.05497711e-03,-1.74638784e-02, 1.63112335e-02,
 -1.21437270e-02,-6.71017305e-03,-1.43373372e-02, 1.51548218e-02,
  1.40345190e+00, 3.24498884e-02, 2.87989371e-01,-3.00593818e-02,
  9.52396479e-02,-7.06657780e-02, 1.04561457e-01, 9.99988129e-01,
  6.53452648e-04,-3.92273425e-04,-4.81249931e-03]

qacc:
[-6.13071112e+00,-3.57062522e-01, 1.29664357e+00,-2.34626281e+00,
  1.03337976e+00,-3.93718959e-01,-1.09731755e+00, 9.05456418e+00,
  6.12311883e+00, 7.93485343e-02, 2.22755220e+00,-1.14497902e+01,
  1.05739625e-01,-5.63707029e+00,-6.84763648e+01, 1.59542479e+02,
  7.05404653e-01, 2.67791227e-01, 6.69554031e-02,-7.77223083e+00,
  2.30568813e+01,-1.84573055e+01]

qfrc_actuator:
[ 5.16911574e-04,-5.36719701e-04,-1.31685317e-04,-2.79647744e-05,
 -5.90138911e-04,-6.95153861e-04,-1.86989054e-04,-1.57011812e-05,
 -5.56503507e-04,-5.17052313e-04,-1.39599727e-04,-1.10168898e-04,
  2.10000000e-01,-5.82329335e-03, 9.00000000e-02, 3.39692443e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42414445,  0.42352989,  0.02282419,  0.42352989,  0.42777355,
       -0.06734221,  0.02282419, -0.06734221,  1.67375889,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029540985345719224
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69799107e-01,  2.43882615e-01, -3.31096812e-03,  2.43881194e-01,
        9.69804759e-01,  8.32628998e-04,  3.41405637e-03,  1.08420217e-19,
       -9.99994172e-01])
  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([ 0.10396409, -0.08918632,  0.14121033])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009048660644512169
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77255996,  0.45724811, -0.44053975,  0.39720682,  0.88933917,
        0.22650072,  0.49535628,  0.        , -0.86868991])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382491, -0.08849183,  0.15013073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004634692356811701
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.49716386e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.49716386e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08149919, -0.06176906,  0.0619803 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.64323023e-05,-1.75659861e-05,-3.15608564e-06,-4.10873844e-06,
  6.02294716e-06,-1.49539527e-05, 1.95329207e-05, 2.47837429e-05,
  3.61965113e-05,-8.47415376e-06,-2.73025649e-05,-3.04230194e-05,
  2.64071662e-01,-8.10280662e-05, 8.95738594e-02, 3.52168498e-02,
 -6.31891241e-06, 3.66926474e-06,-9.80999817e+00,-1.18368175e-02,
 -2.39808090e-02, 4.18556083e-05]


--- Step 579 ---
qpos:
[-1.35550578e-02, 1.35186627e-02, 1.00338125e-02, 1.47247674e-02,
 -1.90796267e-02,-9.05499903e-03,-1.74632015e-02, 1.63117202e-02,
 -1.21446849e-02,-6.71052871e-03,-1.43368348e-02, 1.51539547e-02,
  1.40345009e+00, 3.24485525e-02, 2.87924308e-01,-3.00779368e-02,
  9.52467126e-02,-7.06672613e-02, 1.04561764e-01, 9.99987984e-01,
  6.31941376e-04,-3.14595764e-04,-4.85119892e-03]

qacc:
[-3.90750306e+00, 2.17727394e+00,-7.27499187e+00, 7.62460079e+00,
 -5.44090219e+00, 1.23102866e-02, 5.74944377e-02,-7.00626834e-01,
  7.57206777e-01, 2.06554681e+00,-9.85233000e+00, 2.15321229e+01,
  2.10997005e-01,-2.90655180e+00,-5.85532732e+01, 1.33193655e+02,
  5.95358147e-01, 1.05803317e-01, 1.94591290e-02,-6.89100454e+00,
  2.11559704e+01,-2.45270989e+01]

qfrc_actuator:
[ 4.94936983e-04,-5.27968715e-04,-1.69702423e-04,-3.06099028e-05,
 -6.22550182e-04,-7.00698914e-04,-1.92630222e-04,-1.90163629e-05,
 -5.53036710e-04,-4.84019419e-04,-1.36584886e-04,-7.34624610e-05,
  2.10000000e-01,-5.80382040e-03, 9.00000000e-02, 3.39627387e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42563838,  0.42504245,  0.02251536,  0.42504245,  0.42901092,
       -0.0636665 ,  0.02251536, -0.0636665 ,  1.62752729,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030029830323354315
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69809737e-01,  2.43841210e-01, -3.24634458e-03,  2.43839844e-01,
        9.69815170e-01,  8.16230367e-04,  3.34738482e-03,  0.00000000e+00,
       -9.99994397e-01])
  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([ 0.10396958, -0.08918371,  0.14121231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009063565409215371
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.72265894e-01,  4.57405607e-01, -4.40891710e-01,  3.97228564e-01,
        8.89258180e-01,  2.26780416e-01,  4.95797193e-01, -2.77555756e-17,
       -8.68438336e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10383231, -0.08849133,  0.15012717])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046240241342506566
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.50061801e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.50061801e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08150043, -0.06177174,  0.06198035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.30538051e-05,-1.91581495e-06,-4.21753480e-05,-3.58556136e-06,
 -3.22558377e-05,-8.83501632e-06,-5.47493524e-06,-2.79960247e-06,
  4.51772154e-06, 2.14026697e-05,-3.14053716e-06, 3.48075304e-05,
  2.64219116e-01,-3.84525945e-05, 9.14322633e-02, 3.49890140e-02,
 -2.78989485e-06,-1.20477908e-06,-9.80999799e+00,-1.18366726e-02,
 -2.39791230e-02, 4.06184951e-05]


--- Step 580 ---
qpos:
[-1.35552847e-02, 1.35192885e-02, 1.00333555e-02, 1.47241516e-02,
 -1.90795690e-02,-9.05503364e-03,-1.74629284e-02, 1.63128733e-02,
 -1.21452484e-02,-6.71071835e-03,-1.43360505e-02, 1.51535024e-02,
  1.40344793e+00, 3.24475706e-02, 2.87829231e-01,-3.00945455e-02,
  9.52558202e-02,-7.06687879e-02, 1.04561986e-01, 9.99987560e-01,
  5.97880637e-04,-1.97510718e-04,-4.94798677e-03]

qacc:
[ 6.92845008e-01, 8.66673029e-01, 3.05353393e-01,-1.17410407e+01,
 -3.99031262e-01, 2.48335161e+00,-1.16927593e+01, 2.38833522e+01,
  3.44807679e+00, 2.78811294e-01,-2.43948895e+00, 9.06098152e+00,
  2.44189181e-01,-3.63032038e-01,-5.03233364e+01, 1.11542817e+02,
  5.10738987e-01,-1.08314506e-02,-2.12007951e-02,-6.37929424e+00,
  1.96546181e+01,-2.90549258e+01]

qfrc_actuator:
[ 4.99897531e-04,-5.22993078e-04,-2.09948407e-04,-6.77215259e-05,
 -6.23909322e-04,-7.03985592e-04,-2.14003739e-04, 1.43312755e-05,
 -5.32873453e-04,-4.64160497e-04,-1.17123735e-04,-5.14916011e-05,
  2.10000000e-01,-5.79158001e-03, 9.00000000e-02, 3.40354404e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42748538,  0.4268578 ,  0.0231552 ,  0.4268578 ,  0.43078239,
       -0.06077919,  0.0231552 , -0.06077919,  1.54792806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003061924422605251
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69824829e-01,  2.43783007e-01, -3.10600342e-03,  2.43781757e-01,
        9.69829802e-01,  7.80746117e-04,  3.20262731e-03, -1.08420217e-19,
       -9.99994872e-01])
  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([ 0.10397829, -0.08917975,  0.14121463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009073640482094266
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77182705,  0.45771808, -0.44133565,  0.3973459 ,  0.88909738,
        0.22720493,  0.49638618,  0.        , -0.86810182])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10384405, -0.08848977,  0.15012282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004603188373470818
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.2059283e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.2059283e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08150105, -0.06177362,  0.06198043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.27697829e-06,-4.95651394e-06,-4.59551270e-05,-3.87210383e-05,
 -2.29882450e-06,-9.49298847e-06,-2.39696182e-05, 3.27262101e-05,
  2.03077760e-05, 3.27072273e-05, 2.47106875e-05, 2.34588484e-05,
  2.64294508e-01,-2.57489315e-05, 9.30973441e-02, 3.49093528e-02,
 -1.79962138e-05, 4.50348176e-06,-9.80998110e+00,-1.18393353e-02,
 -2.39766167e-02, 3.75859373e-05]


--- Step 581 ---
qpos:
[-1.35557956e-02, 1.35197360e-02, 1.00327935e-02, 1.47230967e-02,
 -1.90791837e-02,-9.05502298e-03,-1.74632114e-02, 1.63140750e-02,
 -1.21455657e-02,-6.71083286e-03,-1.43349591e-02, 1.51529815e-02,
  1.40345528e+00, 3.24491378e-02, 2.87802065e-01,-3.01258838e-02,
  9.52581267e-02,-7.06736820e-02, 1.04561377e-01, 9.99987385e-01,
  6.11611464e-04,-1.80976905e-04,-4.98224420e-03]

qacc:
[-2.46183969e+00,-8.41795512e-01, 4.52157557e+00,-1.18307172e+01,
  2.82717594e+00, 1.70750448e+00,-6.21652790e+00, 7.92361570e+00,
  2.15679799e+00,-9.04541066e-01, 3.65239867e+00,-5.38078574e+00,
 -1.10272659e-01, 2.06000835e+01, 1.45331079e+02,-3.61971773e+02,
 -1.70030326e+00,-8.41889327e-01,-2.07534813e-01, 2.41503501e+01,
 -5.01380381e+01, 3.12907763e+01]

qfrc_actuator:
[ 4.85162178e-04,-5.38118247e-04,-2.15705375e-04,-8.93081908e-05,
 -6.06968497e-04,-7.05936130e-04,-2.44447451e-04, 1.57260606e-05,
 -5.20786699e-04,-4.70021528e-04,-1.05929975e-04,-5.61297869e-05,
  2.10000000e-01,-5.80180798e-03, 9.00000000e-02, 3.41022898e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42955718,  0.42950968,  0.00638819,  0.42950968,  0.42979821,
       -0.01620539,  0.00638819, -0.01620539,  1.51912546,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031261856216515
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69844008e-01,  2.43709290e-01, -2.89528287e-03,  2.43708204e-01,
        9.69848329e-01,  7.27544000e-04,  2.98529448e-03, -1.08420217e-19,
       -9.99995544e-01])
  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([ 0.10398954, -0.08917551,  0.14121712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000907633408869562
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77129396,  0.4581133 , -0.44185726,  0.39750532,  0.88889381,
        0.22772201,  0.49708666,  0.        , -0.8677009 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10385924, -0.08848791,  0.15011764])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.64374054,  9.41383489,  4.9667822 ,  9.41383489, 15.27356024,
       -8.77517   ,  4.9667822 , -8.77517   , 27.27583715,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004616288659810078
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.00626517e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.00626517e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09930975, -0.05214116,  0.06198038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.46262039e-05,-2.90379746e-05,-1.37783353e-05,-2.41425437e-05,
  1.68664014e-05,-1.08104881e-05,-3.42253256e-05, 7.95415364e-07,
  1.26766014e-05, 1.85656874e-05, 2.18105653e-05,-1.92458215e-06,
  2.64312949e-01,-5.56585769e-05, 9.45976350e-02, 3.48787913e-02,
 -5.79579413e-05, 2.64174735e-05,-9.80994791e+00,-1.18451411e-02,
 -2.39735579e-02, 3.28961967e-05]


--- Step 582 ---
qpos:
[-1.35571688e-02, 1.35199715e-02, 1.00321450e-02, 1.47221396e-02,
 -1.90789428e-02,-9.05540810e-03,-1.74633894e-02, 1.63149501e-02,
 -1.21453909e-02,-6.71066903e-03,-1.43340781e-02, 1.51524192e-02,
  1.40346754e+00, 3.24517290e-02, 2.87837879e-01,-3.01681937e-02,
  9.52547476e-02,-7.06810042e-02, 1.04560167e-01, 9.99987624e-01,
  6.56429183e-04,-2.66037822e-04,-4.92450311e-03]

qacc:
[-7.47516949e+00, 1.77407592e-01,-1.42679557e+00, 3.38611201e+00,
 -1.24486713e+00,-1.48588788e+00, 5.92278077e+00,-1.14574406e+01,
  4.28450644e+00, 8.62586415e-01,-2.38210705e+00, 1.81491398e+00,
 -5.18886306e-01, 1.18004949e+01, 1.26575144e+02,-3.07145746e+02,
 -1.42137202e+00,-6.07032747e-01,-1.50464074e-01, 1.58045330e+01,
 -5.06911120e+01, 4.60279621e+01]

qfrc_actuator:
[ 4.41190392e-04,-5.47265401e-04,-2.18871773e-04,-8.38221824e-05,
 -6.14907368e-04,-7.42643151e-04,-2.44514217e-04,-1.69952561e-06,
 -4.95802771e-04,-4.55784791e-04,-1.17587205e-04,-5.86630724e-05,
  2.10000000e-01,-5.82785374e-03, 9.00000000e-02, 3.40927620e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42991698,  0.42971097,  0.01330752,  0.42971097,  0.43050083,
       -0.01885327,  0.01330752, -0.01885327,  1.03870479,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003137154647848909
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69856845e-01,  2.43658654e-01, -2.85679190e-03,  2.43657597e-01,
        9.69861052e-01,  7.17713191e-04,  2.94556823e-03,  0.00000000e+00,
       -9.99995662e-01])
  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([ 0.10399129, -0.08918115,  0.1412176 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36301978,  0.32890154,  0.15364615,  0.32890154,  0.84276089,
       -1.02695436,  0.15364615, -1.02695436,  2.56136228,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009101383120660777
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77139621,  0.45771873, -0.4420876 ,  0.39712481,  0.88909705,
        0.22759245,  0.49723211,  0.        , -0.86761756])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1038613 , -0.08849374,  0.15011417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.64682323, -10.39040047,  -2.32258969, -10.39040047,
        15.26104764, -20.64231997,  -2.32258969, -20.64231997,
       102.99286789,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046185617370490817
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.20191424e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.20191424e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09931189, -0.05214524,  0.06198037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.44094071e-05,-2.92521814e-05,-1.16909100e-05, 3.29654897e-06,
 -7.45545068e-06,-4.97955861e-05,-6.49344028e-06,-1.90592766e-05,
  2.53452660e-05, 2.90566051e-05,-5.20001322e-06,-1.02033723e-06,
  2.63837327e-01,-2.09842469e-04, 9.12020015e-02, 3.56056969e-02,
 -2.83052328e-06, 3.38054850e-06,-9.80999951e+00,-1.18388858e-02,
 -2.39704765e-02, 3.35936111e-05]


--- Step 583 ---
qpos:
[-1.35587139e-02, 1.35200981e-02, 1.00316634e-02, 1.47215697e-02,
 -1.90787984e-02,-9.05643349e-03,-1.74631789e-02, 1.63159672e-02,
 -1.21445732e-02,-6.71029073e-03,-1.43333271e-02, 1.51518338e-02,
  1.40347615e+00, 3.24529963e-02, 2.87882754e-01,-3.02138371e-02,
  9.52506039e-02,-7.06877730e-02, 1.04560138e-01, 9.99988138e-01,
  7.12455925e-04,-3.74611436e-04,-4.80383309e-03]

qacc:
[ -1.4828705 ,  0.19000602, -2.51589889,  9.02520144, -0.81431855,
  -1.63722074,  4.0138291 , -1.71099363,  5.60328391,  0.58779794,
  -1.60567311,  1.27478444, -0.662496  , -5.7513645 , 23.46654504,
 -62.72067537, -0.19117095,  0.13837035,  0.29518948,  5.67061675,
 -11.70791302, 31.47098283]

qfrc_actuator:
[ 4.33626669e-04,-5.34967983e-04,-2.02707692e-04,-6.24537684e-05,
 -6.19680337e-04,-7.82028473e-04,-2.26793477e-04, 5.44366997e-06,
 -4.63425024e-04,-4.47475286e-04,-1.24807623e-04,-5.99333680e-05,
  2.10000000e-01,-5.82737947e-03, 9.00000000e-02, 3.41105522e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42890164,  0.40478939,  0.1417821 ,  0.40478939,  0.77929655,
       -1.00038116,  0.1417821 , -1.00038116,  3.28500034,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003106057247715475
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69864107e-01,  2.43628019e-01, -3.00049883e-03,  2.43626853e-01,
        9.69868748e-01,  7.53715994e-04,  3.09371638e-03,  0.00000000e+00,
       -9.99995214e-01])
  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([ 0.10398518, -0.08919314,  0.14121662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36349581,  0.32898402,  0.15459211,  0.32898402,  0.63177166,
       -0.57091185,  0.15459211, -0.57091185,  1.57844059,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009137241624945911
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77198988,  0.45678909, -0.44201284,  0.39641013,  0.88957503,
        0.22696977,  0.4968809 ,  0.        , -0.86781874])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10385231, -0.08850429,  0.15011325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.62742322,   9.1077611 ,   5.47638678,   9.1077611 ,
        19.37508819, -14.54821324,   5.47638678, -14.54821324,
        34.82250949,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004604217798553604
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37672826e-06,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.37672826e-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([ 0.09060754, -0.05685868,  0.06198043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.85303782e-06,-6.30025447e-06, 8.81287499e-06, 1.97791404e-05,
 -4.98982541e-06,-6.94001929e-05, 5.97335713e-06, 4.41348421e-06,
  3.30991325e-05, 2.34413610e-05,-1.89843385e-06,-2.26492097e-07,
  2.63592117e-01,-2.60032996e-04, 8.80530151e-02, 3.61720501e-02,
 -2.63430508e-05, 7.31862885e-06,-9.80996891e+00,-1.18393654e-02,
 -2.39757730e-02, 3.73926800e-05]


--- Step 584 ---
qpos:
[-1.35603383e-02, 1.35202970e-02, 1.00315513e-02, 1.47215673e-02,
 -1.90787118e-02,-9.05802076e-03,-1.74624395e-02, 1.63163512e-02,
 -1.21440635e-02,-6.70993121e-03,-1.43325866e-02, 1.51516050e-02,
  1.40347907e+00, 3.24530618e-02, 2.87886501e-01,-3.02521793e-02,
  9.52501487e-02,-7.06919414e-02, 1.04560604e-01, 9.99988612e-01,
  7.47815513e-04,-4.29700738e-04,-4.69384737e-03]

qacc:
[-6.76348795e-01, 2.32805715e-01,-3.08542483e+00, 1.22620294e+01,
 -4.76810995e-01,-3.52153417e+00, 1.41541871e+01,-2.55450549e+01,
 -2.68831223e+00, 7.43811918e-01,-4.18487168e+00, 1.03779700e+01,
 -2.78463568e-01,-9.57723903e+00,-8.30705095e+01, 2.02021380e+02,
  9.22119570e-01, 6.50094883e-01, 1.23850664e-01,-1.04639063e+01,
  2.66883847e+01,-5.35736772e+00]

qfrc_actuator:
[ 4.29809612e-04,-5.09822239e-04,-1.75164095e-04,-3.18844254e-05,
 -6.22544028e-04,-8.04865355e-04,-1.98725607e-04,-2.62676146e-05,
 -4.80216429e-04,-4.60522213e-04,-1.29362306e-04,-4.26948230e-05,
  2.10000000e-01,-5.79130224e-03, 9.00000000e-02, 3.41592365e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42797723,  0.42789938,  0.00816293,  0.42789938,  0.42852469,
       -0.02869777,  0.00816293, -0.02869777,  1.93230935,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003077353324332834
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69871583e-01,  2.43595921e-01, -3.18434038e-03,  2.43594608e-01,
        9.69876810e-01,  7.99784384e-04,  3.28324211e-03,  0.00000000e+00,
       -9.99994610e-01])
  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([ 0.10397881, -0.08920414,  0.1412161 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009176523512479773
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77259394,  0.45589358, -0.44188194,  0.39573825,  0.89003429,
        0.22634087,  0.49647743,  0.        , -0.86804963])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10384264, -0.0885142 ,  0.1501135 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.65122703,   9.31496216,   5.16527997,   9.31496216,
        17.75961782, -12.81912918,   5.16527997, -12.81912918,
        33.76898715,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004621804922559994
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20107084e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.20107084e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0815097 , -0.06178891,  0.06198036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.07335189e-06, 2.43432886e-05, 2.80299812e-05, 3.09928725e-05,
 -2.99948361e-06,-6.02293211e-05, 1.46201226e-05,-3.43927479e-05,
 -1.58562637e-05,-3.60246192e-07, 3.36811043e-08, 1.81696510e-05,
  2.63774374e-01,-1.57063202e-04, 8.76001216e-02, 3.63874122e-02,
 -7.04173519e-05, 3.36794168e-05,-9.80993721e+00,-1.18414523e-02,
 -2.39827705e-02, 4.24220682e-05]


--- Step 585 ---
qpos:
[-1.35619961e-02, 1.35207596e-02, 1.00314205e-02, 1.47219330e-02,
 -1.90786597e-02,-9.05976360e-03,-1.74612581e-02, 1.63163054e-02,
 -1.21441042e-02,-6.70940575e-03,-1.43322509e-02, 1.51515883e-02,
  1.40347799e+00, 3.24523404e-02, 2.87852532e-01,-3.02841504e-02,
  9.52528152e-02,-7.06943947e-02, 1.04561354e-01, 9.99988984e-01,
  7.64939092e-04,-4.36334823e-04,-4.61054149e-03]

qacc:
[-2.94748401e-01, 1.15990614e+00,-5.18303335e+00, 1.13893094e+01,
 -2.82944328e-01,-2.32410891e+00, 9.80506766e+00,-1.78386159e+01,
 -4.81861468e+00, 1.79627727e+00,-6.96647665e+00, 1.11467512e+01,
 -2.00805663e-02,-7.38053310e+00,-7.51880896e+01, 1.81814453e+02,
  7.80447711e-01, 4.28766492e-01, 7.10333272e-02,-9.23731556e+00,
  2.41745365e+01,-1.33542029e+01]

qfrc_actuator:
[ 4.28216662e-04,-4.94857705e-04,-1.76567453e-04,-1.38823790e-05,
 -6.24262151e-04,-7.82090182e-04,-1.64745421e-04,-4.50682183e-05,
 -5.08062956e-04,-4.50730279e-04,-1.50137640e-04,-3.24741125e-05,
  2.10000000e-01,-5.78671364e-03, 9.00000000e-02, 3.41638979e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4280575 ,  0.42797241,  0.00853478,  0.42797241,  0.42865188,
       -0.02980492,  0.00853478, -0.02980492,  1.9226106 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003079860871180977
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69883705e-01,  2.43546460e-01, -3.27423541e-03,  2.43545072e-01,
        9.69889232e-01,  8.22185067e-04,  3.37588593e-03,  0.00000000e+00,
       -9.99994302e-01])
  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([ 0.10397828, -0.0892088 ,  0.14121665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009200638053225581
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77281654,  0.45548666, -0.44191233,  0.3954064 ,  0.89024261,
        0.22610148,  0.49639539,  0.        , -0.86809655])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10384085, -0.08851931,  0.15011283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.65718287,  -8.5372249 ,  -6.37897623,  -8.5372249 ,
        47.11998039, -48.79953956,  -6.37897623, -48.79953956,
        75.96745042,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000462618357103331
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99983509e-14,  7.49958772e-15,  1.00000000e+00, -2.24975264e-28,
        1.00000000e+00, -7.49958772e-15, -1.00000000e+00,  0.00000000e+00,
        2.99983509e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08151211, -0.06179319,  0.06198034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.71015695e-06, 3.57536709e-05, 8.16925333e-06, 2.06221105e-05,
 -1.77651456e-06,-9.36306473e-06, 2.21495870e-05,-2.15450570e-05,
 -2.83227680e-05, 1.03502192e-05,-2.02232506e-05, 1.05594085e-05,
  2.64058488e-01,-9.24831243e-05, 8.96564819e-02, 3.60269769e-02,
 -4.23183427e-05, 2.40178147e-05,-9.80997442e+00,-1.18363051e-02,
 -2.39831506e-02, 4.58397316e-05]


--- Step 586 ---
qpos:
[-1.35629710e-02, 1.35217653e-02, 1.00311515e-02, 1.47224840e-02,
 -1.90786280e-02,-9.06103561e-03,-1.74605706e-02, 1.63167085e-02,
 -1.21437890e-02,-6.70890867e-03,-1.43320815e-02, 1.51513576e-02,
  1.40347448e+00, 3.24512629e-02, 2.87784650e-01,-3.03110456e-02,
  9.52581075e-02,-7.06958933e-02, 1.04562201e-01, 9.99989194e-01,
  7.66031481e-04,-3.98773605e-04,-4.56788114e-03]

qacc:
[ 5.90626776e+00, 1.47411962e+00,-5.01647068e+00, 8.06468775e+00,
 -2.00656455e-01, 2.92589244e+00,-1.14253065e+01, 1.96385650e+01,
  3.10095341e+00,-1.90074029e-02, 9.06395071e-01,-4.31177645e+00,
  1.62920055e-01,-4.87946355e+00,-6.56172831e+01, 1.56553808e+02,
  6.56427073e-01, 2.38687288e-01, 2.43298948e-02,-8.12619446e+00,
  2.20448708e+01,-2.03363211e+01]

qfrc_actuator:
[ 4.63449340e-04,-4.50717056e-04,-1.77345911e-04,-3.44831075e-06,
 -6.25293208e-04,-7.32129338e-04,-1.80600354e-04,-2.05671102e-05,
 -4.88919165e-04,-4.62917499e-04,-1.62494306e-04,-4.42149588e-05,
  2.10000000e-01,-5.80095244e-03, 9.00000000e-02, 3.41579079e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42884803,  0.428772  ,  0.0080751 ,  0.428772  ,  0.42936465,
       -0.02743117,  0.0080751 , -0.02743117,  1.88538925,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003104403042538559
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69900208e-01,  2.43480666e-01, -3.27885134e-03,  2.43479275e-01,
        9.69905751e-01,  8.23107716e-04,  3.38058758e-03,  0.00000000e+00,
       -9.99994286e-01])
  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([ 0.10398246, -0.08920918,  0.14121795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000921281832856657
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77275701,  0.45543226, -0.44207245,  0.39531636,  0.89027044,
        0.22614932,  0.49655973,  0.        , -0.86800255])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10384542, -0.08852112,  0.15011133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004617498506454404
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50273874e-14,  4.50821623e-14,  1.00000000e+00, -6.77467119e-28,
        1.00000000e+00, -4.50821623e-14, -1.00000000e+00,  0.00000000e+00,
        1.50273874e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08151366, -0.06179633,  0.06198037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.51786833e-05, 6.67664895e-05, 8.34672737e-06, 1.26541440e-05,
 -1.03589788e-06, 4.83743294e-05,-1.58064978e-05, 2.44470056e-05,
  1.83136072e-05,-1.01345470e-05,-1.23437188e-05,-1.17905078e-05,
  2.64259169e-01,-6.82089409e-05, 9.15421002e-02, 3.57023759e-02,
 -1.97454620e-05, 9.75075164e-06,-9.80999516e+00,-1.18327015e-02,
 -2.39818397e-02, 4.70130155e-05]


--- Step 587 ---
qpos:
[-1.35635167e-02, 1.35232194e-02, 1.00311923e-02, 1.47227909e-02,
 -1.90786082e-02,-9.06191706e-03,-1.74603702e-02, 1.63174115e-02,
 -1.21432471e-02,-6.70881378e-03,-1.43318931e-02, 1.51510240e-02,
  1.40346992e+00, 3.24502404e-02, 2.87686515e-01,-3.03341941e-02,
  9.52656167e-02,-7.06970434e-02, 1.04562984e-01, 9.99989190e-01,
  7.52784625e-04,-3.20506542e-04,-4.57723387e-03]

qacc:
[ 3.72315023e+00,-7.83247184e-01, 4.66992321e+00,-9.70406092e+00,
 -1.24232024e-01, 2.49397573e+00,-9.40993574e+00, 1.50916243e+01,
  1.98571548e+00,-8.00783041e-01, 2.51231365e+00,-4.02269222e+00,
  2.70201173e-01,-2.33856743e+00,-5.61532237e+01, 1.31365154e+02,
  5.54245252e-01, 8.71370954e-02,-1.62254630e-02,-7.27280340e+00,
  2.02999885e+01,-2.60194823e+01]

qfrc_actuator:
[ 4.84569228e-04,-4.24960759e-04,-1.59869840e-04,-1.52719781e-05,
 -6.25912237e-04,-7.19679152e-04,-2.07844577e-04,-6.29703580e-06,
 -4.77772466e-04,-5.05916903e-04,-1.69876188e-04,-5.10388225e-05,
  2.10000000e-01,-5.82660369e-03, 9.00000000e-02, 3.41797791e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43012731,  0.43005411,  0.00793484,  0.43005411,  0.43059721,
       -0.02546797,  0.00793484, -0.02546797,  1.8104455 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031435415123160946
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69920744e-01,  2.43399828e-01, -3.20545138e-03,  2.43398499e-01,
        9.69926040e-01,  8.04397739e-04,  3.30484103e-03, -1.08420217e-19,
       -9.99994539e-01])
  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([ 0.10399035, -0.08920701,  0.14121975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009216695651844475
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77249828,  0.45561302, -0.44233832,  0.39538193,  0.89017795,
        0.22639866,  0.49691   ,  0.        , -0.86780208])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10385503, -0.08852092,  0.15010902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045984043605976077
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.50897863e-14, -1.50897863e-14,  1.00000000e+00, -2.27701650e-28,
        1.00000000e+00,  1.50897863e-14, -1.00000000e+00,  0.00000000e+00,
       -1.50897863e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08151453, -0.06179859,  0.06198045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.21223676e-05, 6.54097632e-05, 3.27446398e-05,-8.42646978e-06,
 -5.95105163e-07, 3.72821774e-05,-1.83538505e-05, 1.62718004e-05,
  1.16492427e-05,-5.17283064e-05,-1.14088059e-05,-7.91630935e-06,
  2.64380818e-01,-7.75434955e-05, 9.32374716e-02, 3.54703707e-02,
 -8.02614923e-06,-9.01030966e-07,-9.80999897e+00,-1.18315224e-02,
 -2.39794491e-02, 4.61930317e-05]


--- Step 588 ---
qpos:
[-1.35638053e-02, 1.35245428e-02, 1.00320241e-02, 1.47226500e-02,
 -1.90789401e-02,-9.06252595e-03,-1.74604464e-02, 1.63179356e-02,
 -1.21425760e-02,-6.70877691e-03,-1.43322300e-02, 1.51509504e-02,
  1.40346550e+00, 3.24496647e-02, 2.87561620e-01,-3.03549683e-02,
  9.52750062e-02,-7.06983285e-02, 1.04563562e-01, 9.99988914e-01,
  7.26489534e-04,-2.04389161e-04,-4.64786562e-03]

qacc:
[ 2.25559575e+00,-3.31105120e+00, 1.34380464e+01,-2.23502441e+01,
 -3.06796234e+00, 7.70528079e-01,-1.45901493e+00,-1.40716915e+00,
  1.11294503e+00, 1.92426238e+00,-8.07433620e+00, 1.34619027e+01,
  3.11478119e-01, 2.24464153e-01,-4.67990490e+01, 1.06213180e+02,
  4.70067999e-01,-3.37737546e-02,-5.11312908e-02,-6.62038993e+00,
  1.88719832e+01,-3.06519537e+01]

qfrc_actuator:
[ 4.97201895e-04,-4.63615579e-04,-1.31833814e-04,-4.00952225e-05,
 -6.44037133e-04,-7.12090795e-04,-2.23978972e-04,-1.59487229e-05,
 -4.71437178e-04,-4.96007915e-04,-1.92144800e-04,-3.71852449e-05,
  2.10000000e-01,-5.85937101e-03, 9.00000000e-02, 3.41999131e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43172541,  0.43165549,  0.00776929,  0.43165549,  0.43214038,
       -0.02305565,  0.00776929, -0.02305565,  1.71267798,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031914696533375604
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69944938e-01,  2.43305267e-01, -3.06002348e-03,  2.43304056e-01,
        9.69949765e-01,  7.67585968e-04,  3.15482676e-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([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10400112, -0.08920367,  0.14122182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009215536694501614
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.72105794e-01,  4.55935215e-01, -4.42691453e-01,  3.95533812e-01,
        8.90012966e-01,  2.26781666e-01,  4.97398881e-01, -2.77555756e-17,
       -8.67521961e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10386858, -0.08851973,  0.15010591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004571179863533531
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.07186250e-14, -1.51796563e-14,  1.00000000e+00,  9.21687857e-28,
        1.00000000e+00,  1.51796563e-14, -1.00000000e+00,  0.00000000e+00,
        6.07186250e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08151488, -0.06180013,  0.06198057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.32387075e-05, 4.35800091e-06, 4.52961895e-05,-2.10505468e-05,
 -1.81008546e-05, 2.53417456e-05,-1.01317146e-05,-8.37253117e-06,
  6.64678836e-06,-2.17293012e-05,-3.46397761e-05, 1.10863623e-05,
  2.64433919e-01,-1.15136742e-04, 9.47497842e-02, 3.53030660e-02,
 -1.41427362e-05,-6.65031059e-07,-9.80998600e+00,-1.18333076e-02,
 -2.39763752e-02, 4.35763819e-05]


--- Step 589 ---
qpos:
[-1.35639410e-02, 1.35258067e-02, 1.00326645e-02, 1.47226183e-02,
 -1.90791414e-02,-9.06299264e-03,-1.74607125e-02, 1.63190416e-02,
 -1.21414893e-02,-6.70861471e-03,-1.43329646e-02, 1.51510103e-02,
  1.40347116e+00, 3.24518213e-02, 2.87507857e-01,-3.03898763e-02,
  9.52774898e-02,-7.07030671e-02, 1.04563133e-01, 9.99988843e-01,
  7.46678446e-04,-1.89564286e-04,-4.66056746e-03]

qacc:
[ 1.32029896e+00, 6.78946865e-01,-3.00038242e+00, 5.24559687e+00,
  1.12663952e+00, 1.91353525e+00,-9.01193971e+00, 1.92884626e+01,
  3.61284347e+00, 1.54485153e+00,-5.84428392e+00, 8.71290653e+00,
 -9.19484261e-02, 2.18394187e+01, 1.48302787e+02,-3.65420418e+02,
 -1.72646978e+00,-8.63369627e-01,-2.51739503e-01, 2.34829863e+01,
 -5.05166027e+01, 2.89971492e+01]

qfrc_actuator:
[ 5.04742651e-04,-4.87259352e-04,-1.51324720e-04,-3.69114323e-05,
 -6.36815591e-04,-7.07457770e-04,-2.33463171e-04, 1.36632534e-05,
 -4.50229373e-04,-4.72289833e-04,-2.05055993e-04,-2.89996521e-05,
  2.10000000e-01,-5.82581133e-03, 9.00000000e-02, 3.42543840e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43350664,  0.43318554, -0.01668229,  0.43318554,  0.4352451 ,
        0.04514212, -0.01668229,  0.04514212,  1.60570275,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032436856939168865
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69972419e-01,  2.43198271e-01, -2.84749131e-03,  2.43197223e-01,
        9.69976598e-01,  7.13939868e-04,  2.93562888e-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([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10401407, -0.08920022,  0.14122397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009212126741676649
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.71631302e-01,  4.56324081e-01, -4.43117893e-01,  3.95716501e-01,
        8.89813651e-01,  2.27244620e-01,  4.97989543e-01, -2.77555756e-17,
       -8.67183034e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10388517, -0.08851838,  0.15010195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.55760908,  9.33495642,  4.93170337,  9.33495642, 15.22630363,
       -8.83712116,  4.93170337, -8.83712116, 27.28492108,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045518179276129306
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.09769021e-14,  7.62211276e-14,  1.00000000e+00, -4.64772824e-27,
        1.00000000e+00, -7.62211276e-14, -1.00000000e+00,  0.00000000e+00,
        6.09769021e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09931936, -0.05215495,  0.06198065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.86580256e-06,-1.27320071e-05,-1.37350081e-05, 4.52869072e-06,
  6.73183671e-06, 1.63582786e-05,-5.78297589e-06, 3.01858717e-05,
  2.13942908e-05, 4.86528173e-06,-2.12906395e-05, 6.26983174e-06,
  2.64427893e-01,-1.06524169e-04, 9.60872754e-02, 3.52387070e-02,
 -4.50133101e-05, 1.63327073e-05,-9.80995666e+00,-1.18383501e-02,
 -2.39728772e-02, 3.93143164e-05]


--- Step 590 ---
qpos:
[-1.35643310e-02, 1.35269790e-02, 1.00328009e-02, 1.47229971e-02,
 -1.90792545e-02,-9.06326220e-03,-1.74608218e-02, 1.63201170e-02,
 -1.21405016e-02,-6.70839225e-03,-1.43341439e-02, 1.51511790e-02,
  1.40348208e+00, 3.24551289e-02, 2.87519807e-01,-3.04349546e-02,
  9.52742244e-02,-7.07102681e-02, 1.04561968e-01, 9.99989137e-01,
  7.96460628e-04,-2.77026979e-04,-4.58416015e-03]

qacc:
[-2.21762334e+00, 2.13781943e+00,-9.52391661e+00, 1.74948555e+01,
  7.67435273e-01,-2.41998841e-01, 1.36751222e+00,-2.28979296e+00,
 -8.78530133e-01, 1.54766230e+00,-5.85971835e+00, 8.40766955e+00,
 -5.29894153e-01, 1.27135581e+01, 1.28200371e+02,-3.06940129e+02,
 -1.43727633e+00,-6.15596745e-01,-1.83938213e-01, 1.50431390e+01,
 -5.10409497e+01, 4.45903194e+01]

qfrc_actuator:
[ 4.91477044e-04,-5.01915521e-04,-1.80913209e-04,-1.73013893e-05,
 -6.32480557e-04,-6.86823958e-04,-2.21180695e-04, 1.28862280e-05,
 -4.55941348e-04,-4.75951688e-04,-2.30022798e-04,-2.41923807e-05,
  2.10000000e-01,-5.82593017e-03, 9.00000000e-02, 3.43095099e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43345173,  0.43337045,  0.00839421,  0.43337045,  0.43367757,
       -0.01165929,  0.00839421, -0.01165929,  1.03538932,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000324209441748381
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69992705e-01,  2.43117792e-01, -2.80927096e-03,  2.43116773e-01,
        9.69996773e-01,  7.04109306e-04,  2.89616527e-03,  0.00000000e+00,
       -9.99995806e-01])
  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([ 0.10401722, -0.08920677,  0.14122405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36460502,  0.32889539,  0.15736784,  0.32889539,  0.87300145,
       -1.06253757,  0.15736784, -1.06253757,  2.58528558,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009226832467086057
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77179654,  0.45591261, -0.44325364,  0.39535065,  0.89002454,
        0.22705545,  0.49802406,  0.        , -0.86716321])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10388831, -0.08852478,  0.15009962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045497358102834784
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.10048073e-14,  5.33792063e-14,  1.00000000e+00, -3.25638819e-27,
        1.00000000e+00, -5.33792063e-14, -1.00000000e+00,  0.00000000e+00,
        6.10048073e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09932108, -0.05215799,  0.06198066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30960126e-05,-2.44068736e-05,-3.37503249e-05, 1.86776529e-05,
  4.55115088e-06, 2.98900100e-05, 1.59956038e-05, 3.11492073e-07,
 -5.09432901e-06,-5.10190248e-06,-2.63804683e-05, 4.39782767e-06,
  2.63923914e-01,-2.44492925e-04, 9.25304955e-02, 3.60004442e-02,
 -7.64299776e-07, 1.80887020e-06,-9.80999912e+00,-1.18332942e-02,
 -2.39709168e-02, 4.02683626e-05]


--- Step 591 ---
qpos:
[-1.35655670e-02, 1.35276241e-02, 1.00330640e-02, 1.47232755e-02,
 -1.90793145e-02,-9.06329562e-03,-1.74607820e-02, 1.63208247e-02,
 -1.21402793e-02,-6.70840190e-03,-1.43352069e-02, 1.51510577e-02,
  1.40348787e+00, 3.24575017e-02, 2.87495109e-01,-3.04737498e-02,
  9.52744525e-02,-7.07151219e-02, 1.04561373e-01, 9.99989377e-01,
  8.26130877e-04,-3.12471112e-04,-4.52400342e-03]

qacc:
[-7.32261732e+00,-1.24364892e+00, 3.87220533e+00,-5.45224021e+00,
  4.61049738e-01,-8.62196162e-01, 5.07867968e+00,-1.18547731e+01,
 -6.67351000e+00,-1.21574397e+00, 5.13748582e+00,-1.01987928e+01,
 -4.17298603e-01,-7.34508050e+00,-7.33305509e+01, 1.77639104e+02,
  8.73407904e-01, 5.86799460e-01, 1.42462745e-01,-1.01773175e+01,
  2.59564201e+01,-8.14326151e+00]

qfrc_actuator:
[ 4.48320913e-04,-5.46628404e-04,-1.80665850e-04,-2.36858643e-05,
 -6.29887234e-04,-6.74454127e-04,-2.13861585e-04,-5.74444964e-06,
 -4.95209522e-04,-4.96026582e-04,-2.26511786e-04,-3.91934809e-05,
  2.10000000e-01,-5.88127305e-03, 9.00000000e-02, 3.43134611e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43196002,  0.4319326 , -0.00486718,  0.4319326 ,  0.432147  ,
        0.01659352, -0.00486718,  0.01659352,  1.90453448,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031984185535545244
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70006638e-01,  2.43060464e-01, -2.95530598e-03,  2.43059336e-01,
        9.70011140e-01,  7.40525560e-04,  3.04667221e-03,  0.00000000e+00,
       -9.99995359e-01])
  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([ 0.10401229, -0.08921965,  0.14122262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36489923, -0.32317097, -0.16944607, -0.32317097,  0.60393823,
       -0.45590003, -0.16944607, -0.45590003,  1.23440099,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009252300595361514
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77245398,  0.45496501, -0.44308203,  0.39465004,  0.89050931,
        0.2263725 ,  0.49756024,  0.        , -0.86742942])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10388019, -0.08853587,  0.15009982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.57033303,  9.18830724,  5.22560528,  9.18830724, 15.85961589,
       -9.30027306,  5.22560528, -9.30027306, 26.92322647,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000456146057563514
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.08480007e-14,  1.52120002e-14,  1.00000000e+00, -9.25619796e-28,
        1.00000000e+00, -1.52120002e-14, -1.00000000e+00,  0.00000000e+00,
        6.08480007e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08151969, -0.06180928,  0.06198061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.35865968e-05,-6.45193124e-05,-8.29851068e-06,-8.23297391e-06,
  2.74280159e-06, 3.24072158e-05, 1.54753224e-05,-1.67901775e-05,
 -3.94096692e-05,-2.82255758e-05,-6.50595056e-07,-1.60488440e-05,
  2.63661337e-01,-3.57345333e-04, 8.92448141e-02, 3.65128888e-02,
 -3.52556077e-05, 1.32378852e-05,-9.80996199e+00,-1.18347170e-02,
 -2.39769577e-02, 4.42943225e-05]


--- Step 592 ---
qpos:
[-1.35666219e-02, 1.35277638e-02, 1.00333431e-02, 1.47234807e-02,
 -1.90793427e-02,-9.06336537e-03,-1.74607995e-02, 1.63213536e-02,
 -1.21408740e-02,-6.70869550e-03,-1.43358916e-02, 1.51504007e-02,
  1.40349001e+00, 3.24593181e-02, 2.87436570e-01,-3.05070416e-02,
  9.52776642e-02,-7.07184280e-02, 1.04561131e-01, 9.99989504e-01,
  8.37771581e-04,-3.00534530e-04,-4.49443562e-03]

qacc:
[ 1.58006380e+00,-8.67100891e-01, 2.42635445e+00,-3.34247354e+00,
  2.75295231e-01,-2.56142282e-01, 1.59786044e+00,-4.57357391e+00,
 -7.11532686e+00,-2.52105313e+00, 1.07307006e+01,-2.04244674e+01,
 -2.05823047e-01,-5.30980125e+00,-6.67969173e+01, 1.60853781e+02,
  7.45896249e-01, 3.86914752e-01, 8.83539672e-02,-9.12658471e+00,
  2.36366702e+01,-1.53113101e+01]

qfrc_actuator:
[ 4.58934625e-04,-5.73397895e-04,-1.80698684e-04,-2.75676388e-05,
 -6.28339063e-04,-7.02665813e-04,-2.27328163e-04,-1.69852813e-05,
 -5.36152721e-04,-5.07928386e-04,-2.06297108e-04,-6.57241599e-05,
  2.10000000e-01,-5.82610387e-03, 9.00000000e-02, 3.43098274e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.31510246e-01,  4.31507523e-01, -1.53288150e-03,  4.31507523e-01,
        4.31528194e-01,  5.05240797e-03, -1.53288150e-03,  5.05240797e-03,
        1.85376764e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.00031850776015475787
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70024435e-01,  2.42988756e-01, -3.00998494e-03,  2.42987586e-01,
        9.70029105e-01,  7.53990259e-04,  3.10298416e-03,  1.08420217e-19,
       -9.99995186e-01])
  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([ 0.10401273, -0.08922666,  0.14122224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009266912219934942
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7727513 ,  0.4544712 , -0.44307037,  0.39426181,  0.89076143,
        0.22605685,  0.49740632,  0.        , -0.86751769])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10387938, -0.08854249,  0.15009905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.58429563,  -8.4577867 ,  -6.36342347,  -8.4577867 ,
        48.74309265, -50.71781998,  -6.36342347, -50.71781998,
        77.99462993,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004571994017003797
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.07078126e-14, -1.51769532e-14,  1.00000000e+00,  9.21359629e-28,
        1.00000000e+00,  1.51769532e-14, -1.00000000e+00,  0.00000000e+00,
        6.07078126e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08152214, -0.06181344,  0.06198057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.30790058e-06,-6.48844052e-05,-1.46502584e-05,-7.08919714e-06,
  1.63768635e-06,-7.60955185e-06,-5.44686535e-06,-9.64334349e-06,
 -4.20681370e-05,-2.85283417e-05, 1.37490952e-05,-2.80736861e-05,
  2.63917404e-01,-2.56104031e-04, 9.10771577e-02, 3.61950468e-02,
 -1.42023860e-05, 7.30816817e-06,-9.80998871e+00,-1.18311228e-02,
 -2.39770928e-02, 4.68808155e-05]


--- Step 593 ---
qpos:
[-1.35671973e-02, 1.35276256e-02, 1.00334962e-02, 1.47239634e-02,
 -1.90800416e-02,-9.06351107e-03,-1.74612157e-02, 1.63217734e-02,
 -1.21409204e-02,-6.70910203e-03,-1.43366533e-02, 1.51490951e-02,
  1.40348972e+00, 3.24609412e-02, 2.87346839e-01,-3.05355129e-02,
  9.52834461e-02,-7.07208081e-02, 1.04561053e-01, 9.99989467e-01,
  8.32878238e-04,-2.44982758e-04,-4.50686713e-03]

qacc:
[ 4.15752424e+00, 5.48873363e-01,-3.67602636e+00, 8.90270047e+00,
 -5.83528745e+00, 8.00103050e-01,-2.51853473e+00, 1.30314407e+00,
  4.78623128e+00,-1.27822902e+00, 7.06362993e+00,-1.80657877e+01,
 -7.52719090e-02,-3.20604321e+00,-6.07923899e+01, 1.45580693e+02,
  6.42522376e-01, 2.31503462e-01, 4.08588402e-02,-8.37119163e+00,
  2.17525930e+01,-2.10155894e+01]

qfrc_actuator:
[ 4.83368694e-04,-5.71459534e-04,-1.80839679e-04,-1.21821637e-05,
 -6.62923268e-04,-7.19543127e-04,-2.53119272e-04,-2.38340352e-05,
 -5.06732591e-04,-5.14781656e-04,-2.11874091e-04,-9.88110126e-05,
  2.10000000e-01,-5.75788978e-03, 9.00000000e-02, 3.44064250e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43179564,  0.43178144,  0.0035029 ,  0.43178144,  0.43188337,
       -0.01081396,  0.0035029 , -0.01081396,  1.76476705,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003193552310280624
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70045915e-01,  2.42903343e-01, -2.98136680e-03,  2.42902195e-01,
        9.70050497e-01,  7.46542541e-04,  3.07341403e-03,  0.00000000e+00,
       -9.99995277e-01])
  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([ 0.10401753, -0.08922965,  0.14122262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009272314857152977
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77277894,  0.45430808, -0.44318943,  0.39409758,  0.89084464,
        0.22601532,  0.49749352,  0.        , -0.86746769])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10388453, -0.088546  ,  0.1500974 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045690222796482965
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.07472976e-14,  1.51868244e-14,  1.00000000e+00, -9.22558541e-28,
        1.00000000e+00, -1.51868244e-14, -1.00000000e+00,  0.00000000e+00,
        6.07472976e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08152374, -0.06181652,  0.06198058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.46720198e-05,-3.76334772e-05,-1.55813605e-05, 1.19621669e-05,
 -3.45375296e-05,-2.26692621e-05,-2.83672974e-05,-7.55100940e-06,
  2.82259379e-05,-2.11607754e-05,-1.07377857e-05,-3.43765554e-05,
  2.64100914e-01,-1.61392061e-04, 9.27689394e-02, 3.60164041e-02,
 -3.34416751e-06, 8.66005129e-07,-9.80999903e+00,-1.18293463e-02,
 -2.39756998e-02, 4.72721562e-05]


--- Step 594 ---
qpos:
[-1.35678202e-02, 1.35273330e-02, 1.00341223e-02, 1.47245684e-02,
 -1.90804598e-02,-9.06368282e-03,-1.74620182e-02, 1.63227916e-02,
 -1.21409584e-02,-6.70960560e-03,-1.43374814e-02, 1.51470552e-02,
  1.40348828e+00, 3.24627479e-02, 2.87229192e-01,-3.05603789e-02,
  9.52914103e-02,-7.07228359e-02, 1.04560974e-01, 9.99989206e-01,
  8.13031672e-04,-1.49139094e-04,-4.57206130e-03]

qacc:
[-3.94486280e-01,-1.27385877e+00, 3.73120901e+00,-2.26043143e+00,
  2.42587828e+00, 2.27126757e+00,-1.06839049e+01, 2.16872365e+01,
  7.09147564e-02,-1.45449191e+00, 8.10071142e+00,-2.06335094e+01,
  3.45412063e-02,-9.02223452e-01,-5.22422819e+01, 1.22760899e+02,
  5.45594706e-01, 8.81029018e-02,-4.66054128e-04,-7.57369786e+00,
  2.00900382e+01,-2.63965021e+01]

qfrc_actuator:
[ 4.80218977e-04,-5.52321923e-04,-1.45404646e-04,-3.31057653e-06,
 -6.47486528e-04,-7.11813031e-04,-2.68188300e-04, 7.45947731e-06,
 -5.07143696e-04,-5.18663249e-04,-2.14869354e-04,-1.35504398e-04,
  2.10000000e-01,-5.78850512e-03, 9.00000000e-02, 3.44196219e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43259672,  0.43257447,  0.00438775,  0.43257447,  0.43272541,
       -0.01268665,  0.00438775, -0.01268665,  1.68333352,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003217166676672419
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70070835e-01,  2.42805072e-01, -2.87607522e-03,  2.42804004e-01,
        9.70075099e-01,  7.19867618e-04,  2.96479647e-03,  1.08420217e-19,
       -9.99995605e-01])
  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([ 0.10402586, -0.08923006,  0.14122352])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009270695589837901
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77260732,  0.45437935, -0.44341553,  0.39408795,  0.89080829,
        0.22617533,  0.49776763,  0.        , -0.86731043])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10389452, -0.08854747,  0.15009494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004555219845184602
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.09313635e-14,  1.52328409e-14,  1.00000000e+00,  9.28157764e-28,
        1.00000000e+00, -1.52328409e-14, -1.00000000e+00,  0.00000000e+00,
       -6.09313635e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08152468, -0.06181873,  0.06198064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.44903941e-06,-4.58412909e-06, 2.61617866e-05, 6.95288535e-06,
  1.44451409e-05,-1.11160690e-05,-2.34975748e-05, 2.91964911e-05,
  4.18399025e-07,-1.93919517e-05,-9.87757522e-06,-3.86413660e-05,
  2.64222796e-01,-1.84272053e-04, 9.43282326e-02, 3.57884858e-02,
 -7.68963899e-06, 9.87261400e-07,-9.80999269e+00,-1.18301087e-02,
 -2.39733092e-02, 4.56656863e-05]


--- Step 595 ---
qpos:
[-1.35681309e-02, 1.35269136e-02, 1.00351640e-02, 1.47252745e-02,
 -1.90803451e-02,-9.06376363e-03,-1.74627835e-02, 1.63237863e-02,
 -1.21420351e-02,-6.70996310e-03,-1.43382005e-02, 1.51445475e-02,
  1.40349563e+00, 3.24669265e-02, 2.87182637e-01,-3.05981964e-02,
  9.52927043e-02,-7.07280777e-02, 1.04560038e-01, 9.99989187e-01,
  8.36542694e-04,-1.54836798e-04,-4.57183086e-03]

qacc:
[ 2.72119897e+00,-1.12654121e+00, 3.33707368e+00,-2.14681386e+00,
  4.62678056e+00,-4.10565058e-02, 4.04234461e-01,-9.19781833e-01,
 -9.06463557e+00,-1.05654570e+00, 6.05361614e+00,-1.44663220e+01,
 -3.02239531e-01, 2.00731887e+01, 1.44649378e+02,-3.52757562e+02,
 -1.66754392e+00,-8.03533043e-01,-2.13954098e-01, 2.19154672e+01,
 -5.06444056e+01, 3.27505455e+01]

qfrc_actuator:
[ 4.96359444e-04,-5.58382281e-04,-1.24677791e-04, 1.69709159e-06,
 -6.20472960e-04,-6.89338007e-04,-2.58924281e-04, 7.71665830e-06,
 -5.60637954e-04,-4.85227289e-04,-1.98542832e-04,-1.56263876e-04,
  2.10000000e-01,-5.77220189e-03, 9.00000000e-02, 3.43820654e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43373403,  0.43278213, -0.02871996,  0.43278213,  0.44115736,
        0.11186242, -0.02871996,  0.11186242,  2.11939281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003250263071107948
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70098875e-01,  2.42695042e-01, -2.69981551e-03,  2.42694102e-01,
        9.70102632e-01,  6.75425275e-04,  2.78302050e-03,  1.08420217e-19,
       -9.99996127e-01])
  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([ 0.10403695, -0.08922921,  0.14122472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009264999370622757
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.72299294e-01,  4.54595778e-01, -4.43730188e-01,  3.94167330e-01,
        8.90697861e-01,  2.26471713e-01,  4.98182613e-01, -2.77555756e-17,
       -8.67072133e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10390834, -0.08854788,  0.15009166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.55483443,   9.34653728,   4.9037507 ,   9.34653728,
        15.879749  , -10.14927462,   4.9037507 , -10.14927462,
        29.89932795,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045497096472355003
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.4488725e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.4488725e-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([ 0.09932831, -0.05217138,  0.06198066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.60688488e-05,-2.90017680e-06, 2.32506478e-05, 5.85346454e-06,
  2.74387164e-05, 1.26768240e-05, 5.08805780e-06,-4.63734617e-07,
 -5.34545671e-05, 1.89001701e-05, 9.76929052e-06,-2.26835817e-05,
  2.64280819e-01,-1.79622920e-04, 9.57236071e-02, 3.55705570e-02,
 -3.30052403e-05, 1.38535961e-05,-9.80996975e+00,-1.18338729e-02,
 -2.39702965e-02, 4.22434328e-05]


--- Step 596 ---
qpos:
[-1.35679009e-02, 1.35264381e-02, 1.00359158e-02, 1.47257302e-02,
 -1.90799073e-02,-9.06367689e-03,-1.74634670e-02, 1.63244175e-02,
 -1.21433992e-02,-6.71015884e-03,-1.43390176e-02, 1.51414768e-02,
  1.40350436e+00, 3.24712027e-02, 2.87179199e-01,-3.06436021e-02,
  9.52902540e-02,-7.07346362e-02, 1.04559444e-01, 9.99989464e-01,
  8.84626172e-04,-2.28207498e-04,-4.49847171e-03]

qacc:
[ 4.67978527e+00, 2.11187797e-01, 1.81159356e-01,-3.99450978e+00,
  2.80577332e+00,-7.60667634e-01, 4.55923766e+00,-1.10951889e+01,
 -2.51460330e+00,-6.66625231e-01, 5.07268587e+00,-1.47882003e+01,
 -6.74957154e-01, 5.15622095e+00, 8.68638151e+01,-2.11060074e+02,
 -9.36087332e-01,-3.29170042e-01, 8.54985285e-02, 1.24463276e+01,
 -3.37493508e+01, 3.65910428e+01]

qfrc_actuator:
[ 5.23733363e-04,-5.79527331e-04,-1.48413039e-04,-1.33941191e-05,
 -6.04630416e-04,-6.75875238e-04,-2.53082066e-04,-1.02654822e-05,
 -5.73928030e-04,-4.82862996e-04,-2.06277214e-04,-1.85188394e-04,
  2.10000000e-01,-5.76551449e-03, 9.00000000e-02, 3.44534399e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4331402 ,  0.43298958,  0.01142159,  0.43298958,  0.43360431,
       -0.01759432,  0.01142159, -0.01759432,  1.10013644,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032330441935453233
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70119580e-01,  2.42612264e-01, -2.69987299e-03,  2.42611324e-01,
        9.70123337e-01,  6.75194866e-04,  2.78302035e-03,  0.00000000e+00,
       -9.99996127e-01])
  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([ 0.10403858, -0.08923748,  0.14122405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36518347,  0.33941063,  0.13475677,  0.33941063,  0.84501113,
       -1.20853749,  0.13475677, -1.20853749,  3.40911571,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009277718956316196
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77259479,  0.45407001, -0.44375413,  0.39374355,  0.89096601,
        0.2261539 ,  0.49805955,  0.        , -0.86714283])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10390917, -0.08855536,  0.15009022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045475007872346944
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.10347901e-14,  1.27620266e-05,  1.00000000e+00, -7.78927618e-19,
        1.00000000e+00, -1.27620266e-05, -1.00000000e+00,  0.00000000e+00,
        6.10347901e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0953117 , -0.05435253,  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:
[ 2.78365759e-05,-1.76964466e-05,-2.12642896e-05,-1.42967713e-05,
  1.66464830e-05, 2.15880946e-05, 9.06891932e-06,-1.72732646e-05,
 -1.47870699e-05, 1.40018375e-05,-3.39564152e-06,-2.82126882e-05,
  2.63841443e-01,-2.92631863e-04, 9.21688697e-02, 3.62894426e-02,
  7.43961274e-08, 3.48535108e-07,-9.80999880e+00,-1.18296113e-02,
 -2.39696727e-02, 4.36977716e-05]


--- Step 597 ---
qpos:
[-1.35676890e-02, 1.35258333e-02, 1.00364298e-02, 1.47256629e-02,
 -1.90789376e-02,-9.06360317e-03,-1.74640173e-02, 1.63251934e-02,
 -1.21438771e-02,-6.71060850e-03,-1.43397800e-02, 1.51388177e-02,
  1.40350806e+00, 3.24745587e-02, 2.87139630e-01,-3.06819415e-02,
  9.52912136e-02,-7.07389306e-02, 1.04559288e-01, 9.99989683e-01,
  9.11652033e-04,-2.51055630e-04,-4.44286245e-03]

qacc:
[-1.62370288e-01,-5.83045779e-01, 4.03972159e+00,-1.26179062e+01,
  4.62232419e+00,-1.00707573e-01,-2.92279451e-01, 2.60945884e+00,
  7.74164188e+00, 3.43673797e-01,-3.47608139e+00, 1.07262594e+01,
 -3.82918208e-01,-7.35590825e+00,-7.49355603e+01, 1.84364001e+02,
  8.52469380e-01, 5.66028051e-01, 1.09395587e-01,-1.06443367e+01,
  2.52057982e+01,-8.89492208e+00]

qfrc_actuator:
[ 5.21988611e-04,-5.91990515e-04,-1.62780998e-04,-4.02334727e-05,
 -5.77741307e-04,-6.85685430e-04,-2.49352435e-04,-3.33651983e-06,
 -5.27926106e-04,-5.16968437e-04,-2.10532294e-04,-1.65471813e-04,
  2.10000000e-01,-5.79877637e-03, 9.00000000e-02, 3.45189798e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43176371,  0.43174605, -0.00390538,  0.43174605,  0.43188052,
        0.01291323, -0.00390538,  0.01291323,  1.85934091,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003192605726001919
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70136328e-01,  2.42543926e-01, -2.81943811e-03,  2.42542901e-01,
        9.70140425e-01,  7.04885158e-04,  2.90621650e-03,  0.00000000e+00,
       -9.99995777e-01])
  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([ 0.10403524, -0.08924939,  0.1412228 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36545088, -0.31172124, -0.19074646, -0.31172124,  0.74308345,
       -0.61713382, -0.19074646, -0.61713382,  1.37398188,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009302441311709309
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77319157,  0.45321736, -0.44358631,  0.39311626,  0.89140003,
        0.225534  ,  0.49762877,  0.        , -0.86739011])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.103903  , -0.08856564,  0.15009067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.56499456,   9.177589  ,   5.23363833,   9.177589  ,
        16.79097249, -10.91773315,   5.23363833, -10.91773315,
        29.71008281,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004557419982274269
  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([ 0.08152998, -0.06182842,  0.06198063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.39299235e-07,-2.73636522e-05,-2.11407057e-05,-2.86132585e-05,
  2.73797226e-05, 3.38471484e-06, 8.70232526e-06, 7.83004052e-06,
  4.56081036e-05,-2.81396998e-05,-2.73927015e-06, 1.96544690e-05,
  2.63773225e-01,-3.31046161e-04, 9.00130234e-02, 3.67343595e-02,
 -2.90689449e-05, 1.18198886e-05,-9.80996920e+00,-1.18305197e-02,
 -2.39748147e-02, 4.74228388e-05]


--- Step 598 ---
qpos:
[-1.35674990e-02, 1.35250708e-02, 1.00367578e-02, 1.47252746e-02,
 -1.90776528e-02,-9.06375525e-03,-1.74644366e-02, 1.63267648e-02,
 -1.21437994e-02,-6.71135526e-03,-1.43400024e-02, 1.51367327e-02,
  1.40350816e+00, 3.24773667e-02, 2.87066656e-01,-3.07138762e-02,
  9.52950903e-02,-7.07417244e-02, 1.04559372e-01, 9.99989788e-01,
  9.19729249e-04,-2.27737214e-04,-4.41887742e-03]

qacc:
[-1.93698344e-01,-3.49352001e-01, 2.29892849e+00,-7.44117715e+00,
  2.74516086e+00, 9.67497554e-01,-7.25147600e+00, 2.09879894e+01,
  4.87121486e+00,-7.28830148e-01,-4.11990244e-01, 9.72388030e+00,
 -1.71401316e-01,-5.36751648e+00,-6.88834645e+01, 1.69082585e+02,
  7.29289915e-01, 3.75164915e-01, 5.99206403e-02,-9.58069831e+00,
  2.30265126e+01,-1.58308692e+01]

qfrc_actuator:
[ 5.20867845e-04,-5.99148878e-04,-1.71464624e-04,-5.59963129e-05,
 -5.62314797e-04,-7.09345861e-04,-2.46974488e-04, 3.59289800e-05,
 -5.00665559e-04,-5.19346848e-04,-1.77307901e-04,-1.35072456e-04,
  2.10000000e-01,-5.74851327e-03, 9.00000000e-02, 3.45871523e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.31365698e-01,  4.31365685e-01,  1.05679254e-04,  4.31365685e-01,
        4.31365780e-01, -3.35173970e-04,  1.05679254e-04, -3.35173970e-04,
        1.79949183e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0003180772831584649
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70156737e-01,  2.42461911e-01, -2.85098502e-03,  2.42460864e-01,
        9.70160926e-01,  7.12516095e-04,  2.93867228e-03,  1.08420217e-19,
       -9.99995682e-01])
  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([ 0.1040371 , -0.08925561,  0.14122253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009314129303999212
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77344032,  0.45280842, -0.44357029,  0.39279633,  0.89160784,
        0.22526985,  0.49749483,  0.        , -0.86746694])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10390391, -0.08857154,  0.1500902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004560533015798354
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.08603765e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.08603765e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08153199, -0.061832  ,  0.06198061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13932690e-06,-2.80629364e-05,-1.79325694e-05,-1.82242962e-05,
  1.62173465e-05,-1.96603698e-05, 4.40753986e-06, 3.98607601e-05,
  2.85875363e-05,-1.78017946e-05, 2.77601303e-05, 2.94811526e-05,
  2.64024690e-01,-2.35739072e-04, 9.18194129e-02, 3.64491584e-02,
 -1.10910915e-05, 5.77707954e-06,-9.80999224e+00,-1.18272653e-02,
 -2.39744458e-02, 4.95443335e-05]


--- Step 599 ---
qpos:
[-1.35666340e-02, 1.35243040e-02, 1.00368643e-02, 1.47250281e-02,
 -1.90765377e-02,-9.06382377e-03,-1.74649491e-02, 1.63291155e-02,
 -1.21440843e-02,-6.71217936e-03,-1.43401871e-02, 1.51353797e-02,
  1.40350609e+00, 3.24800164e-02, 2.86963555e-01,-3.07405213e-02,
  9.53014395e-02,-7.07436943e-02, 1.04559521e-01, 9.99989719e-01,
  9.10879977e-04,-1.62013330e-04,-4.43904558e-03]

qacc:
[ 5.84546795e+00, 8.94316186e-01,-3.81543258e+00, 6.64883690e+00,
 -1.47756843e+00, 1.97707324e+00,-1.01754626e+01, 2.37468227e+01,
 -3.16208754e+00, 1.30508021e+00,-7.88207337e+00, 2.05371832e+01,
 -8.25543086e-03,-3.10611968e+00,-6.06365410e+01, 1.47321246e+02,
  6.18115656e-01, 2.05947304e-01, 1.64293192e-02,-8.56179759e+00,
  2.11447956e+01,-2.20943268e+01]

qfrc_actuator:
[ 5.55637840e-04,-5.85291649e-04,-1.76694455e-04,-4.73535093e-05,
 -5.71514570e-04,-6.87840536e-04,-2.45458551e-04, 7.61350491e-05,
 -5.20178900e-04,-5.20296940e-04,-1.75360906e-04,-9.85907552e-05,
  2.10000000e-01,-5.75465506e-03, 9.00000000e-02, 3.46192343e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43165626,  0.43165197,  0.00192398,  0.43165197,  0.4316821 ,
       -0.00579657,  0.00192398, -0.00579657,  1.73213624,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031894175623565206
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70180589e-01,  2.42367023e-01, -2.80201157e-03,  2.42366012e-01,
        9.70184635e-01,  6.99985528e-04,  2.88812198e-03,  0.00000000e+00,
       -9.99995829e-01])
  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([ 0.10404318, -0.08925791,  0.14122297])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009314984421654983
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7734278 ,  0.45272459, -0.44367767,  0.39269851,  0.8916504 ,
        0.22527192,  0.49759151,  0.        , -0.86741149])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10391059, -0.08857437,  0.15008891])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004551775975232819
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.09774641e-14, -3.04887321e-14,  1.00000000e+00,  1.85912556e-27,
        1.00000000e+00,  3.04887321e-14, -1.00000000e+00,  0.00000000e+00,
        6.09774641e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08153325, -0.06183461,  0.06198065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.47534600e-05,-6.33051824e-06,-1.38687512e-05, 6.46450381e-06,
 -8.73464535e-06, 1.30887806e-05,-6.38389526e-07, 4.02883186e-05,
 -1.86687675e-05,-3.89732002e-06, 2.70890227e-06, 3.72524538e-05,
  2.64204757e-01,-2.16088306e-04, 9.34894123e-02, 3.61609339e-02,
 -3.35113828e-06, 1.16284693e-07,-9.80999897e+00,-1.18259802e-02,
 -2.39726844e-02, 4.94550832e-05]


--- Step 600 ---
qpos:
[-1.35657031e-02, 1.35233342e-02, 1.00372272e-02, 1.47252243e-02,
 -1.90758864e-02,-9.06347225e-03,-1.74652881e-02, 1.63311763e-02,
 -1.21445999e-02,-6.71320480e-03,-1.43402896e-02, 1.51348330e-02,
  1.40350518e+00, 3.24828109e-02, 2.86871241e-01,-3.07719199e-02,
  9.53062649e-02,-7.07465081e-02, 1.04560320e-01, 9.99989637e-01,
  9.18919542e-04,-1.11334531e-04,-4.45747123e-03]

qacc:
[ 5.82919127e-01,-7.44774801e-02,-1.99459317e+00, 9.39747161e+00,
 -4.02994977e+00,-5.18259947e-01, 3.89124302e+00,-9.50991911e+00,
 -2.00640093e+00, 1.16805873e+00,-7.94846294e+00, 2.19124623e+01,
  2.32691668e-02, 1.77532634e+00, 3.03774514e+01,-8.30466533e+01,
 -3.80925786e-01,-2.10955728e-01, 1.62422085e-01, 8.47787174e+00,
 -7.48418707e+00, 8.76698755e-01]

qfrc_actuator:
[ 5.57996156e-04,-5.94420644e-04,-1.61989430e-04,-2.44017046e-05,
 -5.95131281e-04,-6.39454804e-04,-2.26535472e-04, 6.33455704e-05,
 -5.31555364e-04,-5.38243579e-04,-1.74141542e-04,-5.88471172e-05,
  2.10000000e-01,-5.83031557e-03, 9.00000000e-02, 3.46637204e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43241429,  0.41810561, -0.11031688,  0.41810561,  0.67181263,
        0.90732979, -0.11031688,  0.90732979,  3.87123245,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003211811142030478
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70207577e-01,  2.42260359e-01, -2.67888379e-03,  2.42259435e-01,
        9.70211275e-01,  6.68913425e-04,  2.76113446e-03,  0.00000000e+00,
       -9.99996188e-01])
  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([ 0.10405259, -0.08925785,  0.14122386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009308366621242239
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.73228507e-01,  4.52860312e-01, -4.43886488e-01,  3.92745375e-01,
        8.91581481e-01,  2.25462930e-01,  4.97864185e-01, -2.77555756e-17,
       -8.67255010e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10392186, -0.08857529,  0.15008683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.52988302,   9.5445564 ,   4.44745765,   9.5445564 ,
        23.82494218, -28.53213046,   4.44745765, -28.53213046,
        71.76183833,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004530660366696486
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.12616558e-14, -4.70390991e-06,  1.00000000e+00, -2.88169310e-19,
        1.00000000e+00,  4.70390991e-06, -1.00000000e+00, -4.81482486e-35,
       -6.12616559e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08887506, -0.05785494,  0.06198074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.38567576e-06,-1.52784529e-05, 1.19006004e-05, 2.23228917e-05,
 -2.38620765e-05, 5.72559506e-05, 2.29293941e-05,-1.14687286e-05,
 -1.18791993e-05,-1.79632684e-05, 2.04248472e-06, 4.03972445e-05,
  2.64314128e-01,-2.86024419e-04, 9.49954099e-02, 3.59408485e-02,
 -1.11693385e-05, 1.90771087e-06,-9.80998901e+00,-1.18273485e-02,
 -2.39700602e-02, 4.73791661e-05]


--- Step 601 ---
qpos:
[-1.35650950e-02, 1.35222473e-02, 1.00377680e-02, 1.47253427e-02,
 -1.90755235e-02,-9.06294789e-03,-1.74652829e-02, 1.63327421e-02,
 -1.21449024e-02,-6.71429118e-03,-1.43400945e-02, 1.51340431e-02,
  1.40350538e+00, 3.24856391e-02, 2.86798263e-01,-3.08085002e-02,
  9.53089937e-02,-7.07501799e-02, 1.04561619e-01, 9.99989636e-01,
  9.45182565e-04,-9.01429687e-05,-4.45260232e-03]

qacc:
[-2.79181152e+00,-8.06654412e-01, 2.98917191e+00,-4.54257093e+00,
 -2.49609796e+00,-1.74667337e+00, 8.65858780e+00,-1.79136777e+01,
  1.86911276e+00,-1.41638925e+00, 5.95396553e+00,-1.05869798e+01,
 -9.88243029e-02, 1.91943709e+00, 4.43325457e+01,-1.13486349e+02,
 -5.24183313e-01,-2.14506118e-01, 1.25036626e-01, 9.17861321e+00,
 -1.46921435e+01, 1.16598775e+01]

qfrc_actuator:
[ 5.41246607e-04,-5.99388306e-04,-1.53465396e-04,-2.87272978e-05,
 -6.09283466e-04,-6.46321264e-04,-2.15150119e-04, 3.72688462e-05,
 -5.20284022e-04,-5.30727949e-04,-1.55665499e-04,-7.07712058e-05,
  2.10000000e-01,-5.85916400e-03, 9.00000000e-02, 3.47235762e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43273743,  0.43184113,  0.02783745,  0.43184113,  0.43881544,
       -0.0942879 ,  0.02783745, -0.0942879 ,  1.89542141,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003221288510529378
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70233897e-01,  2.42156032e-01, -2.57692608e-03,  2.42155178e-01,
        9.70237320e-01,  6.43160372e-04,  2.65597502e-03,  0.00000000e+00,
       -9.99996473e-01])
  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([ 0.10406001, -0.08926083,  0.14122453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36555505,  0.34243383,  0.1279436 ,  0.34243383,  0.73265466,
       -0.98252141,  0.1279436 , -0.98252141,  2.99521822,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009312302875340312
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77319789,  0.45276922, -0.44403272,  0.39263046,  0.89162774,
        0.22548014,  0.49800236,  0.        , -0.86717567])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10393034, -0.08857866,  0.15008528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045149105296570424
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.28613129e-06,  4.61065210e-14,  1.00000000e+00, -1.05405560e-19,
        1.00000000e+00, -4.61065210e-14, -1.00000000e+00,  1.20370622e-35,
        2.28613129e-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([ 0.09063156, -0.05690434,  0.06198081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.66282612e-05,-1.01318070e-05, 7.59458771e-06,-4.13639439e-06,
 -1.48331250e-05, 2.93635859e-05, 2.56327531e-05,-2.30533860e-05,
  1.09626093e-05,-3.58464751e-07, 1.64228594e-05,-1.18349984e-05,
  2.64256950e-01,-3.24114865e-04, 9.44557820e-02, 3.62382832e-02,
 -7.26888588e-06, 3.41098435e-06,-9.80999387e+00,-1.18268343e-02,
 -2.39678325e-02, 4.66394111e-05]


--- Step 602 ---
qpos:
[-1.35646922e-02, 1.35214904e-02, 1.00379542e-02, 1.47250424e-02,
 -1.90753334e-02,-9.06258479e-03,-1.74652483e-02, 1.63343944e-02,
 -1.21443774e-02,-6.71496943e-03,-1.43401678e-02, 1.51330950e-02,
  1.40351064e+00, 3.24893700e-02, 2.86791654e-01,-3.08529727e-02,
  9.53060161e-02,-7.07562860e-02, 1.04561887e-01, 9.99989982e-01,
  9.96619031e-04,-1.72357558e-04,-4.36036473e-03]

qacc:
[-1.79521849e+00, 5.68523697e-01, 3.79751393e-01,-7.31018454e+00,
 -1.49674158e+00,-1.14685719e-01,-2.60386810e-01, 1.82307099e+00,
  7.20759561e+00, 9.49379615e-01,-1.95906637e+00,-6.23420525e-01,
 -3.27457120e-01, 1.07003913e+01, 1.22238910e+02,-2.84751575e+02,
 -1.42657117e+00,-6.08566628e-01,-2.57703901e-01, 1.28205781e+01,
 -5.16051910e+01, 4.37323931e+01]

qfrc_actuator:
[ 5.31147409e-04,-5.66358677e-04,-1.66426657e-04,-4.90760475e-05,
 -6.17746945e-04,-6.86259854e-04,-2.26280086e-04, 3.90461289e-05,
 -4.78022715e-04,-4.90242192e-04,-1.62589154e-04,-7.74638082e-05,
  2.10000000e-01,-5.82436654e-03, 9.00000000e-02, 3.47417256e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43253722,  0.42470303,  0.08194983,  0.42470303,  0.56379943,
       -0.68026325,  0.08194983, -0.68026325,  3.95798506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032154211929822713
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70258668e-01,  2.42057324e-01, -2.52350202e-03,  2.42056506e-01,
        9.70261950e-01,  6.29553850e-04,  2.60084611e-03,  0.00000000e+00,
       -9.99996618e-01])
  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([ 0.10406471, -0.08926678,  0.14122487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36569467,  0.33053362,  0.15646124,  0.33053362,  0.87965799,
       -1.08577786,  0.15646124, -1.08577786,  2.65946454,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009325738273393316
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77336279,  0.45244046, -0.44408065,  0.39235561,  0.89179461,
        0.22529858,  0.49796293,  0.        , -0.86719832])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.103935  , -0.08858437,  0.15008465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.48816503,  -9.42431092,  -4.60260463,  -9.42431092,
        19.07123961, -17.57473645,  -4.60260463, -17.57473645,
        46.47426285,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004498442359847088
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54251035e-14, -6.94129658e-14,  1.00000000e+00,  1.07070218e-27,
        1.00000000e+00,  6.94129658e-14, -1.00000000e+00,  0.00000000e+00,
        1.54251035e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0993372 , -0.0521846 ,  0.06198088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05496722e-05, 2.87246939e-05,-1.42688554e-05,-2.06013895e-05,
 -8.90301719e-06,-1.92302835e-05,-2.70866098e-06, 3.47373069e-06,
  4.26138452e-05, 4.31885787e-05,-5.38010584e-06,-6.36945411e-06,
  2.64201701e-01,-2.92628652e-04, 9.34887268e-02, 3.65154423e-02,
 -2.08169878e-06, 2.02290220e-06,-9.80999750e+00,-1.18252356e-02,
 -2.39671441e-02, 4.74074251e-05]


--- Step 603 ---
qpos:
[-1.35640682e-02, 1.35207987e-02, 1.00383146e-02, 1.47248430e-02,
 -1.90759364e-02,-9.06249154e-03,-1.74647220e-02, 1.63363829e-02,
 -1.21433492e-02,-6.71541957e-03,-1.43403017e-02, 1.51324278e-02,
  1.40351117e+00, 3.24921361e-02, 2.86749796e-01,-3.08894299e-02,
  9.53064483e-02,-7.07600655e-02, 1.04562406e-01, 9.99990273e-01,
  1.02608319e-03,-2.04539190e-04,-4.28482198e-03]

qacc:
[ 1.92120676e+00,-1.96926984e-01, 3.94940333e-01, 1.03123427e+00,
 -6.86616041e+00,-1.02429797e+00, 1.73820976e+00, 3.46969841e+00,
  4.38679088e+00, 1.04076630e+00,-4.47470359e+00, 9.28256032e+00,
 -2.04082036e-01,-8.02553265e+00,-7.65161041e+01, 1.91755470e+02,
  8.52420903e-01, 5.81641651e-01, 6.26375179e-02,-1.10965365e+01,
  2.49600006e+01,-8.37049876e+00]

qfrc_actuator:
[ 5.42802450e-04,-5.64188701e-04,-1.56312446e-04,-4.31612878e-05,
 -6.58302660e-04,-6.92518861e-04,-1.97484392e-04, 5.71523372e-05,
 -4.53372459e-04,-4.83676954e-04,-1.66553067e-04,-6.32526073e-05,
  2.10000000e-01,-5.82327477e-03, 9.00000000e-02, 3.47218817e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43089363,  0.4308251 , -0.00768465,  0.4308251 ,  0.43135979,
        0.02613432, -0.00768465,  0.02613432,  1.89606481,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031666550899997497
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70276615e-01,  2.41983928e-01, -2.65866506e-03,  2.41983020e-01,
        9.70280258e-01,  6.63060191e-04,  2.74010013e-03,  0.00000000e+00,
       -9.99996246e-01])
  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([ 0.10406127, -0.0892788 ,  0.14122365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36593747, -0.32740641, -0.16344808, -0.32740641,  0.59907824,
       -0.46700935, -0.16344808, -0.46700935,  1.30141405,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009349738035489461
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77400932,  0.45159616, -0.44381357,  0.39176288,  0.89222245,
        0.22463513,  0.49742479,  0.        , -0.8675071 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10392834, -0.08859446,  0.15008663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.48695777,  9.1164248 ,  5.18334662,  9.1164248 , 15.544096  ,
       -8.89445057,  5.18334662, -8.89445057, 26.1304398 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044975030547775297
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.71416252e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.71416252e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08153713, -0.06184333,  0.06198088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13881351e-05, 1.43822459e-05, 1.35725668e-05, 6.25040398e-06,
 -4.08361023e-05,-1.74331571e-05, 2.46082967e-05, 1.72559696e-05,
  2.59139349e-05, 2.93303406e-05, 4.06696414e-06, 1.57491795e-05,
  2.63948617e-01,-3.37013527e-04, 9.01702895e-02, 3.68901726e-02,
 -4.16400053e-05, 1.88350985e-05,-9.80996006e+00,-1.18272273e-02,
 -2.39733439e-02, 5.13682399e-05]


--- Step 604 ---
qpos:
[-1.35633087e-02, 1.35199001e-02, 1.00386174e-02, 1.47254580e-02,
 -1.90773664e-02,-9.06204287e-03,-1.74640724e-02, 1.63378265e-02,
 -1.21430672e-02,-6.71593517e-03,-1.43400643e-02, 1.51319440e-02,
  1.40350861e+00, 3.24943493e-02, 2.86676100e-01,-3.09191396e-02,
  9.53097486e-02,-7.07623833e-02, 1.04563007e-01, 9.99990449e-01,
  1.03640736e-03,-1.91185724e-04,-4.24164396e-03]

qacc:
[ 1.17654934e+00, 1.56269121e+00,-9.41110117e+00, 2.37558764e+01,
 -7.18480352e+00,-9.82247343e-01, 6.50957364e+00,-1.64271376e+01,
 -6.50009703e+00,-7.34025481e-01, 1.73971094e+00, 8.63998281e-01,
  4.02829192e-02,-5.78515231e+00,-6.76130174e+01, 1.67976958e+02,
  7.17049209e-01, 3.65433134e-01, 2.04676308e-02,-9.67070523e+00,
  2.27097058e+01,-1.62038521e+01]

qfrc_actuator:
[ 5.49413210e-04,-5.98154484e-04,-1.68245288e-04,-4.08791319e-06,
 -6.99671713e-04,-6.42891756e-04,-1.80712428e-04, 3.15136094e-05,
 -4.92553441e-04,-4.97447242e-04,-1.51088769e-04,-5.46275784e-05,
  2.10000000e-01,-5.85865247e-03, 9.00000000e-02, 3.46664911e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43024456,  0.43017446, -0.00776602,  0.43017446,  0.43071074,
        0.02582289, -0.00776602,  0.02582289,  1.86062298,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031470938480229006
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70297800e-01,  2.41898430e-01, -2.70716297e-03,  2.41897488e-01,
        9.70301577e-01,  6.74901996e-04,  2.79002223e-03,  0.00000000e+00,
       -9.99996108e-01])
  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([ 0.104063  , -0.08928493,  0.14122337])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009358405396130021
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7742994 ,  0.45120612, -0.44370426,  0.39148464,  0.89241976,
        0.22433622,  0.49719233,  0.        , -0.86764036])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10392875, -0.08860002,  0.1500876 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044960347999337125
  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([ 0.08153894, -0.06184667,  0.06198089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96463226e-06,-2.28720636e-05,-7.08207488e-06, 4.02790110e-05,
 -4.25666015e-05, 4.57085733e-05, 1.68083420e-05,-2.51953282e-05,
 -3.84099787e-05, 4.11971118e-06, 2.25563045e-05, 1.03260127e-05,
  2.64185825e-01,-3.25152494e-04, 9.19325884e-02, 3.64339611e-02,
 -1.97657181e-05, 1.07092720e-05,-9.80998774e+00,-1.18233216e-02,
 -2.39730357e-02, 5.38691537e-05]


--- Step 605 ---
qpos:
[-1.35621304e-02, 1.35188169e-02, 1.00385267e-02, 1.47265577e-02,
 -1.90785926e-02,-9.06109755e-03,-1.74641535e-02, 1.63389927e-02,
 -1.21432563e-02,-6.71645703e-03,-1.43399253e-02, 1.51319380e-02,
  1.40350439e+00, 3.24964282e-02, 2.86573923e-01,-3.09434384e-02,
  9.53154725e-02,-7.07639389e-02, 1.04563539e-01, 9.99990456e-01,
  1.02988247e-03,-1.35957568e-04,-4.24362147e-03]

qacc:
[ 3.62228755e+00, 1.84770141e+00,-9.00063636e+00, 1.81683655e+01,
  1.73959929e+00, 2.12281697e+00,-5.45137615e+00, 1.45801728e+00,
 -4.11556565e+00, 1.25833580e+00,-6.50272710e+00, 1.49208253e+01,
  1.74070060e-01,-3.26518167e+00,-5.85739685e+01, 1.43624077e+02,
  6.05888599e-01, 1.90540488e-01,-1.70799140e-02,-8.51748894e+00,
  2.08779954e+01,-2.25979989e+01]

qfrc_actuator:
[ 5.70747237e-04,-6.18050342e-04,-1.93244221e-04, 1.86214740e-05,
 -6.87919558e-04,-6.31260848e-04,-2.24240984e-04, 1.58798929e-05,
 -5.15727127e-04,-5.05463910e-04,-1.59880605e-04,-3.16163947e-05,
  2.10000000e-01,-5.82717481e-03, 9.00000000e-02, 3.46588447e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43028147,  0.43025202, -0.00503458,  0.43025202,  0.43046683,
        0.01584032, -0.00503458,  0.01584032,  1.78398407,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031482110899568673
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70321987e-01,  2.41801734e-01, -2.67643949e-03,  2.41800814e-01,
        9.70325678e-01,  6.66959276e-04,  2.75828988e-03,  0.00000000e+00,
       -9.99996196e-01])
  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([ 0.10406882, -0.08928716,  0.14122376])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009355363910629747
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77432807,  0.45113613, -0.44372539,  0.39142289,  0.89245515,
        0.22430321,  0.49719629,  0.        , -0.86763809])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1039348 , -0.08860253,  0.15008759])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044844816088159684
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.54731238e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.54731238e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08154006, -0.0618491 ,  0.06198094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.15530935e-05,-3.24504582e-05,-2.92117679e-05, 2.22661101e-05,
  1.05157734e-05, 3.96202678e-05,-3.28701477e-05,-1.35787325e-05,
 -2.42568310e-05,-6.33391310e-07,-4.80643469e-06, 2.41703416e-05,
  2.64340517e-01,-2.67649542e-04, 9.35242488e-02, 3.60888654e-02,
 -6.04783100e-06, 1.58816035e-06,-9.80999904e+00,-1.18213194e-02,
 -2.39713683e-02, 5.41583469e-05]


--- Step 606 ---
qpos:
[-1.35600152e-02, 1.35176171e-02, 1.00383962e-02, 1.47275424e-02,
 -1.90793242e-02,-9.06041553e-03,-1.74636323e-02, 1.63403136e-02,
 -1.21433770e-02,-6.71692418e-03,-1.43401650e-02, 1.51318746e-02,
  1.40349975e+00, 3.24987738e-02, 2.86446446e-01,-3.09636701e-02,
  9.53232579e-02,-7.07652872e-02, 1.04563873e-01, 9.99990241e-01,
  1.00826847e-03,-4.18256509e-05,-4.30106487e-03]

qacc:
[ 8.12296220e+00,-2.95524618e-01, 1.28774790e+00,-3.09725022e+00,
  4.31771202e+00,-1.72011885e+00, 4.96033692e+00,-3.03411899e+00,
  5.85565447e-01, 1.01102801e+00,-3.25959430e+00, 2.83300791e+00,
  2.32543329e-01,-6.95101624e-01,-4.97739776e+01, 1.19733147e+02,
  5.15381847e-01, 5.18444296e-02,-4.96917358e-02,-7.63068392e+00,
  1.93911016e+01,-2.77521590e+01]

qfrc_actuator:
[ 6.18330281e-04,-6.11691155e-04,-1.90218484e-04, 1.37637828e-05,
 -6.62747542e-04,-6.60463683e-04,-1.96629372e-04, 2.39523372e-05,
 -5.11520302e-04,-5.10061400e-04,-1.82904887e-04,-3.58466331e-05,
  2.10000000e-01,-5.79128648e-03, 9.00000000e-02, 3.46784826e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.30784124e-01,  4.30781695e-01, -1.44655490e-03,  4.30781695e-01,
        4.30798220e-01,  4.19756864e-03, -1.44655490e-03,  4.19756864e-03,
        1.68081324e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.00031633670573130127
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70348896e-01,  2.41694853e-01, -2.57254741e-03,  2.41694003e-01,
        9.70352306e-01,  6.40768784e-04,  2.65114783e-03,  0.00000000e+00,
       -9.99996486e-01])
  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([ 0.10407784, -0.08928709,  0.14122457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009344595121643398
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.74170959e-01,  4.51277414e-01, -4.43855857e-01,  3.91497360e-01,
        8.92383715e-01,  2.24457395e-01,  4.97382292e-01, -2.77555756e-17,
       -8.67531473e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10394529, -0.08860321,  0.15008662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044649476451934234
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.55408181e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.55408181e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08154064, -0.06185082,  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:
[ 4.82313103e-05,-1.69059020e-05,-6.52062961e-06,-6.82928647e-06,
  2.54545226e-05,-1.43703628e-05, 3.12902522e-05, 8.37084212e-06,
  3.52827466e-06,-4.90883792e-06,-2.29072008e-05,-3.95179315e-06,
  2.64423780e-01,-2.27204825e-04, 9.49479439e-02, 3.58378723e-02,
 -7.03637774e-06,-5.76648531e-07,-9.80999355e+00,-1.18219558e-02,
 -2.39688894e-02, 5.24768673e-05]


--- Step 607 ---
qpos:
[-1.35580349e-02, 1.35167433e-02, 1.00377797e-02, 1.47287800e-02,
 -1.90794041e-02,-9.05992911e-03,-1.74626985e-02, 1.63406896e-02,
 -1.21437910e-02,-6.71733839e-03,-1.43404404e-02, 1.51320829e-02,
  1.40350446e+00, 3.25035366e-02, 2.86391849e-01,-3.09959826e-02,
  9.53243392e-02,-7.07698962e-02, 1.04563177e-01, 9.99990245e-01,
  1.02929854e-03,-4.95572363e-05,-4.29513129e-03]

qacc:
[-1.19006487e+00, 2.31278505e+00,-8.68406099e+00, 1.35916285e+01,
  5.67420880e+00,-3.36638381e+00, 1.56002119e+01,-3.24528529e+01,
 -2.56279807e+00, 7.34183382e-01,-3.65504432e+00, 8.36712067e+00,
 -1.10434604e-01, 2.00315987e+01, 1.44650723e+02,-3.48937944e+02,
 -1.67603437e+00,-8.15196008e-01,-2.57345374e-01, 2.15420979e+01,
 -5.08075916e+01, 3.17391117e+01]

qfrc_actuator:
[ 6.09966605e-04,-5.71820502e-04,-2.06079631e-04, 2.82768144e-05,
 -6.29895809e-04,-6.78100208e-04,-1.80632275e-04,-2.50833818e-05,
 -5.26741723e-04,-4.94913234e-04,-1.78643730e-04,-2.05723184e-05,
  2.10000000e-01,-5.80635706e-03, 9.00000000e-02, 3.47314229e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43158882,  0.42928484, -0.0445358 ,  0.42928484,  0.44759041,
        0.15424087, -0.0445358 ,  0.15424087,  1.91833125,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003187414105027073
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70378238e-01,  2.41578793e-01, -2.40042829e-03,  2.41578054e-01,
        9.70381207e-01,  5.97592540e-04,  2.47369619e-03,  0.00000000e+00,
       -9.99996940e-01])
  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([ 0.10408931, -0.08928599,  0.14122562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009329694338754201
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.73887349e-01,  4.51543687e-01, -4.44079575e-01,  3.91643973e-01,
        8.92249011e-01,  2.24736958e-01,  4.97708117e-01,  2.77555756e-17,
       -8.67344586e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10395926, -0.08860301,  0.1500847 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.434248  ,  9.23458832,  4.85756214,  9.23458832, 15.60386314,
       -9.82782438,  4.85756214, -9.82782438, 29.11767595,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004456102581889554
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.22866622e-14, -3.11433311e-14,  1.00000000e+00,  1.93981414e-27,
        1.00000000e+00,  3.11433311e-14, -1.00000000e+00,  0.00000000e+00,
        6.22866622e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09934234, -0.05219152,  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:
[-6.93543034e-06, 2.87136190e-05,-2.04206471e-05, 1.34232300e-05,
  3.35441591e-05,-1.88151122e-05, 1.71805947e-05,-4.84052390e-05,
 -1.51011203e-05, 7.50948032e-06, 2.90736476e-07, 1.41946436e-05,
  2.64445967e-01,-2.58266431e-04, 9.62125610e-02, 3.56873477e-02,
 -2.96458480e-05, 1.07222792e-05,-9.80997141e+00,-1.18256509e-02,
 -2.39659347e-02, 4.90095727e-05]


--- Step 608 ---
qpos:
[-1.35561691e-02, 1.35162041e-02, 1.00369167e-02, 1.47301633e-02,
 -1.90787452e-02,-9.05933270e-03,-1.74624503e-02, 1.63391315e-02,
 -1.21447290e-02,-6.71744672e-03,-1.43405570e-02, 1.51331162e-02,
  1.40350870e+00, 3.25079126e-02, 2.86355297e-01,-3.10324211e-02,
  9.53238180e-02,-7.07748031e-02, 1.04563262e-01, 9.99990395e-01,
  1.06597464e-03,-8.45797853e-05,-4.25045708e-03]

qacc:
[-1.00603067e+00, 1.43332884e+00,-5.08068479e+00, 7.74704560e+00,
  6.39108369e+00,-1.93200132e+00, 1.52456109e+01,-4.76844986e+01,
 -4.57311765e+00, 1.66736494e+00,-8.82695617e+00, 2.26112759e+01,
 -3.51060687e-01,-2.15235036e-01, 3.92079365e+01,-9.83712071e+01,
 -4.00623761e-01,-7.44654242e-02, 1.95090303e-01, 7.88244078e+00,
 -1.35918063e+01, 1.93840968e+01]

qfrc_actuator:
[ 6.04237223e-04,-5.47744226e-04,-2.15058090e-04, 3.63379600e-05,
 -5.92791178e-04,-6.88759332e-04,-2.24912936e-04,-1.25098726e-04,
 -5.53285545e-04,-4.50185154e-04,-1.58202767e-04, 2.38511816e-05,
  2.10000000e-01,-5.81875486e-03, 9.00000000e-02, 3.48366186e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43071917,  0.43065623, -0.00736315,  0.43065623,  0.43132874,
        0.03565278, -0.00736315,  0.03565278,  2.51598152,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031614144613724074
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70399709e-01,  2.41492478e-01, -2.40567656e-03,  2.41491736e-01,
        9.70402691e-01,  5.98671871e-04,  2.47904976e-03,  1.08420217e-19,
       -9.99996927e-01])
  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([ 0.10409118, -0.08929403,  0.14122473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36580532,  0.36572138, -0.00783629,  0.36572138,  0.36731354,
        0.07038907, -0.00783629,  0.07038907,  3.65087747,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009336571536416054
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.74203842e-01,  4.51063131e-01, -4.44016287e-01,  3.91280584e-01,
        8.92492046e-01,  2.24404663e-01,  4.97501674e-01, -2.77555756e-17,
       -8.67463016e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10396012, -0.08860991,  0.1500845 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.42616122,   8.69355838,   5.75559558,   8.69355838,
        26.93798437, -24.94033789,   5.75559558, -24.94033789,
        48.09737708,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00044496825314699963
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.38207261e-06, -2.65100253e-13,  1.00000000e+00,  6.31488050e-19,
        1.00000000e+00,  2.65100253e-13, -1.00000000e+00,  0.00000000e+00,
        2.38207261e-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([ 0.09063924, -0.05691827,  0.06198108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.88311906e-06, 3.64129133e-05,-5.12200220e-06, 8.84207707e-06,
  3.80357199e-05,-1.96914288e-05,-4.77260283e-05,-1.01170361e-04,
 -2.69565917e-05, 4.96069838e-05, 2.25252170e-05, 4.50332600e-05,
  2.63979021e-01,-3.92769150e-04, 9.25683504e-02, 3.63965250e-02,
 -2.86180316e-07, 2.78146280e-07,-9.80999862e+00,-1.18219600e-02,
 -2.39655100e-02, 5.03975268e-05]


--- Step 609 ---
qpos:
[-1.35540410e-02, 1.35156630e-02, 1.00366574e-02, 1.47312710e-02,
 -1.90776465e-02,-9.05899234e-03,-1.74621375e-02, 1.63374186e-02,
 -1.21459781e-02,-6.71704906e-03,-1.43407628e-02, 1.51339738e-02,
  1.40351088e+00, 3.25114366e-02, 2.86324829e-01,-3.10700397e-02,
  9.53228179e-02,-7.07793210e-02, 1.04564106e-01, 9.99990671e-01,
  1.10964630e-03,-1.31793295e-04,-4.17234583e-03]

qacc:
[  2.29213019, -2.26207933,  9.2171048 ,-14.94156145,  3.82485024,
  -0.84463681,  3.16130732, -5.74083688, -2.72674593,  0.56155787,
  -0.2806414 , -3.00114982, -0.28168681, -4.08655253, 12.5436856 ,
 -30.8936391 , -0.11973052,  0.09722432,  0.18991558,  3.52499257,
  -6.06272799, 16.72483349]

qfrc_actuator:
[ 6.17874621e-04,-5.51036215e-04,-1.84446909e-04, 2.27812647e-05,
 -5.71235263e-04,-6.95459373e-04,-2.15664028e-04,-1.30066334e-04,
 -5.68522244e-04,-4.23488496e-04,-1.63739528e-04, 1.40916869e-05,
  2.10000000e-01,-5.79220652e-03, 9.00000000e-02, 3.48812817e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42964064,  0.42561088,  0.05870652,  0.42561088,  0.47650464,
       -0.33975496,  0.05870652, -0.33975496,  2.89279839,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003128734878797166
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70419603e-01,  2.41412012e-01, -2.45638989e-03,  2.41411239e-01,
        9.70422712e-01,  6.11075998e-04,  2.53125763e-03,  0.00000000e+00,
       -9.99996796e-01])
  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([ 0.10409118, -0.08930335,  0.14122387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36596437,  0.33219621,  0.15354345,  0.33219621,  0.88258103,
       -1.11771682,  0.15354345, -1.11771682,  2.78418073,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009352449287688544
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.74635192e-01,  4.50454138e-01, -4.43882179e-01,  3.90835345e-01,
        8.92799568e-01,  2.23956833e-01,  4.97180100e-01,  2.77555756e-17,
       -8.67647364e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10395831, -0.08861793,  0.15008516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044429127009210415
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.24715755e-14, -6.56359252e-06,  1.00000000e+00, -4.10037966e-19,
        1.00000000e+00,  6.56359252e-06, -1.00000000e+00,  0.00000000e+00,
       -6.24715755e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08888775, -0.05787172,  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:
[ 1.35067128e-05, 1.63194077e-05, 3.77852711e-05,-1.20053603e-05,
  2.26291881e-05,-3.19154158e-05,-4.20778380e-06,-9.43500233e-06,
 -1.59913020e-05, 6.10442567e-05, 9.05499566e-06,-5.97477117e-06,
  2.64002078e-01,-3.47774000e-04, 9.16660325e-02, 3.66474391e-02,
 -9.60692321e-06, 4.14687085e-06,-9.80998887e+00,-1.18212890e-02,
 -2.39678504e-02, 5.28826096e-05]


--- Step 610 ---
qpos:
[-1.35521105e-02, 1.35151500e-02, 1.00367929e-02, 1.47322181e-02,
 -1.90762980e-02,-9.05864491e-03,-1.74621718e-02, 1.63363438e-02,
 -1.21470556e-02,-6.71630671e-03,-1.43412228e-02, 1.51343952e-02,
  1.40350933e+00, 3.25142635e-02, 2.86261084e-01,-3.10997370e-02,
  9.53249343e-02,-7.07819894e-02, 1.04564955e-01, 9.99990870e-01,
  1.13122700e-03,-1.32696863e-04,-4.11859224e-03]

qacc:
[-1.70060665e+00,-1.39415852e+00, 5.70860898e+00,-9.14625367e+00,
  2.15874472e+00, 2.28765992e+00,-1.08457332e+01, 2.24487579e+01,
  1.48365004e+00, 2.64921927e-01, 1.55264966e+00,-8.94231733e+00,
 -4.68666657e-02,-6.63380454e+00,-7.33011097e+01, 1.84770674e+02,
  7.79142382e-01, 4.62418031e-01, 1.14833709e-03,-1.11435432e+01,
  2.30951501e+01,-1.22031214e+01]

qfrc_actuator:
[ 6.07295861e-04,-5.52793711e-04,-1.66338561e-04, 1.43694942e-05,
 -5.59005047e-04,-6.81709276e-04,-2.28031203e-04,-9.67636414e-05,
 -5.59225335e-04,-4.25685790e-04,-1.84678321e-04,-9.75419966e-06,
  2.10000000e-01,-5.79492861e-03, 9.00000000e-02, 3.49593403e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42863656,  0.42862909, -0.0025301 ,  0.42862909,  0.42868398,
        0.0080336 , -0.0025301 ,  0.0080336 ,  1.78962159,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030978649879944065
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70439127e-01,  2.41332784e-01, -2.52736043e-03,  2.41331966e-01,
        9.70442418e-01,  6.28512231e-04,  2.60433838e-03,  0.00000000e+00,
       -9.99996609e-01])
  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([ 0.10409097, -0.08931208,  0.14122329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009371118648839161
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77507001,  0.44986488, -0.44372071,  0.39041327,  0.89309663,
        0.22350814,  0.49683394,  0.        , -0.86784563])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10395607, -0.08862558,  0.15008646])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.41889351,   9.0927827 ,   5.08671257,   9.0927827 ,
        25.42628868, -26.82655666,   5.08671257, -26.82655666,
        58.37286116,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00044438969815175505
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.09301043e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.09301043e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08154588, -0.06186103,  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:
[-1.01645239e-05, 1.45851408e-05, 2.56919283e-05,-6.64388001e-06,
  1.28589470e-05,-5.40237567e-06,-1.98180290e-05, 3.16024115e-05,
  8.84617618e-06, 3.35914689e-05,-7.40612561e-06,-2.10296962e-05,
  2.64106079e-01,-3.08683201e-04, 9.13617752e-02, 3.67844585e-02,
 -2.46883195e-05, 1.23000591e-05,-9.80997877e+00,-1.18206599e-02,
 -2.39708544e-02, 5.60212092e-05]


--- Step 611 ---
qpos:
[-1.35510110e-02, 1.35147537e-02, 1.00368585e-02, 1.47330782e-02,
 -1.90748136e-02,-9.05787490e-03,-1.74630334e-02, 1.63339292e-02,
 -1.21476689e-02,-6.71546931e-03,-1.43415435e-02, 1.51345332e-02,
  1.40350548e+00, 3.25167694e-02, 2.86166964e-01,-3.11224169e-02,
  9.53297045e-02,-7.07835176e-02, 1.04565677e-01, 9.99990939e-01,
  1.13316536e-03,-9.09599088e-05,-4.10250157e-03]

qacc:
[-7.20851556e+00, 1.84276679e-01,-4.10832438e-02,-1.46690581e+00,
  1.14608033e+00, 1.10280101e-01, 6.07099432e+00,-2.82460341e+01,
  4.05466334e+00,-8.54699073e-01, 4.41332139e+00,-9.59829561e+00,
  1.35984598e-01,-4.52599597e+00,-6.62563035e+01, 1.66395161e+02,
  6.63433896e-01, 2.85023710e-01,-3.17499550e-02,-9.91131560e+00,
  2.12583061e+01,-1.88543667e+01]

qfrc_actuator:
[ 5.64789639e-04,-5.53659937e-04,-1.73517314e-04, 9.03992378e-06,
 -5.52356213e-04,-6.55849798e-04,-2.70734819e-04,-1.65498142e-04,
 -5.35566514e-04,-4.27507928e-04,-1.79152545e-04,-2.39686852e-05,
  2.10000000e-01,-5.81502695e-03, 9.00000000e-02, 3.50488068e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.28412716e-01,  4.28412710e-01, -7.48601536e-05,  4.28412710e-01,
        4.28412756e-01,  2.25476927e-04, -7.48601536e-05,  2.25476927e-04,
        1.71878118e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0003090922872360806
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70461699e-01,  2.41242091e-01, -2.51895655e-03,  2.41241278e-01,
        9.70464968e-01,  6.26172365e-04,  2.59561822e-03,  0.00000000e+00,
       -9.99996631e-01])
  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([ 0.10409531, -0.08931592,  0.14122344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009374026706150531
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.75200303e-01,  4.49664479e-01, -4.43696232e-01,  3.90260858e-01,
        8.93197546e-01,  2.23371006e-01,  4.96750393e-01,  5.55111512e-17,
       -8.67893454e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10396008, -0.08862939,  0.1500868 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004431821959057086
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.13139561e-14, -6.26279121e-14,  1.00000000e+00, -1.96112769e-27,
        1.00000000e+00,  6.26279121e-14, -1.00000000e+00,  0.00000000e+00,
       -3.13139561e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08154684, -0.06186314,  0.06198116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.27802384e-05, 1.22376019e-05,-1.25375108e-06,-3.94863267e-06,
  7.00681234e-06, 2.00547335e-05,-4.51835340e-05,-6.90403098e-05,
  2.39026992e-05, 1.45714137e-05, 1.08362095e-05,-1.34386759e-05,
  2.64292210e-01,-2.95338227e-04, 9.30253626e-02, 3.64777953e-02,
 -9.36530922e-06, 4.16888240e-06,-9.80999616e+00,-1.18178747e-02,
 -2.39694666e-02, 5.72784253e-05]


--- Step 612 ---
qpos:
[-1.35504293e-02, 1.35142799e-02, 1.00369512e-02, 1.47335411e-02,
 -1.90729161e-02,-9.05705921e-03,-1.74640406e-02, 1.63307112e-02,
 -1.21479943e-02,-6.71449855e-03,-1.43415284e-02, 1.51344810e-02,
  1.40350067e+00, 3.25193679e-02, 2.86045923e-01,-3.11394956e-02,
  9.53367111e-02,-7.07845499e-02, 1.04566154e-01, 9.99990821e-01,
  1.11785913e-03,-9.75203824e-06,-4.13617567e-03]

qacc:
[-4.48710032e+00,-9.87457721e-01, 5.06367806e+00,-1.19395775e+01,
  3.58119150e+00,-1.19349937e+00, 7.72378854e+00,-2.14177952e+01,
  2.52042652e+00,-1.15858042e+00, 5.18148602e+00,-9.09951940e+00,
  2.41224478e-01,-1.95693175e+00,-5.68291189e+01, 1.40900863e+02,
  5.59106862e-01, 1.23969095e-01,-6.11049639e-02,-8.70534173e+00,
  1.96717018e+01,-2.49041204e+01]

qfrc_actuator:
[ 5.39344715e-04,-5.71843860e-04,-1.77808918e-04,-1.22022146e-05,
 -5.31289552e-04,-6.58648295e-04,-2.77763240e-04,-2.04969093e-04,
 -5.21404475e-04,-4.11240568e-04,-1.58039630e-04,-3.23824584e-05,
  2.10000000e-01,-5.81014309e-03, 9.00000000e-02, 3.50718431e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42872899,  0.4287245 ,  0.00196151,  0.4287245 ,  0.42875438,
       -0.00554916,  0.00196151, -0.00554916,  1.64159883,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003100725080382268
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70487050e-01,  2.41140925e-01, -2.43718532e-03,  2.41140165e-01,
        9.70490110e-01,  6.05575591e-04,  2.51129331e-03, -1.08420217e-19,
       -9.99996847e-01])
  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([ 0.10410329, -0.08931655,  0.14122408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009365073951029476
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77510576,  0.44974053, -0.44378431,  0.39029599,  0.89315926,
        0.22346271,  0.4968703 ,  0.        , -0.86782481])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10396909, -0.08863062,  0.15008624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044126388952653306
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.14500872e-14, -6.29001744e-14,  1.00000000e+00, -1.97821597e-27,
        1.00000000e+00,  6.29001744e-14, -1.00000000e+00,  0.00000000e+00,
       -3.14500872e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0815473 , -0.06186462,  0.06198124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.66625466e-05,-1.18244873e-05,-2.06606092e-06,-2.08385175e-05,
  2.12675893e-05,-3.92676018e-06,-1.08588229e-05,-4.15223987e-05,
  1.48250537e-05, 2.61063217e-05, 2.49981747e-05,-7.67567666e-06,
  2.64408490e-01,-2.76399549e-04, 9.45438825e-02, 3.61498842e-02,
 -5.04372463e-06,-8.31301390e-07,-9.80999719e+00,-1.18174257e-02,
 -2.39670852e-02, 5.63865697e-05]


--- Step 613 ---
qpos:
[-1.35501571e-02, 1.35134639e-02, 1.00374211e-02, 1.47334108e-02,
 -1.90707808e-02,-9.05648401e-03,-1.74651017e-02, 1.63284569e-02,
 -1.21484927e-02,-6.71340985e-03,-1.43414809e-02, 1.51336607e-02,
  1.40349909e+00, 3.25226048e-02, 2.85948308e-01,-3.11628703e-02,
  9.53411400e-02,-7.07870006e-02, 1.04566975e-01, 9.99990708e-01,
  1.12591296e-03, 4.09995721e-05,-4.16105035e-03]

qacc:
[-2.66585472e+00,-2.72381177e+00, 1.15694759e+01,-2.21990417e+01,
  2.06857391e+00, 1.81195927e+00,-1.09985299e+01, 2.79493844e+01,
 -1.51151206e+00,-1.51292339e+00, 8.86930518e+00,-2.23087113e+01,
  1.51268792e-01, 5.35251048e+00, 5.37839804e+01,-1.37698666e+02,
 -6.44426780e-01,-3.54594981e-01, 8.59377710e-02, 1.17429503e+01,
 -1.51747614e+01, 4.41658553e+00]

qfrc_actuator:
[ 5.24155767e-04,-6.00270691e-04,-1.62684529e-04,-4.26470316e-05,
 -5.19656394e-04,-6.78433707e-04,-2.81490176e-04,-1.55871906e-04,
 -5.30702423e-04,-4.19701101e-04,-1.63332058e-04,-7.28009858e-05,
  2.10000000e-01,-5.80830781e-03, 9.00000000e-02, 3.50891355e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4294006 ,  0.42182145, -0.08032148,  0.42182145,  0.50533234,
        0.39876803, -0.08032148,  0.39876803,  2.52359646,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003121394570364049
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70514849e-01,  2.41030488e-01, -2.28708763e-03,  2.41029819e-01,
        9.70517544e-01,  5.68004001e-04,  2.35656495e-03,  0.00000000e+00,
       -9.99997223e-01])
  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([ 0.10411407, -0.08931544,  0.14122499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000934881113672856
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77485531,  0.44999121, -0.44396753,  0.39044255,  0.89303299,
        0.2237112 ,  0.49714573,  0.        , -0.86766706])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10398203, -0.08863039,  0.15008477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.35381707,   9.26327739,   4.62528052,   9.26327739,
        19.77245233, -18.86316532,   4.62528052, -18.86316532,
        48.13200852,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00043914155077125547
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61607694e-06,  1.10607291e-13,  1.00000000e+00, -1.78749892e-19,
        1.00000000e+00, -1.10607291e-13, -1.00000000e+00,  2.40741243e-35,
        1.61607694e-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([ 0.09064337, -0.0569254 ,  0.06198133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.59460130e-05,-3.63906482e-05, 1.17002755e-05,-3.14287474e-05,
  1.22356156e-05,-2.60650241e-05,-7.33565889e-06, 4.77399062e-05,
 -8.90007789e-06, 1.09866543e-05, 2.91590904e-06,-3.85842339e-05,
  2.64456450e-01,-2.81707875e-04, 9.58894860e-02, 3.58870150e-02,
 -1.83589625e-05, 4.25199737e-06,-9.80998152e+00,-1.18198613e-02,
 -2.39641630e-02, 5.35736995e-05]


--- Step 614 ---
qpos:
[-1.35500691e-02, 1.35127291e-02, 1.00376208e-02, 1.47329071e-02,
 -1.90688671e-02,-9.05645555e-03,-1.74655046e-02, 1.63271434e-02,
 -1.21487541e-02,-6.71253695e-03,-1.43416133e-02, 1.51324212e-02,
  1.40350453e+00, 3.25274313e-02, 2.85921164e-01,-3.11952856e-02,
  9.53395033e-02,-7.07921969e-02, 1.04566686e-01, 9.99990882e-01,
  1.16510418e-03,-1.09354734e-05,-4.10835359e-03]

qacc:
[-1.60718453e+00, 9.70305732e-02, 1.39166133e+00,-7.48734474e+00,
 -1.89461434e+00,-6.21036771e-01,-2.80049985e+00, 1.84287132e+01,
  2.06654424e+00,-6.49348229e-01, 3.66436908e+00,-1.04652193e+01,
 -2.33291022e-01, 1.49875444e+01, 1.31827668e+02,-3.09379471e+02,
 -1.51638907e+00,-6.86384835e-01,-2.77569432e-01, 1.57804389e+01,
 -5.12344053e+01, 3.88444028e+01]

qfrc_actuator:
[ 5.15119205e-04,-5.81289864e-04,-1.71776859e-04,-6.05058313e-05,
 -5.31425999e-04,-7.08143373e-04,-2.47764229e-04,-1.08337405e-04,
 -5.18225385e-04,-4.60788931e-04,-1.84298624e-04,-9.62631073e-05,
  2.10000000e-01,-5.84438965e-03, 9.00000000e-02, 3.51658964e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42941542,  0.42890165,  0.02099936,  0.42890165,  0.43196664,
       -0.0521075 ,  0.02099936, -0.0521075 ,  1.4936856 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003121848584070197
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70540336e-01,  2.40928788e-01, -2.18502855e-03,  2.40928178e-01,
        9.70542796e-01,  5.42414289e-04,  2.25134693e-03,  0.00000000e+00,
       -9.99997466e-01])
  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([ 0.10412126, -0.08931887,  0.14122533])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36592184,  0.34218423,  0.12964856,  0.34218423,  0.64106729,
       -0.72619725,  0.12964856, -0.72619725,  2.28258976,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009348167452025214
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.74864760e-01,  4.49890786e-01, -4.44052794e-01,  3.90338064e-01,
        8.93083580e-01,  2.23691561e-01,  4.97213032e-01,  2.77555756e-17,
       -8.67628493e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10399007, -0.08863381,  0.15008391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043875387919201786
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.90750149e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.90750149e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09934896, -0.05219952,  0.06198135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.48395038e-06,-3.16627826e-07,-1.62587867e-05,-1.96250910e-05,
 -1.14315680e-05,-4.38279231e-05, 2.90649630e-05, 4.70875283e-05,
  1.21893020e-05,-3.59835962e-05,-1.96679877e-05,-2.36399190e-05,
  2.64295891e-01,-3.51775416e-04, 9.47179519e-02, 3.62784926e-02,
 -7.85847102e-06, 4.42161475e-06,-9.80999358e+00,-1.18187728e-02,
 -2.39616845e-02, 5.28979345e-05]


--- Step 615 ---
qpos:
[-1.35497450e-02, 1.35120281e-02, 1.00379672e-02, 1.47321700e-02,
 -1.90674541e-02,-9.05687649e-03,-1.74651800e-02, 1.63260468e-02,
 -1.21488645e-02,-6.71187023e-03,-1.43420306e-02, 1.51316077e-02,
  1.40350742e+00, 3.25312205e-02, 2.85899339e-01,-3.12278137e-02,
  9.53375539e-02,-7.07967693e-02, 1.04567192e-01, 9.99991199e-01,
  1.20985397e-03,-7.45480858e-05,-4.01648195e-03]

qacc:
[  2.05084462, -0.8506407 ,  4.07619273, -8.36867357, -4.31676372,
  -2.17130254,  5.9793415 , -3.07360974,  1.31256274,  1.39790951,
  -7.18294942, 15.16782394, -0.26737345, -5.35852549,  8.16683114,
 -17.25894044, -0.07818056,  0.15596138,  0.19868033,  2.80337976,
  -5.80448978, 19.59432727]

qfrc_actuator:
[ 5.27525251e-04,-5.69656235e-04,-1.59397357e-04,-7.07956306e-05,
 -5.56872852e-04,-7.25652518e-04,-2.10009732e-04,-9.76084552e-05,
 -5.10776813e-04,-4.67908674e-04,-1.96717692e-04,-7.40878510e-05,
  2.10000000e-01,-5.90442834e-03, 9.00000000e-02, 3.52658486e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42799494,  0.32884418,  0.27393644,  0.32884418,  1.41396504,
       -1.18359764,  0.27393644, -1.18359764,  1.84883255,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003077906854581083
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70558178e-01,  2.40856145e-01, -2.26740758e-03,  2.40855487e-01,
        9.70560826e-01,  5.62684000e-04,  2.33618287e-03,  1.08420217e-19,
       -9.99997271e-01])
  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([ 0.1041197 , -0.08932939,  0.14122397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36608218, -0.31113791, -0.19289729, -0.31113791,  0.91408406,
       -0.88391163, -0.19289729, -0.88391163,  1.7918068 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009364457977003261
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77539057,  0.44919266, -0.44384166,  0.38984345,  0.89343492,
        0.22315046,  0.49678119,  0.        , -0.86787583])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10398609, -0.08864255,  0.1500852 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.33171961,   8.85030725,   5.33071212,   8.85030725,
        18.94237318, -14.29582541,   5.33071212, -14.29582541,
        34.06634353,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004373311986691309
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.34658028e-14, -1.98495818e-06,  1.00000000e+00,  1.25976964e-19,
        1.00000000e+00,  1.98495818e-06, -1.00000000e+00,  0.00000000e+00,
        6.34658028e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08889425, -0.05788004,  0.06198141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21592926e-05, 7.24831741e-06, 9.63117168e-06,-1.12478959e-05,
 -2.57878306e-05,-3.40698656e-05, 3.38895443e-05, 1.07692149e-05,
  7.75965847e-06,-3.23060505e-05,-2.30904348e-05, 1.94927830e-05,
  2.63945418e-01,-4.91985213e-04, 9.11942975e-02, 3.68304350e-02,
 -1.50446322e-05, 5.89486323e-06,-9.80998302e+00,-1.18179640e-02,
 -2.39651653e-02, 5.57919908e-05]


--- Step 616 ---
qpos:
[-1.35499639e-02, 1.35111755e-02, 1.00388156e-02, 1.47313140e-02,
 -1.90663570e-02,-9.05756018e-03,-1.74644147e-02, 1.63247379e-02,
 -1.21488850e-02,-6.71153688e-03,-1.43425532e-02, 1.51310700e-02,
  1.40350667e+00, 3.25344096e-02, 2.85844907e-01,-3.12515396e-02,
  9.53388336e-02,-7.07993601e-02, 1.04567726e-01, 9.99991450e-01,
  1.23272869e-03,-9.05993053e-05,-3.94616756e-03]

qacc:
[-4.68897034e+00,-1.83919984e+00, 6.78468806e+00,-9.55005586e+00,
 -2.72566019e+00,-2.00996808e+00, 7.56936706e+00,-1.17669853e+01,
  7.87988904e-01, 4.20081700e-01,-3.30447078e+00, 8.49514030e+00,
 -1.09476108e-01,-5.93159747e+00,-7.49703295e+01, 1.92067156e+02,
  8.07262624e-01, 4.95414644e-01, 7.11834939e-03,-1.10337149e+01,
  2.37235138e+01,-1.08066133e+01]

qfrc_actuator:
[ 4.99192304e-04,-5.80168461e-04,-1.34443647e-04,-7.65345912e-05,
 -5.72405797e-04,-7.35719980e-04,-1.87923414e-04,-1.08615235e-04,
 -5.06354080e-04,-4.90076130e-04,-2.03831245e-04,-6.07128558e-05,
  2.10000000e-01,-5.85258171e-03, 9.00000000e-02, 3.52501358e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42674317,  0.42461723,  0.04254339,  0.42461723,  0.43993039,
       -0.13161906,  0.04254339, -0.13161906,  1.74040731,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003038432226894925
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70575567e-01,  2.40785076e-01, -2.36970564e-03,  2.40784358e-01,
        9.70578460e-01,  5.87886272e-04,  2.44153950e-03,  1.08420217e-19,
       -9.99997019e-01])
  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([ 0.10411823, -0.08933868,  0.14122299])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008915402340523002
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77589094,  0.44855769, -0.44360934,  0.38940458,  0.89375388,
        0.2226389 ,  0.49634396,  0.        , -0.86812596])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10398208, -0.08865041,  0.15008712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.33893239,   9.04263057,   5.01242011,   9.04263057,
        22.72022822, -22.3364127 ,   5.01242011, -22.3364127 ,
        50.63482217,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000437923716839983
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.33799325e-14,  1.10914882e-13,  1.00000000e+00,  7.02977773e-27,
        1.00000000e+00, -1.10914882e-13, -1.00000000e+00,  0.00000000e+00,
       -6.33799325e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08155144, -0.06187316,  0.06198138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.79567241e-05,-4.96091197e-06, 2.72432504e-05,-5.31543408e-06,
 -1.62752207e-05,-2.17181085e-05, 1.95809124e-05,-1.10865150e-05,
  4.61640411e-06,-4.41620282e-05,-1.59554814e-05, 1.15709886e-05,
  2.64072522e-01,-3.88860445e-04, 9.09282909e-02, 3.68203325e-02,
 -3.52731059e-05, 1.77565235e-05,-9.80997055e+00,-1.18178132e-02,
 -2.39690061e-02, 5.93660340e-05]


--- Step 617 ---
qpos:
[-1.35508651e-02, 1.35105164e-02, 1.00392598e-02, 1.47307598e-02,
 -1.90654547e-02,-9.05820652e-03,-1.74638163e-02, 1.63240014e-02,
 -1.21488524e-02,-6.71135045e-03,-1.43432425e-02, 1.51306770e-02,
  1.40350378e+00, 3.25374255e-02, 2.85761009e-01,-3.12677855e-02,
  9.53428452e-02,-7.08007660e-02, 1.04568154e-01, 9.99991582e-01,
  1.23661448e-03,-6.30062364e-05,-3.91197570e-03]

qacc:
[-5.93110591e+00, 2.01886439e+00,-8.08112386e+00, 1.37861080e+01,
 -1.69669957e+00, 1.69699916e+00,-8.39139566e+00, 1.85344137e+01,
  4.59941251e-01, 5.68300291e-01,-2.92063000e+00, 5.80113532e+00,
  5.66237892e-02,-3.43657577e+00,-6.62967507e+01, 1.68524889e+02,
  6.82987978e-01, 2.96213888e-01,-2.64770700e-02,-9.58206158e+00,
  2.17622208e+01,-1.80873938e+01]

qfrc_actuator:
[ 4.64853223e-04,-5.68291203e-04,-1.55617166e-04,-6.18116204e-05,
 -5.81974802e-04,-7.23576704e-04,-1.92994850e-04,-7.90630412e-05,
 -5.03746256e-04,-4.85557292e-04,-2.07827090e-04,-5.26382625e-05,
  2.10000000e-01,-5.82238932e-03, 9.00000000e-02, 3.52626697e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42635959,  0.42391897,  0.04555452,  0.42391897,  0.44095035,
       -0.1357779 ,  0.04555452, -0.1357779 ,  1.6898748 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003026190462907168
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70595501e-01,  2.40704510e-01, -2.39005531e-03,  2.40703780e-01,
        9.70598444e-01,  5.92724103e-04,  2.46245533e-03, -1.08420217e-19,
       -9.99996968e-01])
  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([ 0.10412148, -0.08934266,  0.14122282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008910649557878814
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77606362,  0.4483343 , -0.44353311,  0.38924845,  0.89386596,
        0.22246188,  0.49619644,  0.        , -0.86821028])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10398459, -0.08865421,  0.15008789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043743021994426673
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.3451436e-14,  9.5177154e-14,  1.0000000e+00,  6.0391271e-27,
        1.0000000e+00, -9.5177154e-14, -1.0000000e+00,  0.0000000e+00,
       -6.3451436e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08155273, -0.06187566,  0.0619814 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.51250443e-05, 1.44990457e-05,-1.90231884e-05, 1.53510904e-05,
 -1.00267393e-05, 3.52244040e-06,-7.54115028e-06, 2.90815698e-05,
  2.72004848e-06,-2.29745424e-05,-1.46824829e-05, 5.85521715e-06,
  2.64255193e-01,-3.29863299e-04, 9.25585008e-02, 3.63927056e-02,
 -1.54761422e-05, 8.10332100e-06,-9.80999311e+00,-1.18144017e-02,
 -2.39680626e-02, 6.10930891e-05]


--- Step 618 ---
qpos:
[-1.35518260e-02, 1.35100036e-02, 1.00394468e-02, 1.47303823e-02,
 -1.90653638e-02,-9.05853531e-03,-1.74640552e-02, 1.63250164e-02,
 -1.21487891e-02,-6.71100657e-03,-1.43438631e-02, 1.51303274e-02,
  1.40350009e+00, 3.25406774e-02, 2.85650813e-01,-3.12780169e-02,
  9.53491707e-02,-7.08016403e-02, 1.04568360e-01, 9.99991544e-01,
  1.22385592e-03, 4.97609603e-06,-3.92605612e-03]

qacc:
[-5.27840648e-01, 1.27752813e+00,-5.01874951e+00, 8.37955504e+00,
 -7.07524563e+00, 6.37614729e+00,-2.94991105e+01, 6.08944148e+01,
  2.68201928e-01, 1.05212259e-01,-2.57759228e-01, 7.85921821e-01,
  1.57555791e-01,-8.96007638e-01,-5.71470457e+01, 1.43381062e+02,
  5.78455539e-01, 1.32903187e-01,-5.56503681e-02,-8.40252425e+00,
  2.01320532e+01,-2.41607110e+01]

qfrc_actuator:
[ 4.62772297e-04,-5.61017307e-04,-1.68256460e-04,-5.29371970e-05,
 -6.23465525e-04,-6.98301983e-04,-2.31682186e-04, 9.62987686e-06,
 -5.02226381e-04,-4.47327141e-04,-1.92096281e-04,-4.77231029e-05,
  2.10000000e-01,-5.82312898e-03, 9.00000000e-02, 3.52899530e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42658686,  0.42403129,  0.04662418,  0.42403129,  0.44101751,
       -0.13124197,  0.04662418, -0.13124197,  1.62018851,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003033451902059024
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70617774e-01,  2.40615224e-01, -2.33475302e-03,  2.40614528e-01,
        9.70620582e-01,  5.78781382e-04,  2.40542295e-03,  0.00000000e+00,
       -9.99997107e-01])
  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([ 0.10412845, -0.08934319,  0.1412232 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008906290279005044
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77599327,  0.44839759, -0.44359221,  0.38928194,  0.89383421,
        0.22253084,  0.49628019,  0.        , -0.86816241])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10399228, -0.08865529,  0.15008749])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004361650546526735
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.18177434e-14, -1.27270974e-13,  1.00000000e+00, -4.04947519e-27,
        1.00000000e+00,  1.27270974e-13, -1.00000000e+00,  0.00000000e+00,
       -3.18177434e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08155348, -0.06187746,  0.06198146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.06873854e-06, 1.21287969e-05,-1.14445034e-05, 9.13959302e-06,
 -4.17609983e-05, 2.68967322e-05,-3.78925519e-05, 8.91472844e-05,
  1.59230389e-06, 2.26008667e-05, 9.37936866e-06, 3.53651938e-06,
  2.64362657e-01,-3.23701882e-04, 9.40315579e-02, 3.60459217e-02,
 -5.10830130e-06,-1.97959947e-07,-9.80999925e+00,-1.18131537e-02,
 -2.39660200e-02, 6.06747234e-05]


--- Step 619 ---
qpos:
[-1.35524596e-02, 1.35098231e-02, 1.00391002e-02, 1.47301094e-02,
 -1.90654255e-02,-9.05909967e-03,-1.74641976e-02, 1.63260567e-02,
 -1.21483633e-02,-6.71043145e-03,-1.43443926e-02, 1.51307181e-02,
  1.40349896e+00, 3.25444616e-02, 2.85554908e-01,-3.12935439e-02,
  9.53537757e-02,-7.08036820e-02, 1.04568947e-01, 9.99991461e-01,
  1.22908251e-03, 5.67307287e-05,-3.94520620e-03]

qacc:
[ 2.81463355e+00, 2.14119865e+00,-7.44831222e+00, 9.87721495e+00,
 -1.31943860e+00,-5.25807916e-01, 1.32033353e+00,-8.66278121e-01,
  3.16311180e+00, 1.56829908e+00,-8.28489156e+00, 2.07927218e+01,
  1.95508279e-01, 4.00014700e+00, 3.72233866e+01,-9.94227426e+01,
 -4.30097832e-01,-2.91848341e-01, 9.53451119e-02, 9.02439682e+00,
 -8.08157806e+00,-2.52492512e+00]

qfrc_actuator:
[ 4.79696546e-04,-5.38783092e-04,-1.93513211e-04,-4.75676055e-05,
 -6.30156927e-04,-7.36454060e-04,-2.36543988e-04, 8.13092399e-06,
 -4.83605631e-04,-4.24621081e-04,-1.82450749e-04,-9.15502634e-06,
  2.10000000e-01,-5.78950985e-03, 9.00000000e-02, 3.51825385e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42723518,  0.42716091,  0.00796602,  0.42716091,  0.42804056,
       -0.0431868 ,  0.00796602, -0.0431868 ,  2.74303616,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030540337286207476
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70642152e-01,  2.40518052e-01, -2.20904331e-03,  2.40517429e-01,
        9.70644666e-01,  5.47383416e-04,  2.27585170e-03,  0.00000000e+00,
       -9.99997410e-01])
  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([ 0.10413831, -0.08934178,  0.14122394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009357523490176254
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77575299,  0.44864424, -0.44376305,  0.38942939,  0.89371043,
        0.22276985,  0.49654008,  0.        , -0.8680138 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10400405, -0.08865484,  0.150086  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.29062501,   9.28568858,   4.43542001,   9.28568858,
        22.47392973, -25.50612418,   4.43542001, -25.50612418,
        63.6884826 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004339252235624386
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.94447212e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.94447212e-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([ 0.08889841, -0.05788553,  0.06198155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68573269e-05, 2.70765603e-05,-2.38337279e-05, 5.67335161e-06,
 -7.87409975e-06,-2.71360416e-05,-8.88490047e-07, 7.88902568e-08,
  1.86693017e-05, 3.74312812e-05, 1.55911822e-05, 3.99298793e-05,
  2.64403374e-01,-3.04140753e-04, 9.53461300e-02, 3.56377001e-02,
 -1.10600379e-05, 3.00997166e-07,-9.80998867e+00,-1.18146851e-02,
 -2.39633383e-02, 5.83412098e-05]


--- Step 620 ---
qpos:
[-1.35521956e-02, 1.35098817e-02, 1.00384332e-02, 1.47302453e-02,
 -1.90652222e-02,-9.05997275e-03,-1.74639727e-02, 1.63256812e-02,
 -1.21477176e-02,-6.70985847e-03,-1.43449805e-02, 1.51319536e-02,
  1.40349748e+00, 3.25474609e-02, 2.85485144e-01,-3.13102318e-02,
  9.53557471e-02,-7.08060731e-02, 1.04570100e-01, 9.99991409e-01,
  1.24372884e-03, 7.61528927e-05,-3.95333742e-03]

qacc:
[ 7.76844554e+00, 2.03869117e+00,-8.56302217e+00, 1.60049924e+01,
  2.31786524e+00,-4.35206646e+00, 2.08977806e+01,-4.57577695e+01,
  1.91735998e+00, 1.89588447e+00,-1.03382978e+01, 2.50644651e+01,
 -2.72069225e-02,-3.01893406e+00, 4.21695707e+01,-9.14418109e+01,
 -6.58418920e-01,-8.73650786e-02, 1.41641434e-01, 4.77327920e+00,
 -1.61407443e+01, 5.52957927e+00]

qfrc_actuator:
[ 5.25413499e-04,-5.25569668e-04,-2.08208344e-04,-2.65467877e-05,
 -6.16302767e-04,-7.58978215e-04,-2.21709329e-04,-6.42103646e-05,
 -4.72820993e-04,-4.46871494e-04,-1.94258974e-04, 3.11380647e-05,
  2.10000000e-01,-5.78892413e-03, 9.00000000e-02, 3.51274779e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42743239,  0.40426221,  0.13881828,  0.40426221,  0.82274903,
       -1.15122867,  0.13881828, -1.15122867,  3.78000422,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003060255620717632
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70665212e-01,  2.40425890e-01, -2.10634696e-03,  2.40425324e-01,
        9.70667498e-01,  5.21723806e-04,  2.16999844e-03,  1.08420217e-19,
       -9.99997646e-01])
  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([ 0.10414571, -0.08934405,  0.14122431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36599042,  0.34766894,  0.11434725,  0.34766894,  0.64018656,
       -0.83368405,  0.11434725, -0.83368405,  2.90077848,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009355086441682072
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77570442,  0.44861405, -0.44387847,  0.3893722 ,  0.89372559,
        0.22280901,  0.4966608 ,  0.        , -0.86794473])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1040125 , -0.08865739,  0.15008476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004325709178679078
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11751890e-06,  2.64499529e-06,  1.00000000e+00, -2.95583223e-12,
        1.00000000e+00, -2.64499529e-06, -1.00000000e+00,  0.00000000e+00,
        1.11751890e-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([ 0.09105953, -0.05866912,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.62244856e-05, 2.37025727e-05,-1.18350961e-05, 2.14674059e-05,
  1.36378669e-05,-3.78791969e-05, 9.12395180e-06,-7.35328709e-05,
  1.13146460e-05, 3.60248428e-06,-7.80118083e-07, 4.32119219e-05,
  2.64275516e-01,-3.32171249e-04, 9.46312638e-02, 3.58473477e-02,
 -7.53661136e-06, 3.17655242e-06,-9.80999353e+00,-1.18145094e-02,
 -2.39610993e-02, 5.74525364e-05]


--- Step 621 ---
qpos:
[-1.35513854e-02, 1.35099864e-02, 1.00382380e-02, 1.47302563e-02,
 -1.90651989e-02,-9.06081891e-03,-1.74637407e-02, 1.63247689e-02,
 -1.21469477e-02,-6.70964686e-03,-1.43449058e-02, 1.51329687e-02,
  1.40348260e+00, 3.25429956e-02, 2.85522987e-01,-3.12794951e-02,
  9.53475872e-02,-7.08019808e-02, 1.04569945e-01, 9.99991549e-01,
  1.18088503e-03,-2.35593873e-05,-3.93781232e-03]

qacc:
[  4.7498866 , -1.52499304,  6.03738057, -8.97202347, -1.56402741,
  -1.08584583,  6.19557491,-15.52403721,  1.11166673, -2.78506046,
  10.16507388,-14.77158191, -0.20079576,-41.08281952, 15.19074692,
 176.89507738, -2.53282532,  1.62085806, -0.32723892,-38.51027034,
 -59.705179  , 11.89957516]

qfrc_actuator:
[ 5.52199469e-04,-5.17808536e-04,-1.81061196e-04,-3.19866680e-05,
 -6.25983304e-04,-7.36452988e-04,-2.13118936e-04,-8.88627735e-05,
 -4.66740358e-04,-4.78202290e-04,-1.65568402e-04, 1.88075086e-05,
  2.10000000e-01,-5.82480664e-03, 9.00000000e-02, 3.51373186e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42688897, -0.03478369, -0.42546949, -0.03478369,  3.70419453,
       -0.26793175, -0.42546949, -0.26793175,  0.44879338,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003043067320581128
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70684529e-01,  2.40348276e-01, -2.06193987e-03,  2.40347734e-01,
        9.70686719e-01,  5.10549576e-04,  2.12420736e-03,  0.00000000e+00,
       -9.99997744e-01])
  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([ 0.10414955, -0.08934897,  0.14122412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.3660274 , -0.31236131, -0.19080479, -0.31236131,  0.86995687,
       -0.8249692 , -0.19080479, -0.8249692 ,  1.71656197,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009358846886993508
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77587403,  0.4483886 , -0.44380983,  0.38921234,  0.89383873,
        0.22263442,  0.49652115,  0.        , -0.86802463])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10401607, -0.08866148,  0.15008556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.26541819, -9.03418687,  4.87465672, -9.03418687, 27.63319337,
       32.18764631,  4.87465672, 32.18764631, 69.91868779,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004318102515841818
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.42772503e-14, -3.21386251e-14,  1.00000000e+00,  2.06578245e-27,
        1.00000000e+00,  3.21386251e-14, -1.00000000e+00,  0.00000000e+00,
        6.42772503e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10403596, -0.07101855,  0.06198164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.81322135e-05, 1.94971253e-05, 3.13229021e-05,-4.41848389e-06,
 -9.26847768e-06, 7.41881355e-08,-6.57241935e-07,-2.73920024e-05,
  6.38756723e-06,-2.76465757e-05, 3.08256680e-05,-1.13643387e-05,
  2.64293691e-01,-3.30283801e-04, 9.33240346e-02, 3.59151721e-02,
 -1.17910478e-06, 1.35937690e-06,-9.80999889e+00,-1.18134817e-02,
 -2.39603038e-02, 5.76943346e-05]


--- Step 622 ---
qpos:
[-1.35502598e-02, 1.35101856e-02, 1.00383714e-02, 1.47302055e-02,
 -1.90652911e-02,-9.06181868e-03,-1.74631194e-02, 1.63242548e-02,
 -1.21468010e-02,-6.70948231e-03,-1.43442780e-02, 1.51334499e-02,
  1.40346778e+00, 3.25371508e-02, 2.85583706e-01,-3.12509660e-02,
  9.53386223e-02,-7.07991150e-02, 1.04570800e-01, 9.99991674e-01,
  1.13770625e-03,-1.34399236e-04,-3.91647324e-03]

qacc:
[  2.74117985, -0.92638645,  3.7359142 , -5.39087733, -0.98717883,
  -0.46882737, -0.30096146,  6.6805395 , -5.42185618, -2.69551698,
  11.79366355,-21.90321479,  0.8178076 , -8.58275554, 40.42745088,
 -92.56259638, -0.20124514, -0.30661316,  0.25268284,  9.85441806,
  -5.5215863 ,  2.91327391]

qfrc_actuator:
[ 5.67619150e-04,-5.13221369e-04,-1.64977947e-04,-3.51799780e-05,
 -6.31692901e-04,-7.40368163e-04,-1.90309158e-04,-6.74619531e-05,
 -4.98979796e-04,-4.61363316e-04,-1.31028913e-04,-6.61717831e-06,
  2.10000000e-01,-5.85782401e-03, 9.00000000e-02, 3.51557314e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42286241,  0.08273691,  0.4146893 ,  0.08273691,  1.98187964,
       -0.31104799,  0.4146893 , -0.31104799,  0.48492128,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029112369983144785
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70677000e-01,  2.40376660e-01, -2.28529445e-03,  2.40375994e-01,
        9.70679690e-01,  5.65924529e-04,  2.35432396e-03,  0.00000000e+00,
       -9.99997229e-01])
  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([ 0.10414055, -0.08935012,  0.1412197 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35881575,  0.24419325, -0.26290378,  0.24419325,  0.8720557 ,
        0.47671333, -0.26290378,  0.47671333,  0.80160201,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008828584861658165
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77649142,  0.44856932, -0.44254564,  0.38971859,  0.89374805,
        0.22211226,  0.49515705,  0.        , -0.86880349])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10400232, -0.08865639,  0.15010083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.28948589,  7.96916071, -6.50891677,  7.96916071, 51.13013969,
       50.00305656, -6.50891677, 50.00305656, 71.51048588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000433830073740851
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.12715114e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.12715114e-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([ 0.0889    , -0.05788911,  0.06198155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.62351130e-05, 2.17517184e-05, 2.38051335e-05,-1.36294659e-06,
 -5.94519456e-06,-5.18733984e-06, 2.17963459e-05, 2.08484856e-05,
 -3.20777176e-05, 7.23267769e-06, 3.22230049e-05,-2.57661248e-05,
  2.64963127e-01, 1.08030453e-05, 8.79438316e-02, 3.35624098e-02,
 -3.03745173e-05, 2.36105931e-05,-9.80997222e+00,-1.18167629e-02,
 -2.39637419e-02, 5.75926736e-05]


--- Step 623 ---
qpos:
[-1.35486131e-02, 1.35101600e-02, 1.00388524e-02, 1.47305022e-02,
 -1.90654505e-02,-9.06291919e-03,-1.74622623e-02, 1.63246952e-02,
 -1.21470423e-02,-6.70894637e-03,-1.43439966e-02, 1.51339762e-02,
  1.40344992e+00, 3.25294589e-02, 2.85623037e-01,-3.12165044e-02,
  9.53327552e-02,-7.07958296e-02, 1.04572093e-01, 9.99991662e-01,
  1.08121816e-03,-2.00216610e-04,-3.93274986e-03]

qacc:
[ 4.53402637e+00,-5.61440862e-01, 8.79148842e-02, 5.55477423e+00,
 -5.74247535e-01, 1.17354320e+00,-8.40665497e+00, 2.46239463e+01,
 -3.40384184e+00, 1.55751282e+00,-5.02008114e+00, 6.06747068e+00,
  1.09821068e+00,-1.52311041e+01,-4.98048050e+01, 1.27810987e+02,
  7.74458961e-01, 1.04884087e-01, 1.09531991e-01,-6.74521617e+00,
  2.24635805e+01,-1.88326801e+01]

qfrc_actuator:
[ 5.93984265e-04,-5.46110671e-04,-1.55578494e-04,-1.92858905e-05,
 -6.35012560e-04,-7.42225202e-04,-1.77105332e-04,-1.91494822e-05,
 -5.18008209e-04,-4.33544893e-04,-1.46393380e-04,-3.99155879e-06,
  2.10000000e-01,-5.82121087e-03, 9.00000000e-02, 3.52099499e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41933121,  0.41396829, -0.06684996,  0.41396829,  0.46455104,
        0.28002374, -0.06684996,  0.28002374,  2.15337777,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002788485000254944
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70664871e-01,  2.40423280e-01, -2.52090040e-03,  2.40422469e-01,
        9.70668144e-01,  6.24397891e-04,  2.59707750e-03,  0.00000000e+00,
       -9.99996628e-01])
  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([ 0.10412973, -0.08935315,  0.14121623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36480575,  0.35412495,  0.08762851,  0.35412495,  0.53169874,
       -0.67444907,  0.08762851, -0.67444907,  3.09039402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009244120279755582
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77716545,  0.4485384 , -0.4413923 ,  0.39002323,  0.89376356,
        0.22151428,  0.49385802,  0.        , -0.86954256])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10398655, -0.08865351,  0.15011502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004372753982622782
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.34739016e-14, -1.58684754e-14,  1.00000000e+00,  1.00723405e-27,
        1.00000000e+00,  1.58684754e-14, -1.00000000e+00,  0.00000000e+00,
        6.34739016e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08155565, -0.06188431,  0.06198141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68312820e-05,-1.59008914e-05, 1.67640556e-05, 1.76202654e-05,
 -3.46419558e-06, 6.38982902e-07, 1.55401287e-05, 4.92506414e-05,
 -1.99593135e-05, 3.73969417e-05,-1.07941946e-05, 3.54990054e-06,
  2.64960034e-01, 1.17731888e-04, 8.68002530e-02, 3.37270716e-02,
 -3.49427517e-05, 1.94048148e-05,-9.80997058e+00,-1.18188972e-02,
 -2.39682242e-02, 5.80437629e-05]


--- Step 624 ---
qpos:
[-1.35473524e-02, 1.35097366e-02, 1.00395813e-02, 1.47310170e-02,
 -1.90656479e-02,-9.06391528e-03,-1.74618855e-02, 1.63260800e-02,
 -1.21468208e-02,-6.70803464e-03,-1.43442311e-02, 1.51348863e-02,
  1.40343089e+00, 3.25205799e-02, 2.85643172e-01,-3.11774725e-02,
  9.53296225e-02,-7.07926482e-02, 1.04573594e-01, 9.99991477e-01,
  1.01368306e-03,-2.23495683e-04,-3.99615941e-03]

qacc:
[-3.33304684e+00,-7.63646652e-01, 1.05030494e+00, 2.60852092e+00,
 -3.47012172e-01, 3.42311805e+00,-1.59923950e+01, 3.30275869e+01,
  4.01717843e+00, 2.72069523e+00,-1.06152036e+01, 1.78235335e+01,
  1.21365055e+00,-1.12670699e+01,-4.24004785e+01, 1.06707747e+02,
  6.83599952e-01,-2.60039952e-02, 5.18911482e-02,-5.61172419e+00,
  2.12217526e+01,-2.35884972e+01]

qfrc_actuator:
[ 5.73326581e-04,-5.83451815e-04,-1.50339691e-04,-1.00766910e-05,
 -6.36900261e-04,-7.42838770e-04,-2.05172595e-04, 2.68417365e-05,
 -4.93590660e-04,-4.17291042e-04,-1.73269531e-04, 1.50989336e-05,
  2.10000000e-01,-5.83056319e-03, 9.00000000e-02, 3.51718789e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4168543 ,  0.41678841,  0.00741107,  0.41678841,  0.41733637,
       -0.02711108,  0.00741107, -0.02711108,  1.94154401,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002697864068120986
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70653257e-01,  2.40468493e-01, -2.67545394e-03,  2.40467579e-01,
        9.70656945e-01,  6.62811284e-04,  2.75633318e-03,  1.08420217e-19,
       -9.99996201e-01])
  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([ 0.10412249, -0.08935296,  0.14121421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008740689251585069
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77757326,  0.44873108, -0.44047728,  0.39043778,  0.89366684,
        0.22117398,  0.49288758,  0.        , -0.870093  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1039761 , -0.08864874,  0.15012723])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004388228736269817
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26500132e-13, -7.90625822e-15,  1.00000000e+00, -1.00014270e-27,
        1.00000000e+00,  7.90625822e-15, -1.00000000e+00,  0.00000000e+00,
       -1.26500132e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08155603, -0.06188566,  0.06198134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98963112e-05,-4.20648644e-05, 4.60887291e-06, 9.44614238e-06,
 -1.96094311e-06, 5.06868167e-06,-2.43146554e-05, 4.75153763e-05,
  2.38353190e-05, 3.50884360e-05,-2.03556419e-05, 2.03897100e-05,
  2.65111497e-01, 2.01665978e-04, 8.78697456e-02, 3.33924225e-02,
 -1.75614960e-05, 1.11438398e-05,-9.80998376e+00,-1.18192913e-02,
 -2.39719913e-02, 5.68415196e-05]


--- Step 625 ---
qpos:
[-1.35466938e-02, 1.35090980e-02, 1.00403275e-02, 1.47316312e-02,
 -1.90658658e-02,-9.06500693e-03,-1.74617390e-02, 1.63276688e-02,
 -1.21466537e-02,-6.70722231e-03,-1.43442768e-02, 1.51353400e-02,
  1.40341207e+00, 3.25109862e-02, 2.85645246e-01,-3.11355897e-02,
  9.53289034e-02,-7.07899743e-02, 1.04575114e-01, 9.99991074e-01,
  9.36545332e-04,-2.06455210e-04,-4.11489260e-03]

qacc:
[-5.21468584e+00,-1.17813667e-01,-3.94159939e-01, 2.22450590e+00,
 -1.82797726e-01, 9.37551063e-01,-4.38756323e+00, 8.35811844e+00,
 -4.67937331e-01,-1.59748903e+00, 7.43455946e+00,-1.55658223e+01,
  1.32164171e+00,-8.46543079e+00,-3.54870631e+01, 8.50285928e+01,
  6.03400064e-01,-1.26841868e-01, 4.62681229e-03,-4.88791282e+00,
  2.01123502e+01,-2.76813829e+01]

qfrc_actuator:
[ 5.42906766e-04,-5.87695803e-04,-1.47636830e-04,-4.88795920e-06,
 -6.37931026e-04,-7.60623758e-04,-2.21875561e-04, 3.55633676e-05,
 -4.97059048e-04,-4.43634160e-04,-1.71239170e-04,-9.54642720e-06,
  2.10000000e-01,-5.86741597e-03, 9.00000000e-02, 3.51484341e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41517571,  0.41477092,  0.01832898,  0.41477092,  0.41772006,
       -0.05757669,  0.01832898, -0.05757669,  1.71809271,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026340989638898196
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70642123e-01,  2.40512561e-01, -2.75273677e-03,  2.40511594e-01,
        9.70646026e-01,  6.82089817e-04,  2.83598418e-03,  0.00000000e+00,
       -9.99995979e-01])
  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([ 0.10411815, -0.08935083,  0.14121335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000871338234275044
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77776785,  0.44906386, -0.43979406,  0.39089823,  0.89349966,
        0.22103603,  0.49221514,  0.        , -0.87047358])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10397005, -0.08864296,  0.15013718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043917330515835795
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26399193e-13, -6.31995964e-14,  1.00000000e+00,  7.98837796e-27,
        1.00000000e+00,  6.31995964e-14, -1.00000000e+00,  0.00000000e+00,
        1.26399193e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08155606, -0.06188655,  0.06198133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.10032400e-05,-2.64632928e-05,-5.10539624e-06, 3.72761090e-06,
 -1.05777347e-06,-1.79302359e-05,-1.70045809e-05, 9.02270330e-06,
 -2.80574841e-06,-1.00550246e-05, 7.47186269e-06,-2.34510997e-05,
  2.65170261e-01, 2.24731713e-04, 8.88296289e-02, 3.31404976e-02,
 -2.17045323e-05, 1.13437367e-05,-9.80998097e+00,-1.18217410e-02,
 -2.39750418e-02, 5.39801536e-05]


--- Step 626 ---
qpos:
[-1.35464049e-02, 1.35083197e-02, 1.00410648e-02, 1.47322946e-02,
 -1.90657489e-02,-9.06630152e-03,-1.74614454e-02, 1.63289924e-02,
 -1.21465300e-02,-6.70649675e-03,-1.43440014e-02, 1.51354844e-02,
  1.40339454e+00, 3.25011041e-02, 2.85630024e-01,-3.10922325e-02,
  9.53303556e-02,-7.07880780e-02, 1.04576491e-01, 9.99990404e-01,
  8.50564321e-04,-1.50838313e-04,-4.29482580e-03]

qacc:
[-3.20363620e+00,-5.19035201e-02,-2.80241879e-01, 1.23934874e+00,
  2.91552198e+00,-1.23051089e+00, 5.10840202e+00,-9.77338981e+00,
 -3.66286193e-01,-1.64792273e+00, 7.01688517e+00,-1.28216031e+01,
  1.34321650e+00,-5.80207943e+00,-3.01576990e+01, 6.80983073e+01,
  5.42818743e-01,-1.94425489e-01,-3.56029460e-02,-4.50716111e+00,
  1.92411589e+01,-3.06174325e+01]

qfrc_actuator:
[ 5.24752619e-04,-5.89857648e-04,-1.46323895e-04,-2.07994189e-06,
 -6.20697434e-04,-7.70800762e-04,-2.14065074e-04, 2.22857460e-05,
 -4.99174230e-04,-4.41952695e-04,-1.52363306e-04,-2.42412507e-05,
  2.10000000e-01,-5.88526144e-03, 9.00000000e-02, 3.51869140e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41408669,  0.41314712,  0.02787916,  0.41314712,  0.41907623,
       -0.07394096,  0.02787916, -0.07394096,  1.5098332 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002591633374144342
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70631755e-01,  2.40554357e-01, -2.75638542e-03,  2.40553387e-01,
        9.70635669e-01,  6.83119880e-04,  2.83977346e-03,  0.00000000e+00,
       -9.99995968e-01])
  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([ 0.10411618, -0.08934783,  0.14121338])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008695132877437515
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.77802730e-01,  4.49468163e-01, -4.39319113e-01,  3.91356758e-01,
        8.93296351e-01,  2.21046414e-01,  4.91795486e-01,  2.77555756e-17,
       -8.70710744e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10396764, -0.08863698,  0.15014493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004385520368668447
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.16445636e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.16445636e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08155582, -0.06188706,  0.06198136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.90444097e-05,-1.78910402e-05,-4.65959577e-06, 1.56983287e-06,
  1.72315903e-05,-2.33217003e-05, 2.32705229e-06,-1.44582757e-05,
 -2.22827675e-06,-3.41251450e-06, 1.69051032e-05,-1.53240451e-05,
  2.65159240e-01, 2.42828602e-04, 8.97326339e-02, 3.30364429e-02,
 -5.20045742e-05, 2.54942958e-05,-9.80996251e+00,-1.18266551e-02,
 -2.39774757e-02, 4.96057483e-05]


--- Step 627 ---
qpos:
[-1.35459912e-02, 1.35076390e-02, 1.00417365e-02, 1.47322689e-02,
 -1.90654255e-02,-9.06786635e-03,-1.74604306e-02, 1.63294245e-02,
 -1.21464334e-02,-6.70551540e-03,-1.43436902e-02, 1.51361173e-02,
  1.40337965e+00, 3.24916193e-02, 2.85599997e-01,-3.10485670e-02,
  9.53337861e-02,-7.07872398e-02, 1.04577570e-01, 9.99989401e-01,
  7.56957893e-04,-5.79258131e-05,-4.54110883e-03]

qacc:
[  1.07785589, -1.10945756,  7.04890007,-18.93976338,  1.81899247,
  -4.20951998, 18.25085363,-34.63089583, -0.2402113 ,  1.24406506,
  -6.00752994, 14.21742394,  1.18919791, -1.09553297,-22.88949163,
  48.15301087,  0.49457648, -0.26453344, -0.07445809, -3.8976235 ,
  18.6030057 ,-33.19059828]

qfrc_actuator:
[ 5.31719084e-04,-5.73006999e-04,-1.45825699e-04,-3.61953715e-05,
 -6.10604977e-04,-7.76267358e-04,-1.74079278e-04,-2.15564666e-05,
 -5.00466895e-04,-4.05676712e-04,-1.41340649e-04, 2.57493494e-06,
  2.10000000e-01,-5.89184280e-03, 9.00000000e-02, 3.51207640e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41344267,  0.40509654,  0.08265366,  0.40509654,  0.45106631,
       -0.18439847,  0.08265366, -0.18439847,  1.31720397,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025660919328681904
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70622411e-01,  2.40592815e-01, -2.68941158e-03,  2.40591891e-01,
        9.70626137e-01,  6.66634741e-04,  2.77080071e-03, -1.08420217e-19,
       -9.99996161e-01])
  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([ 0.10411618, -0.08934473,  0.14121405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008160389725611467
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77771731,  0.44989678, -0.43903151,  0.39178158,  0.89308056,
        0.22116579,  0.49159229,  0.        , -0.87082548])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10396833, -0.08863131,  0.15015053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043715484360622864
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.58728515e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.58728515e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08155535, -0.06188728,  0.06198142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.42920523e-06, 5.93187936e-06,-3.71963672e-06,-3.50125268e-05,
  1.06215924e-05,-1.86451799e-05, 3.49528960e-05,-4.50434366e-05,
 -1.38754149e-06, 3.71950417e-05, 1.18674758e-05, 2.69562929e-05,
  2.65094514e-01, 2.50544667e-04, 9.05972703e-02, 3.28965762e-02,
 -1.11864105e-04, 5.75482590e-05,-9.80992874e+00,-1.18343138e-02,
 -2.39793273e-02, 4.38060605e-05]


--- Step 628 ---
qpos:
[-1.35451524e-02, 1.35072341e-02, 1.00422956e-02, 1.47318145e-02,
 -1.90653276e-02,-9.06942557e-03,-1.74590650e-02, 1.63296629e-02,
 -1.21473886e-02,-6.70409635e-03,-1.43435643e-02, 1.51360220e-02,
  1.40337937e+00, 3.24856719e-02, 2.85649812e-01,-3.10225943e-02,
  9.53302535e-02,-7.07901114e-02, 1.04577326e-01, 9.99988549e-01,
  7.25292623e-04,-6.05059918e-05,-4.72999775e-03]

qacc:
[ 3.67700370e+00,-2.10841104e-01, 3.07807141e+00,-1.05075599e+01,
 -1.94742897e+00,-1.36722408e+00, 5.71072306e+00,-9.63627004e+00,
 -9.19441304e+00,-3.84939090e-01, 5.31839014e+00,-1.79841341e+01,
  9.27260646e-01, 2.53705993e+01, 1.71970707e+02,-4.29495647e+02,
 -1.74077588e+00,-9.27431293e-01,-3.30871603e-01, 3.11886776e+01,
 -4.75834663e+01, 2.87314411e+01]

qfrc_actuator:
[ 5.53411247e-04,-5.44930288e-04,-1.45756185e-04,-5.62408817e-05,
 -6.22555352e-04,-7.61006607e-04,-1.50926408e-04,-2.97470880e-05,
 -5.54522721e-04,-3.84457138e-04,-1.52625653e-04,-3.51395501e-05,
  2.10000000e-01,-5.87448343e-03, 9.00000000e-02, 3.49569070e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4131794 ,  0.40578579,  0.07781455,  0.40578579,  0.43313227,
       -0.10404987,  0.07781455, -0.10404987,  0.95577663,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002555556581267605
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70613812e-01,  2.40628979e-01, -2.55368771e-03,  2.40628147e-01,
        9.70617172e-01,  6.33093340e-04,  2.63099375e-03,  0.00000000e+00,
       -9.99996539e-01])
  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([ 0.10411776, -0.08934213,  0.14121519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008149258651087331
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.77538095e-01,  4.50306697e-01, -4.38928683e-01,  3.92138906e-01,
        8.92873943e-01,  2.21366663e-01,  4.91590875e-01,  2.77555756e-17,
       -8.70826281e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10397163, -0.08862646,  0.15015383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.37924718,  9.14389943,  4.91099533,  9.14389943, 13.36102305,
       -5.55183968,  4.91099533, -5.55183968, 20.71635   ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004412070277691263
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.29082808e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.29082808e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09936366, -0.05223515,  0.06198125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.18980735e-05, 2.91109149e-05,-3.79905910e-07,-2.06026177e-05,
 -1.16066175e-05, 1.01157772e-05, 2.20444039e-05,-8.65787683e-06,
 -5.41247764e-05, 4.56179929e-05,-1.20997835e-06,-3.51858435e-05,
  2.64962896e-01, 2.47620472e-04, 9.13373548e-02, 3.27172878e-02,
 -2.04662564e-04, 1.10775736e-04,-9.80988048e+00,-1.18448871e-02,
 -2.39805580e-02, 3.66779614e-05]


--- Step 629 ---
qpos:
[-1.35440599e-02, 1.35071433e-02, 1.00424835e-02, 1.47318267e-02,
 -1.90657180e-02,-9.07049769e-03,-1.74582992e-02, 1.63315314e-02,
 -1.21486403e-02,-6.70249175e-03,-1.43434619e-02, 1.51351518e-02,
  1.40338812e+00, 3.24816208e-02, 2.85772891e-01,-3.10104689e-02,
  9.53210530e-02,-7.07956535e-02, 1.04576118e-01, 9.99988057e-01,
  7.35394354e-04,-1.59810795e-04,-4.82901124e-03]

qacc:
[ 2.18345167e+00, 2.40997438e+00,-9.96731953e+00, 1.84123877e+01,
 -4.26520993e+00, 5.68127032e+00,-2.61931099e+01, 5.49931341e+01,
 -2.59213248e+00,-1.27897970e+00, 8.19638634e+00,-2.17147043e+01,
  2.21088984e-01, 1.63288829e+01, 1.50521087e+02,-3.68766038e+02,
 -1.41699758e+00,-6.67637896e-01,-2.40968183e-01, 2.11146023e+01,
 -4.82303739e+01, 4.49718684e+01]

qfrc_actuator:
[ 5.65835966e-04,-5.28087710e-04,-1.63623158e-04,-3.23239510e-05,
 -6.47382056e-04,-7.15724576e-04,-1.73296638e-04, 5.41225735e-05,
 -5.68190388e-04,-3.90308265e-04,-1.59335777e-04,-7.50457235e-05,
  2.10000000e-01,-5.84605860e-03, 9.00000000e-02, 3.49120773e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41190275,  0.41175057,  0.01119576,  0.41175057,  0.41225778,
       -0.01305703,  0.01119576, -0.01305703,  0.89210571,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002503662572198994
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70596115e-01,  2.40700137e-01, -2.57400085e-03,  2.40699290e-01,
        9.70599528e-01,  6.38329546e-04,  2.65197002e-03,  0.00000000e+00,
       -9.99996484e-01])
  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([ 0.10410932, -0.08934995,  0.14121441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34443373,  0.32700907,  0.10816497,  0.32700907,  0.65206284,
       -0.93003781,  0.10816497, -0.93003781,  3.15616476,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008155349499539289
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7779625 ,  0.44982638, -0.4386691 ,  0.39182821,  0.89311602,
        0.22093987,  0.49116698,  0.        , -0.87106544])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10396167, -0.0886306 ,  0.1501568 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.39674938,  -9.93652223,  -3.05907236,  -9.93652223,
        15.72743254, -17.31520063,  -3.05907236, -17.31520063,
        66.64022969,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00044261761858012394
  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([ 0.09936713, -0.05224276,  0.06198119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30763464e-05, 3.21367887e-05,-1.26238964e-05, 2.47474754e-05,
 -2.51177832e-05, 5.51134563e-05,-1.78655227e-05, 8.48977471e-05,
 -1.52531607e-05, 1.79118637e-05, 1.35778526e-06,-3.86738912e-05,
  2.64231721e-01, 1.00303241e-04, 8.73453779e-02, 3.35571376e-02,
 -9.90259353e-05, 4.43939907e-05,-9.80998394e+00,-1.18337814e-02,
 -2.39698770e-02, 3.61404518e-05]


--- Step 630 ---
qpos:
[-1.35431716e-02, 1.35073891e-02, 1.00427205e-02, 1.47317475e-02,
 -1.90664026e-02,-9.07096291e-03,-1.74580933e-02, 1.63329902e-02,
 -1.21493577e-02,-6.70108272e-03,-1.43430281e-02, 1.51345259e-02,
  1.40339736e+00, 3.24765697e-02, 2.85938249e-01,-3.10049434e-02,
  9.53067659e-02,-7.08033098e-02, 1.04574080e-01, 9.99988016e-01,
  7.75200406e-04,-3.58442760e-04,-4.82071825e-03]

qacc:
[-1.77458295e+00, 1.22594842e-01, 6.00043133e-01,-2.51409040e+00,
 -2.58324509e+00, 1.52798576e+00,-2.54651568e+00,-4.10318146e+00,
  4.67738254e+00,-6.90806342e-01, 1.04138523e+00, 2.81590674e+00,
  6.97891707e-02,-3.20374744e+00, 8.25198928e+01,-1.97937440e+02,
 -1.27161387e+00,-5.28552881e-01,-2.07428933e-01, 1.51002183e+01,
 -4.95517754e+01, 5.36878389e+01]

qfrc_actuator:
[ 5.54948883e-04,-5.00381716e-04,-1.56443088e-04,-3.60111932e-05,
 -6.61829011e-04,-6.88418772e-04,-2.04417884e-04, 3.17084656e-05,
 -5.40207150e-04,-4.12324747e-04,-1.45636128e-04,-6.26712818e-05,
  2.10000000e-01,-5.81076847e-03, 9.00000000e-02, 3.48886376e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40996525,  0.39378576, -0.11403631,  0.39378576,  0.4095704 ,
       -0.00136349, -0.11403631, -0.00136349,  0.40525691,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024221991047113336
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70570512e-01,  2.40801269e-01, -2.76227014e-03,  2.40800294e-01,
        9.70574443e-01,  6.85324201e-04,  2.84601574e-03,  0.00000000e+00,
       -9.99995950e-01])
  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([ 0.10409277, -0.08936422,  0.14121233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.3449474 ,  0.32186408,  0.1240654 ,  0.32186408,  0.38318538,
       -0.09920117,  0.1240654 , -0.09920117,  0.60230598,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008175869377743191
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77883134,  0.44875041, -0.43822918,  0.39109058,  0.89365713,
        0.22005702,  0.49037731,  0.        , -0.87151024])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10394078, -0.08864027,  0.15016048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.39715292,  -9.98287719,  -2.90567581,  -9.98287719,
        16.4299945 , -20.72671575,  -2.90567581, -20.72671575,
        81.60683744,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00044265003730910996
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.5675801e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.5675801e-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([ 0.09937006, -0.0522483 ,  0.06198118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04982837e-05, 4.40949170e-05, 1.31067516e-05,-2.26822693e-06,
 -1.51279366e-05, 5.80783808e-05,-1.89947292e-05,-1.90164074e-05,
  2.74968310e-05,-1.33419714e-05, 1.62421366e-05, 1.24395868e-05,
  2.63779814e-01, 4.33178887e-05, 8.36824424e-02, 3.42261457e-02,
 -4.47228110e-05,-1.01413343e-05,-9.80999419e+00,-1.18283917e-02,
 -2.39693059e-02, 3.89646073e-05]


--- Step 631 ---
qpos:
[-1.35424206e-02, 1.35077278e-02, 1.00434221e-02, 1.47316270e-02,
 -1.90669101e-02,-9.07108681e-03,-1.74581030e-02, 1.63327989e-02,
 -1.21493905e-02,-6.69987852e-03,-1.43424089e-02, 1.51344099e-02,
  1.40340159e+00, 3.24701928e-02, 2.86070908e-01,-3.09944775e-02,
  9.52969433e-02,-7.08083507e-02, 1.04573076e-01, 9.99987990e-01,
  7.96412085e-04,-4.98337214e-04,-4.81009046e-03]

qacc:
[-1.17804817e+00,-1.25855280e+00, 4.84362051e+00,-6.37351841e+00,
  1.52455028e+00,-2.34521789e+00, 1.59802653e+01,-4.44442420e+01,
  5.98572816e+00, 2.49112766e-01,-3.45437080e+00, 1.21562970e+01,
 -9.66908796e-02,-1.01092087e+01,-6.34519976e+01, 1.51477464e+02,
  1.11611540e+00, 6.53860385e-01, 2.58479873e-01,-9.43824224e+00,
  2.93244935e+01, 1.14799230e+00]

qfrc_actuator:
[ 5.48183823e-04,-5.01811039e-04,-1.34506788e-04,-3.81370419e-05,
 -6.52294133e-04,-6.89965969e-04,-2.22837084e-04,-5.30883244e-05,
 -5.05698190e-04,-4.25980903e-04,-1.37788666e-04,-3.73901062e-05,
  2.10000000e-01,-5.82247924e-03, 9.00000000e-02, 3.48408183e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40710724,  0.39233227,  0.1086816 ,  0.39233227,  0.4814536 ,
       -0.26838467,  0.1086816 , -0.26838467,  1.37595536,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002295388670329373
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70543235e-01,  2.40906698e-01, -3.12923665e-03,  2.40905446e-01,
        9.70548279e-01,  7.76730107e-04,  3.22419473e-03,  0.00000000e+00,
       -9.99994802e-01])
  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([ 0.10406985, -0.08938439,  0.14120908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.33730724,  0.27578227, -0.19421719,  0.27578227,  1.35760613,
        1.4487922 , -0.19421719,  1.4487922 ,  2.39454642,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007885869086605382
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.80164321e-01,  4.47181208e-01, -4.37461540e-01,  3.90046849e-01,
        8.94443384e-01,  2.18710970e-01,  4.89088016e-01, -2.77555756e-17,
       -8.72234437e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10391042, -0.08865439,  0.15016747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.44764573,  9.08410995,  5.16064412,  9.08410995, 16.10349569,
       -9.95580429,  5.16064412, -9.95580429, 27.9725164 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004466698606427136
  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([ 0.08156105, -0.06189608,  0.06198101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.06440010e-06, 2.58043839e-05, 3.25712637e-05, 1.71666433e-07,
  9.13237144e-06, 2.62113494e-05,-9.41223009e-06,-8.33332428e-05,
  3.52360670e-05,-1.71982061e-05, 7.52827215e-06, 2.55138011e-05,
  2.63754753e-01, 8.49662549e-05, 8.15690360e-02, 3.45084391e-02,
 -8.74705447e-05,-1.35552143e-05,-9.80991382e+00,-1.18328539e-02,
 -2.39779967e-02, 4.49494213e-05]


--- Step 632 ---
qpos:
[-1.35410673e-02, 1.35080534e-02, 1.00441745e-02, 1.47318700e-02,
 -1.90676438e-02,-9.07128916e-03,-1.74582665e-02, 1.63333702e-02,
 -1.21486652e-02,-6.69883490e-03,-1.43416902e-02, 1.51345981e-02,
  1.40340217e+00, 3.24628655e-02, 2.86171067e-01,-3.09795191e-02,
  9.52910495e-02,-7.08115477e-02, 1.04572813e-01, 9.99987933e-01,
  8.01028554e-04,-5.84252305e-04,-4.81154592e-03]

qacc:
[ 5.22402854e+00, 5.79182705e-01,-3.64251163e+00, 9.88169795e+00,
 -1.96778863e+00, 1.89894189e+00,-1.01354018e+01, 2.36321100e+01,
  6.62216729e+00, 1.23290500e-01,-2.05470553e+00, 7.30449582e+00,
  1.38216645e-01,-8.30519722e+00,-6.17892863e+01, 1.46117580e+02,
  9.82173071e-01, 4.60990538e-01, 1.85040575e-01,-8.43032664e+00,
  2.69446253e+01,-6.05899279e+00]

qfrc_actuator:
[ 5.79412081e-04,-5.20612417e-04,-1.39656930e-04,-2.15869384e-05,
 -6.64229117e-04,-7.08802150e-04,-2.33755326e-04,-1.41366076e-05,
 -4.67637899e-04,-4.34533376e-04,-1.33439139e-04,-2.24809260e-05,
  2.10000000e-01,-5.80840673e-03, 9.00000000e-02, 3.47872236e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40552879,  0.3883896 ,  0.11664955,  0.3883896 ,  0.48698238,
       -0.27120317,  0.11664955, -0.27120317,  1.30851122,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002221517022270127
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70518517e-01,  2.41002718e-01, -3.39082110e-03,  2.41001247e-01,
        9.70524441e-01,  8.42015996e-04,  3.49380290e-03, -1.08420217e-19,
       -9.99993897e-01])
  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([ 0.10405345, -0.08939647,  0.14120766])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 3.37583148e-01,  3.37580735e-01,  1.27644822e-03,  3.37580735e-01,
        3.37620764e-01, -9.94834359e-03,  1.27644822e-03, -9.94834359e-03,
        2.96860967e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0007895848178319217
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78099645,  0.44618138, -0.43699739,  0.38937256,  0.89494256,
        0.21786884,  0.48829658,  0.        , -0.87267775])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10388919, -0.08866282,  0.15017201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004511824958195257
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.53793509e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.53793509e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08156405, -0.0619004 ,  0.06198082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.10119857e-05, 2.33632304e-06, 4.19044780e-06, 1.87850728e-05,
 -1.16539910e-05,-9.67237997e-06,-9.54179122e-06, 3.81281509e-05,
  3.90116226e-05,-1.55123149e-05, 2.60445018e-06, 1.49275274e-05,
  2.64004078e-01, 1.68042437e-04, 8.32043138e-02, 3.42079105e-02,
 -4.48648783e-05,-3.34520910e-06,-9.80995698e+00,-1.18319195e-02,
 -2.39835047e-02, 4.97486335e-05]


--- Step 633 ---
qpos:
[-1.35396955e-02, 1.35085328e-02, 1.00445387e-02, 1.47323190e-02,
 -1.90685147e-02,-9.07162584e-03,-1.74585203e-02, 1.63344065e-02,
 -1.21485246e-02,-6.69789689e-03,-1.43409136e-02, 1.51346141e-02,
  1.40340048e+00, 3.24550357e-02, 2.86240003e-01,-3.09610861e-02,
  9.52885867e-02,-7.08136148e-02, 1.04573026e-01, 9.99987789e-01,
  7.91182811e-04,-6.20374214e-04,-4.83858000e-03]

qacc:
[ 1.45573476e-01, 1.71261734e+00,-6.68150095e+00, 1.07550657e+01,
 -1.19052507e+00, 1.03419949e+00,-5.90509017e+00, 1.41935904e+01,
 -5.10006893e+00,-6.46128120e-01, 2.84595086e+00,-5.86101992e+00,
  2.79626032e-01,-5.76482118e+00,-5.67973666e+01, 1.31449032e+02,
  8.57773131e-01, 2.82462555e-01, 1.19202108e-01,-7.35824649e+00,
  2.48512279e+01,-1.28050840e+01]

qfrc_actuator:
[ 5.79493659e-04,-5.14263037e-04,-1.60831122e-04,-1.19721862e-05,
 -6.70960833e-04,-7.19975848e-04,-2.40148618e-04, 8.54834607e-06,
 -4.98804534e-04,-4.39985958e-04,-1.31176566e-04,-3.15458975e-05,
  2.10000000e-01,-5.72545163e-03, 9.00000000e-02, 3.47108825e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40486812,  0.3859397 ,  0.12234682,  0.3859397 ,  0.48965269,
       -0.26745058,  0.12234682, -0.26745058,  1.24853367,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002189698440590462
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70496817e-01,  2.41087718e-01, -3.55539500e-03,  2.41086101e-01,
        9.70503329e-01,  8.83213939e-04,  3.66345472e-03, -1.08420217e-19,
       -9.99993290e-01])
  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([ 0.10404262, -0.08940247,  0.14120768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007913454222530233
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78142941,  0.44562425, -0.43679182,  0.38898132,  0.8952201 ,
        0.21742701,  0.48791557,  0.        , -0.87289083])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10387573, -0.08866699,  0.15017437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004537491347588324
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05847146e-14,  1.52923573e-14,  1.00000000e+00, -4.67712385e-28,
        1.00000000e+00, -1.52923573e-14, -1.00000000e+00,  0.00000000e+00,
        3.05847146e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08156612, -0.06190362,  0.06198072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.54579578e-07, 9.29015197e-06,-1.95413759e-05, 1.02214045e-05,
 -7.06382549e-06,-1.68968790e-05,-8.23807178e-06, 2.26844582e-05,
 -3.01019864e-05,-1.29661487e-05,-1.16127385e-07,-9.35268861e-06,
  2.64186152e-01, 3.00584042e-04, 8.48295072e-02, 3.39070034e-02,
 -1.75189153e-05,-1.12021481e-06,-9.80998514e+00,-1.18308702e-02,
 -2.39867779e-02, 5.22626981e-05]


--- Step 634 ---
qpos:
[-1.35393679e-02, 1.35091208e-02, 1.00446667e-02, 1.47325299e-02,
 -1.90691148e-02,-9.07173069e-03,-1.74589534e-02, 1.63346296e-02,
 -1.21497937e-02,-6.69720081e-03,-1.43400480e-02, 1.51345369e-02,
  1.40339779e+00, 3.24471331e-02, 2.86279287e-01,-3.09402924e-02,
  9.52891247e-02,-7.08151382e-02, 1.04573487e-01, 9.99987500e-01,
  7.68559960e-04,-6.10275549e-04,-4.90265306e-03]

qacc:
[-9.06227233e+00, 3.31275466e-01, 6.28619964e-02,-3.91948450e+00,
  2.34088629e+00,-8.71122659e-01, 6.97701401e+00,-2.09290166e+01,
 -1.22973886e+01,-7.35665980e-01, 2.59386559e+00,-4.21419217e+00,
  3.72496971e-01,-3.20578107e+00,-5.10739172e+01, 1.14863492e+02,
  7.50199532e-01, 1.35900824e-01, 6.21605695e-02,-6.51172947e+00,
  2.30643966e+01,-1.85339268e+01]

qfrc_actuator:
[ 5.25724910e-04,-5.10737519e-04,-1.73448452e-04,-2.42591803e-05,
 -6.56816644e-04,-6.90959537e-04,-2.43828832e-04,-3.17921267e-05,
 -5.70467808e-04,-4.61321981e-04,-1.30164469e-04,-3.68879238e-05,
  2.10000000e-01,-5.70775037e-03, 9.00000000e-02, 3.46733726e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40488819,  0.38531892,  0.12435343,  0.38531892,  0.48693187,
       -0.25421881,  0.12435343, -0.25421881,  1.19260522,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021906731269756864
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70478385e-01,  2.41160787e-01, -3.63014529e-03,  2.41159100e-01,
        9.70485175e-01,  9.02073230e-04,  3.74054688e-03, -1.08420217e-19,
       -9.99993004e-01])
  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([ 0.10403648, -0.08940421,  0.1412088 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007935959553042316
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78155259,  0.44539196, -0.43680838,  0.38878963,  0.89533569,
        0.21729385,  0.48787106,  0.        , -0.8729157 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1038688 , -0.08866824,  0.15017471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004547131993979034
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.28899026e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.28899026e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08156745, -0.06190595,  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:
[-5.37603006e-05, 5.07469691e-06,-1.27666083e-05,-1.23689771e-05,
  1.39472150e-05, 1.88672825e-05,-7.38963634e-06,-4.09058874e-05,
 -7.25727020e-05,-2.90308267e-05,-2.00627925e-06,-6.08309186e-06,
  2.64299008e-01, 3.44872786e-04, 8.63908287e-02, 3.36958027e-02,
 -5.93967923e-06,-8.06662550e-08,-9.80999770e+00,-1.18308021e-02,
 -2.39883897e-02, 5.27285222e-05]


--- Step 635 ---
qpos:
[-1.35393430e-02, 1.35096648e-02, 1.00443958e-02, 1.47329685e-02,
 -1.90695406e-02,-9.07155368e-03,-1.74598135e-02, 1.63350688e-02,
 -1.21515682e-02,-6.69655092e-03,-1.43392142e-02, 1.51336891e-02,
  1.40339520e+00, 3.24395542e-02, 2.86290551e-01,-3.09182176e-02,
  9.52923004e-02,-7.08165799e-02, 1.04574002e-01, 9.99987009e-01,
  7.34349752e-04,-5.56967779e-04,-5.01319294e-03]

qacc:
[-2.63473844e+00, 1.53106264e+00,-6.49563205e+00, 1.10970827e+01,
  1.49557328e+00, 2.00705369e+00,-7.53401562e+00, 1.17562089e+01,
 -4.41164286e+00,-1.55047894e+00, 8.70950716e+00,-2.19823526e+01,
  4.19081221e-01,-7.45780102e-01,-4.53653275e+01, 9.84598114e+01,
  6.59441259e-01, 2.04582935e-02, 1.33284558e-02,-5.91362617e+00,
  2.15579593e+01,-2.32466929e+01]

qfrc_actuator:
[ 5.11711828e-04,-5.26675087e-04,-1.98680850e-04,-1.38202273e-05,
 -6.48252531e-04,-6.73646903e-04,-2.63508846e-04,-2.00924347e-05,
 -5.94359682e-04,-4.56504240e-04,-1.29956771e-04,-7.55117087e-05,
  2.10000000e-01,-5.74718277e-03, 9.00000000e-02, 3.46766380e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40542871,  0.38622312,  0.12330508,  0.38622312,  0.48021565,
       -0.23425187,  0.12330508, -0.23425187,  1.13916564,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002216732486337575
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70463361e-01,  2.41221374e-01, -3.62125969e-03,  2.41219695e-01,
        9.70470117e-01,  9.00105240e-04,  3.73144894e-03,  1.08420217e-19,
       -9.99993038e-01])
  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([ 0.10403423, -0.08940319,  0.14121074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007962699420942905
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78143964,  0.44538667, -0.4370158 ,  0.38872769,  0.89533833,
        0.21739381,  0.4881013 ,  0.        , -0.87278698])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10386733, -0.08866767,  0.15017319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045437251609341256
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52713768e-14,  2.29070652e-14,  1.00000000e+00, -3.49822424e-28,
        1.00000000e+00, -2.29070652e-14, -1.00000000e+00,  0.00000000e+00,
        1.52713768e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08156817, -0.06190758,  0.06198069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55838994e-05,-1.62955571e-05,-2.61854532e-05, 9.97563550e-06,
  8.98267658e-06, 2.46105751e-05,-1.81022746e-05, 1.14571347e-05,
 -2.60154850e-05,-1.20738479e-05,-6.23027506e-06,-4.00500710e-05,
  2.64348781e-01, 3.09956753e-04, 8.78734409e-02, 3.35810498e-02,
 -1.28964969e-05, 6.44829135e-06,-9.80999443e+00,-1.18325638e-02,
 -2.39887520e-02, 5.13438576e-05]


--- Step 636 ---
qpos:
[-1.35394871e-02, 1.35102962e-02, 1.00434544e-02, 1.47338763e-02,
 -1.90698601e-02,-9.07141290e-03,-1.74605312e-02, 1.63359913e-02,
 -1.21532719e-02,-6.69573586e-03,-1.43384679e-02, 1.51316707e-02,
  1.40339335e+00, 3.24324989e-02, 2.86274433e-01,-3.08961246e-02,
  9.52977966e-02,-7.08182699e-02, 1.04574415e-01, 9.99986250e-01,
  6.88998134e-04,-4.63136453e-04,-5.17789400e-03]

qacc:
[-1.48811117e+00, 2.95960911e+00,-1.23609997e+01, 2.14855356e+01,
  9.28721124e-01, 5.47140366e-01,-4.06452824e+00, 1.22326860e+01,
  6.11840768e-01,-1.94738574e+00, 1.22007088e+01,-3.24390197e+01,
  4.78694678e-01, 4.47330481e-01,-4.05855983e+01, 8.31370773e+01,
  5.80091455e-01,-6.20916549e-02,-2.55690299e-02,-5.68719383e+00,
  2.02136275e+01,-2.70926810e+01]

qfrc_actuator:
[ 5.03475550e-04,-5.18676252e-04,-2.31225292e-04, 9.88371484e-06,
 -6.43048324e-04,-6.81251881e-04,-2.56963963e-04, 4.37465397e-06,
 -5.89929165e-04,-4.36093200e-04,-1.30146691e-04,-1.33389625e-04,
  2.10000000e-01,-5.76800497e-03, 9.00000000e-02, 3.47400092e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40637598,  0.39476221,  0.09645846,  0.39476221,  0.44807496,
       -0.17065565,  0.09645846, -0.17065565,  1.1047948 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022615301907690806
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70451804e-01,  2.41269159e-01, -3.53404770e-03,  2.41267559e-01,
        9.70458239e-01,  8.78612476e-04,  3.64162780e-03,  0.00000000e+00,
       -9.99993369e-01])
  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([ 0.10403522, -0.08940061,  0.14121325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008324078069199035
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78115073,  0.44553016, -0.43738588,  0.38874017,  0.89526693,
        0.21766536,  0.48855359,  0.        , -0.87253389])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10387041, -0.08866614,  0.15016994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045298443498308083
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.65908646e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.65908646e-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([ 0.08156842, -0.06190865,  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:
[-8.70824192e-06,-6.10019499e-06,-3.87899223e-05, 2.22944306e-05,
  5.47436596e-06, 2.92767340e-06, 9.79943137e-06, 2.51188410e-05,
  3.65173182e-06, 1.07086188e-05,-4.81675160e-06,-5.93854334e-05,
  2.64343931e-01, 2.73263437e-04, 8.92743503e-02, 3.35803587e-02,
 -4.20688515e-05, 2.40566246e-05,-9.80997545e+00,-1.18367202e-02,
 -2.39881495e-02, 4.82587415e-05]


--- Step 637 ---
qpos:
[-1.35397294e-02, 1.35111201e-02, 1.00420347e-02, 1.47350341e-02,
 -1.90701143e-02,-9.07168291e-03,-1.74606702e-02, 1.63368726e-02,
 -1.21549100e-02,-6.69494900e-03,-1.43377221e-02, 1.51296839e-02,
  1.40339306e+00, 3.24263341e-02, 2.86232789e-01,-3.08749851e-02,
  9.53053547e-02,-7.08204994e-02, 1.04574583e-01, 9.99985147e-01,
  6.33081535e-04,-3.30902582e-04,-5.40322359e-03]

qacc:
[-8.68960004e-01, 2.10817218e+00,-8.19951431e+00, 1.31441462e+01,
  5.91395609e-01,-2.24524914e+00, 7.39031220e+00,-8.72433515e+00,
  5.72923701e-01, 2.77670493e-02,-2.87983903e-01, 8.56565784e-01,
  4.14299272e-01, 2.97596576e+00,-3.48676115e+01, 6.71922545e+01,
  5.15510076e-01,-1.34884590e-01,-6.13102028e-02,-5.39576130e+00,
  1.91526900e+01,-3.03255254e+01]

qfrc_actuator:
[ 4.98692914e-04,-4.96429355e-04,-2.49973128e-04, 2.34613653e-05,
 -6.39861821e-04,-7.21354700e-04,-2.35082735e-04, 6.43280027e-07,
 -5.86631877e-04,-4.42024338e-04,-1.30506586e-04,-1.31101524e-04,
  2.10000000e-01,-5.77799024e-03, 9.00000000e-02, 3.47691837e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40761869,  0.39663996,  0.09396667,  0.39663996,  0.44339443,
       -0.15101194,  0.09396667, -0.15101194,  1.04505074,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002318711520706696
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70444039e-01,  2.41302687e-01, -3.37351699e-03,  2.41301229e-01,
        9.70449902e-01,  8.38826110e-04,  3.47624023e-03,  1.08420217e-19,
       -9.99993958e-01])
  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([ 0.10403894, -0.08939745,  0.14121608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008353816317467582
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.80737968e-01,  4.45761988e-01, -4.37886373e-01,  3.88787037e-01,
        8.95151524e-01,  2.18055932e-01,  4.89175700e-01,  2.77555756e-17,
       -8.72185264e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10387732, -0.08866431,  0.15016519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045077019728714113
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.30901265e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.30901265e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08156829, -0.06190927,  0.06198084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.04913221e-06, 1.17816333e-05,-2.40123005e-05, 1.24087147e-05,
  3.34495132e-06,-3.53516581e-05, 2.45658455e-05,-2.77746145e-06,
  3.37461360e-06,-3.42259478e-06,-7.77678780e-07, 1.42829474e-06,
  2.64306474e-01, 2.36874841e-04, 9.06432735e-02, 3.36086010e-02,
 -9.72982609e-05, 5.71156667e-05,-9.80994087e+00,-1.18436234e-02,
 -2.39868332e-02, 4.35689755e-05]


--- Step 638 ---
qpos:
[-1.35396828e-02, 1.35121871e-02, 1.00400524e-02, 1.47363445e-02,
 -1.90710179e-02,-9.07210974e-03,-1.74608962e-02, 1.63380619e-02,
 -1.21561514e-02,-6.69438181e-03,-1.43369146e-02, 1.51281056e-02,
  1.40339502e+00, 3.24214191e-02, 2.86167580e-01,-3.08558695e-02,
  9.53147499e-02,-7.08235135e-02, 1.04574384e-01, 9.99983611e-01,
  5.67058776e-04,-1.62076644e-04,-5.69479358e-03]

qacc:
[  2.48335754,  2.20396153, -8.04531973, 11.41861741, -5.63832485,
   0.68073807, -4.00928581,  9.5730753 ,  3.46830708,  0.37135068,
  -3.48229077, 10.62971023,  0.30633864,  5.56499761,-28.69780641,
  49.89236745,  0.45924089, -0.19612503, -0.0915736 , -5.16268532,
  18.24742086,-33.13078822]

qfrc_actuator:
[ 5.13731789e-04,-4.83526264e-04,-2.78119558e-04, 3.09949462e-05,
 -6.73392635e-04,-7.27309281e-04,-2.39998300e-04, 1.58292492e-05,
 -5.66284988e-04,-4.63633469e-04,-1.31020544e-04,-1.11200188e-04,
  2.10000000e-01,-5.78204981e-03, 9.00000000e-02, 3.47610523e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4090884 ,  0.39895817,  0.09047485,  0.39895817,  0.43896751,
       -0.13175502,  0.09047485, -0.13175502,  0.99007576,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000238417910362582
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70439959e-01,  2.41322202e-01, -3.14348965e-03,  2.41320936e-01,
        9.70445050e-01,  7.81696855e-04,  3.23922478e-03, -1.08420217e-19,
       -9.99994754e-01])
  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([ 0.10404492, -0.08939446,  0.14121905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008386751207368714
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.80239391e-01,  4.46032084e-01, -4.38499571e-01,  3.88832628e-01,
        8.95016972e-01,  2.18526445e-01,  4.89934364e-01,  2.77555756e-17,
       -8.71759324e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10388741, -0.08866274,  0.15015901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004479200442653111
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.1965469e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -6.1965469e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08156788, -0.06190954,  0.06198096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48820262e-05, 1.50714645e-05,-2.82382560e-05, 7.44994034e-06,
 -3.34382389e-05,-2.07575972e-05,-9.28466516e-06, 1.44675407e-05,
  2.04096048e-05,-2.35648546e-05,-1.24945205e-06, 1.97591589e-05,
  2.64229157e-01, 1.87545294e-04, 9.19192893e-02, 3.36481041e-02,
 -1.82369200e-04, 1.09280117e-04,-9.80989101e+00,-1.18534989e-02,
 -2.39849547e-02, 3.73600250e-05]


--- Step 639 ---
qpos:
[-1.35394567e-02, 1.35133472e-02, 1.00380712e-02, 1.47373698e-02,
 -1.90723162e-02,-9.07251241e-03,-1.74612817e-02, 1.63397509e-02,
 -1.21574848e-02,-6.69385792e-03,-1.43361579e-02, 1.51264181e-02,
  1.40340985e+00, 3.24202657e-02, 2.86172783e-01,-3.08562079e-02,
  9.53170862e-02,-7.08298301e-02, 1.04573178e-01, 9.99982318e-01,
  5.61887962e-04,-9.10711256e-05,-5.91938777e-03]

qacc:
[ 1.55485003e+00,-4.70543038e-01, 3.05509398e+00,-8.05582979e+00,
 -3.43260294e+00, 1.51221045e+00,-7.44454654e+00, 1.63189697e+01,
 -8.03726225e-01,-1.38289735e-01, 8.74292161e-01,-2.65571068e+00,
  7.15513203e-02, 2.80585515e+01, 1.63407897e+02,-4.19655543e+02,
 -1.76469906e+00,-8.25640791e-01,-2.51759015e-01, 3.07093666e+01,
 -4.87171311e+01, 3.35108489e+01]

qfrc_actuator:
[ 5.22563106e-04,-4.76357015e-04,-2.76124286e-04, 1.71466334e-05,
 -6.92760074e-04,-7.12864583e-04,-2.42804945e-04, 4.20330150e-05,
 -5.71570934e-04,-4.58941395e-04,-1.31689012e-04,-1.16625855e-04,
  2.10000000e-01,-5.78326945e-03, 9.00000000e-02, 3.47674940e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41072539,  0.39923227,  0.09648285,  0.39923227,  0.42868975,
       -0.07433397,  0.09648285, -0.07433397,  0.71830875,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002454565082026655
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70439422e-01,  2.41328037e-01, -2.84721757e-03,  2.41326998e-01,
        9.70443599e-01,  7.08040557e-04,  2.93393410e-03,  0.00000000e+00,
       -9.99995696e-01])
  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([ 0.10405273, -0.08939228,  0.14122202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008424005940494203
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7796869 ,  0.4462982 , -0.43921096,  0.38884675,  0.8948843 ,
        0.21904402,  0.49080194,  0.        , -0.87127117])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10390013, -0.08866186,  0.15015144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.49878038,  9.26711876,  4.93405506,  9.26711876, 13.46125421,
       -5.56410428,  4.93405506, -5.56410428, 20.94925458,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004506684626506205
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.23813554e-14, -1.53968926e-13,  1.00000000e+00,  1.42238580e-26,
        1.00000000e+00,  1.53968926e-13, -1.00000000e+00,  0.00000000e+00,
        9.23813554e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09939481, -0.05230049,  0.06198085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.24819872e-06, 1.00885961e-05, 1.88645529e-06,-1.40352138e-05,
 -2.03221501e-05, 1.56046519e-06,-7.72533075e-06, 2.52779478e-05,
 -4.73676241e-06,-7.84700883e-06,-4.99352822e-06,-6.09219935e-06,
  2.64116976e-01, 1.22612957e-04, 9.30972735e-02, 3.37556677e-02,
 -3.01046241e-04, 1.83741830e-04,-9.80982610e+00,-1.18664924e-02,
 -2.39826466e-02, 2.97015243e-05]


--- Step 640 ---
qpos:
[-1.35391266e-02, 1.35144483e-02, 1.00367595e-02, 1.47378486e-02,
 -1.90731468e-02,-9.07316756e-03,-1.74612291e-02, 1.63403533e-02,
 -1.21588715e-02,-6.69321351e-03,-1.43360761e-02, 1.51250464e-02,
  1.40343192e+00, 3.24211811e-02, 2.86243291e-01,-3.08716219e-02,
  9.53136401e-02,-7.08384364e-02, 1.04571291e-01, 9.99981535e-01,
  5.96904222e-04,-1.19099946e-04,-6.04648544e-03]

qacc:
[ 9.21894452e-01,-3.07738027e+00, 1.31634268e+01,-2.36459768e+01,
  4.07842137e+00,-3.80105102e+00, 1.76440041e+01,-3.69508935e+01,
 -4.88411105e-01, 2.69580381e+00,-1.07135575e+01, 1.71698488e+01,
 -6.20793362e-01, 1.87551257e+01, 1.42510867e+02,-3.57717574e+02,
 -1.44560590e+00,-5.72428886e-01,-1.70417052e-01, 2.03905900e+01,
 -4.93699381e+01, 4.87748965e+01]

qfrc_actuator:
[ 5.27663701e-04,-4.72575357e-04,-2.38630049e-04,-9.15398818e-06,
 -6.68119103e-04,-7.39556448e-04,-2.26486441e-04,-1.42306679e-05,
 -5.74153963e-04,-4.56309731e-04,-1.67867442e-04,-1.01388023e-04,
  2.10000000e-01,-5.80354939e-03, 9.00000000e-02, 3.47654142e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41122134,  0.41080555,  0.01848742,  0.41080555,  0.41207998,
       -0.01907975,  0.01848742, -0.01907975,  0.83518907,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024753964944948395
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70432646e-01,  2.41356842e-01, -2.71210766e-03,  2.41355899e-01,
        9.70436435e-01,  6.74527166e-04,  2.79472983e-03,  0.00000000e+00,
       -9.99996095e-01])
  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([ 0.10405098, -0.08940051,  0.14122281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35209184,  0.33224234,  0.1165491 ,  0.33224234,  0.4581747 ,
       -0.30240661,  0.1165491 , -0.30240661,  1.21415152,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008482779246414616
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77976402,  0.44570577, -0.43967539,  0.38824092,  0.89517952,
        0.21891236,  0.4911589 ,  0.        , -0.87106999])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1038998 , -0.08866963,  0.15014468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.52434272,  -9.9239938 ,  -3.50373183,  -9.9239938 ,
        16.26448205, -16.25840957,  -3.50373183, -16.25840957,
        56.57477224,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004526408406710994
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.06596015e-14, -1.22638406e-13,  1.00000000e+00,  3.76004466e-27,
        1.00000000e+00,  1.22638406e-13, -1.00000000e+00,  0.00000000e+00,
        3.06596015e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09939913, -0.05230977,  0.06198076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.35019100e-06, 9.20840728e-06, 3.93212663e-05,-2.60770174e-05,
  2.40710605e-05,-2.62916487e-05, 1.65799570e-05,-5.59684330e-05,
 -2.74499145e-06,-3.00437997e-06,-3.86104028e-05, 1.46134601e-05,
  2.63473447e-01,-8.56196850e-05, 8.95765140e-02, 3.47262752e-02,
 -1.36511735e-04, 9.40212257e-05,-9.80996733e+00,-1.18490811e-02,
 -2.39682635e-02, 2.89041796e-05]


--- Step 641 ---
qpos:
[-1.35390833e-02, 1.35155678e-02, 1.00358990e-02, 1.47380134e-02,
 -1.90740202e-02,-9.07406780e-03,-1.74609580e-02, 1.63402918e-02,
 -1.21595891e-02,-6.69232182e-03,-1.43368243e-02, 1.51242080e-02,
  1.40345246e+00, 3.24211205e-02, 2.86349744e-01,-3.08945360e-02,
  9.53049844e-02,-7.08488018e-02, 1.04568823e-01, 9.99981388e-01,
  6.59732655e-04,-2.48681917e-04,-6.06020516e-03]

qacc:
[-2.47179034e+00,-1.87902338e+00, 8.06914642e+00,-1.42487003e+01,
 -3.60476901e-01,-2.29973335e+00, 1.05355809e+01,-2.21994603e+01,
  5.80973605e+00, 3.73214547e+00,-1.51049383e+01, 2.55017868e+01,
 -7.68253232e-01,-1.57029065e+00, 7.59167173e+01,-1.88333607e+02,
 -1.30242057e+00,-4.39770397e-01,-1.45145042e-01, 1.42194106e+01,
 -5.06576798e+01, 5.67185058e+01]

qfrc_actuator:
[ 5.12777096e-04,-4.70711430e-04,-2.16010595e-04,-2.47979847e-05,
 -6.71035534e-04,-7.55158015e-04,-2.16979256e-04,-4.75779601e-05,
 -5.39611840e-04,-4.37308173e-04,-2.06954989e-04,-7.41335434e-05,
  2.10000000e-01,-5.79957224e-03, 9.00000000e-02, 3.47793773e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4108268 ,  0.39092035, -0.12633266,  0.39092035,  0.41000235,
       -0.00255117, -0.12633266, -0.00255117,  0.40293253,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024588429340720747
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70420422e-01,  2.41405553e-01, -2.75029548e-03,  2.41404584e-01,
        9.70424319e-01,  6.84171439e-04,  2.83411641e-03, -1.08420217e-19,
       -9.99995984e-01])
  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([ 0.10404146, -0.08941515,  0.14122208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35363079,  0.33283119,  0.11949117,  0.33283119,  0.39343094,
       -0.11085951,  0.11949117, -0.11085951,  0.66241932,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008555630497781322
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.80311989e-01,  4.44547970e-01, -4.39875326e-01,  3.87255548e-01,
        8.95755046e-01,  2.18302631e-01,  4.91066534e-01, -2.77555756e-17,
       -8.71122069e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10388867, -0.08868258,  0.15013973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.52891183,  -9.97637827,  -3.36598587,  -9.97637827,
        17.23612778, -19.87938334,  -3.36598587, -19.87938334,
        69.4490189 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004529915604252477
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.12717279e-14, -1.53179320e-14,  1.00000000e+00,  9.38556159e-28,
        1.00000000e+00,  1.53179320e-14, -1.00000000e+00,  0.00000000e+00,
        6.12717279e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09940274, -0.05231658,  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:
[-1.47552159e-05, 1.40105420e-05, 2.84582368e-05,-1.43972004e-05,
 -2.20901558e-06,-2.92389354e-05, 4.19098366e-06,-3.49886015e-05,
  3.44422186e-05, 1.00198615e-05,-4.39426339e-05, 2.60774037e-05,
  2.63110827e-01,-1.83715114e-04, 8.63114476e-02, 3.54940414e-02,
 -3.09406282e-05, 1.18146262e-05,-9.81001110e+00,-1.18372804e-02,
 -2.39655889e-02, 3.13173115e-05]


--- Step 642 ---
qpos:
[-1.35392192e-02, 1.35167042e-02, 1.00353054e-02, 1.47386930e-02,
 -1.90749209e-02,-9.07518725e-03,-1.74605999e-02, 1.63401823e-02,
 -1.21602325e-02,-6.69135299e-03,-1.43377598e-02, 1.51240250e-02,
  1.40346353e+00, 3.24169566e-02, 2.86465505e-01,-3.09192029e-02,
  9.52912219e-02,-7.08608035e-02, 1.04565685e-01, 9.99981857e-01,
  7.45022419e-04,-4.81564471e-04,-5.95802496e-03]

qacc:
[ -1.54626008,  0.33986398, -3.34806737, 11.81528004, -0.23119028,
  -0.63103915,  2.03326787, -2.84284329,  0.64189174,  1.9731093 ,
  -9.6573455 , 21.24725542, -0.53577812,-22.92490146, 18.86757936,
 -46.54460316, -1.27666807, -0.40907049, -0.16741933, 11.55767692,
 -51.54296263, 57.98203635]

qfrc_actuator:
[ 5.03999802e-04,-4.70051902e-04,-2.02365399e-04, 1.44341817e-06,
 -6.72410419e-04,-7.64011809e-04,-2.11514487e-04,-4.94106928e-05,
 -5.36753546e-04,-4.26412280e-04,-2.11857608e-04,-4.00128009e-05,
  2.10000000e-01,-5.79657604e-03, 9.00000000e-02, 3.48546787e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40921835,  0.37729071, -0.1584657 ,  0.37729071,  0.37224648,
       -0.08802624, -0.1584657 , -0.08802624,  0.19963682,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023898613119272333
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70408598e-01,  2.41450443e-01, -2.97251545e-03,  2.41449310e-01,
        9.70413151e-01,  7.39597532e-04,  3.06314424e-03,  0.00000000e+00,
       -9.99995309e-01])
  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([ 0.10402581, -0.08943565,  0.14122002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.3550051 ,  0.33806536,  0.1083533 ,  0.33806536,  0.35877306,
       -0.01175615,  0.1083533 , -0.01175615,  0.39168461,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008623399406800096
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78134764,  0.44292532, -0.43967378,  0.38600788,  0.89655851,
        0.21721131,  0.49040166,  0.        , -0.87149654])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10386814, -0.08869964,  0.1501391 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.51678226, -10.03644351,  -3.14205516, -10.03644351,
        17.78684412, -23.22224195,  -3.14205516, -23.22224195,
        84.69393936,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045205929376605086
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.53495216e-14, -3.45364236e-14,  1.00000000e+00, -5.30117582e-28,
        1.00000000e+00,  3.45364236e-14, -1.00000000e+00,  0.00000000e+00,
       -1.53495216e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09940579, -0.05232144,  0.06198079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.22931068e-06, 1.37519273e-05, 1.95466912e-05, 2.75469181e-05,
 -1.41770666e-06,-2.58068427e-05,-1.25878376e-06,-3.61955776e-06,
  3.82735928e-06, 8.57592083e-06,-7.33641472e-06, 3.35373476e-05,
  2.63187382e-01,-1.29859964e-04, 8.45144565e-02, 3.59443914e-02,
 -2.97747854e-05,-1.82337634e-05,-9.80996214e+00,-1.18356400e-02,
 -2.39728542e-02, 3.67902254e-05]


--- Step 643 ---
qpos:
[-1.35394603e-02, 1.35178948e-02, 1.00349130e-02, 1.47393362e-02,
 -1.90761755e-02,-9.07610791e-03,-1.74603134e-02, 1.63389723e-02,
 -1.21611815e-02,-6.69053449e-03,-1.43383772e-02, 1.51242461e-02,
  1.40346927e+00, 3.24114662e-02, 2.86547593e-01,-3.09397548e-02,
  9.52819204e-02,-7.08693799e-02, 1.04563915e-01, 9.99982348e-01,
  8.10898297e-04,-6.52124064e-04,-5.84980932e-03]

qacc:
[ -0.90521848, -0.56419234,  2.27236418, -3.26786173, -3.0795887 ,
  -1.7954978 , 11.4407514 ,-30.53083959, -2.65507552, -0.25006868,
  -1.09424471,  7.68233955, -0.24232022, -9.79071541,-62.38644396,
 145.67730149,  1.11522337,  0.8563261 ,  0.34190772, -9.89098362,
  31.10533509,  2.99918203]

qfrc_actuator:
[ 4.98895407e-04,-4.70120916e-04,-1.94100977e-04,-1.14516274e-06,
 -6.90611283e-04,-7.33239524e-04,-2.08431109e-04,-1.03695620e-04,
 -5.52578449e-04,-4.38061194e-04,-1.96559987e-04,-1.98604058e-05,
  2.10000000e-01,-5.75514562e-03, 9.00000000e-02, 3.48930254e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40610816,  0.40389544,  0.04233568,  0.40389544,  0.41864628,
       -0.11961753,  0.04233568, -0.11961753,  1.54729629,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002248974210920843
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70402505e-01,  2.41469506e-01, -3.38465969e-03,  2.41468037e-01,
        9.70408408e-01,  8.42214575e-04,  3.48787136e-03,  0.00000000e+00,
       -9.99993917e-01])
  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([ 0.10400497, -0.08946296,  0.14121683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36109379, -0.36079353,  0.01472274, -0.36079353,  0.36545213,
        0.10680488,  0.01472274,  0.10680488,  2.9784397 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000896817185594699
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78293291,  0.44082303, -0.43896596,  0.38451108,  0.89759404,
        0.21558332,  0.48904732,  0.        , -0.87225725])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1038387 , -0.08872094,  0.15014473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.60819139,  9.26754835,  5.16200273,  9.26754835, 15.16769478,
       -8.18585739,  5.16200273, -8.18585739, 25.304586  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045899060360288235
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.51177254e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.51177254e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08157918, -0.06192696,  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:
[-5.40340565e-06, 1.28442066e-05, 1.44684912e-05,-7.85877566e-07,
 -1.82137391e-05, 1.59582884e-05,-2.51679662e-06,-5.55027356e-05,
 -1.57370949e-05,-6.90893809e-06, 1.73332304e-05, 2.09200304e-05,
  2.63659990e-01, 1.18951279e-04, 8.40493060e-02, 3.60704265e-02,
 -1.50968167e-04, 2.23848925e-05,-9.80982474e+00,-1.18457273e-02,
 -2.39881965e-02, 4.52658483e-05]


--- Step 644 ---
qpos:
[-1.35394168e-02, 1.35193186e-02, 1.00345977e-02, 1.47392384e-02,
 -1.90772931e-02,-9.07675174e-03,-1.74603929e-02, 1.63378221e-02,
 -1.21623134e-02,-6.68973042e-03,-1.43385386e-02, 1.51243345e-02,
  1.40347098e+00, 3.24051366e-02, 2.86597070e-01,-3.09550809e-02,
  9.52766074e-02,-7.08753440e-02, 1.04563169e-01, 9.99982815e-01,
  8.58709090e-04,-7.65575925e-04,-5.74861861e-03]

qacc:
[ 2.46425718e+00,-1.43829796e+00, 8.69557045e+00,-2.18063506e+01,
  1.17358837e+00, 1.50858000e+00,-5.10435516e+00, 6.52296435e+00,
 -1.58165979e+00,-1.56360475e+00, 6.11372635e+00,-9.13648746e+00,
 -1.35728244e-01,-7.08382585e+00,-6.41561379e+01, 1.54207156e+02,
  9.97126535e-01, 6.53076926e-01, 2.56122798e-01,-9.20169789e+00,
  2.84976675e+01,-3.52973293e+00]

qfrc_actuator:
[ 5.13744821e-04,-4.52918432e-04,-1.89106085e-04,-3.84389914e-05,
 -6.83064943e-04,-7.14527158e-04,-2.24405312e-04,-9.96171013e-05,
 -5.61510399e-04,-4.27535108e-04,-1.69572608e-04,-2.58525667e-05,
  2.10000000e-01,-5.72729528e-03, 9.00000000e-02, 3.48862799e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40429546,  0.3893083 ,  0.10905898,  0.3893083 ,  0.47934774,
       -0.26791446,  0.10905898, -0.26791446,  1.36067089,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021616614773076559
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70399168e-01,  2.41478523e-01, -3.68476854e-03,  2.41476782e-01,
        9.70406164e-01,  9.16927878e-04,  3.79714050e-03,  0.00000000e+00,
       -9.99992791e-01])
  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([ 0.10399102, -0.08948119,  0.14121535])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34928648, -0.28519218, -0.20165928, -0.28519218,  1.41566674,
       -1.50810474, -0.20165928, -1.50810474,  2.48209032,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008356864732437033
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78400309,  0.43936872, -0.43851371,  0.3834619 ,  0.89830681,
        0.2144804 ,  0.48815584,  0.        , -0.87275648])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10381896, -0.08873583,  0.15014869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.6804261 ,  -8.69285489,  -6.20530221,  -8.69285489,
        35.52822203, -34.80866477,  -6.20530221, -34.80866477,
        59.44302648,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000464318927519039
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49442409e-14,  7.47212045e-15,  1.00000000e+00, -1.11665168e-28,
        1.00000000e+00, -7.47212045e-15, -1.00000000e+00,  0.00000000e+00,
        1.49442409e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08158379, -0.06193385,  0.06198027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46575767e-05, 2.73504632e-05, 9.40693586e-06,-3.62570263e-05,
  7.06273753e-06, 2.47771552e-05,-1.48932071e-05, 3.59864666e-06,
 -9.40956502e-06, 1.11662436e-05, 2.84307969e-05,-5.27859228e-06,
  2.63925778e-01, 2.14680159e-04, 8.57330973e-02, 3.58579554e-02,
 -1.00083456e-04, 3.02311134e-05,-9.80989219e+00,-1.18402612e-02,
 -2.39939933e-02, 5.33007905e-05]


--- Step 645 ---
qpos:
[-1.35391964e-02, 1.35207761e-02, 1.00344048e-02, 1.47390626e-02,
 -1.90776214e-02,-9.07734421e-03,-1.74611465e-02, 1.63367802e-02,
 -1.21631995e-02,-6.68855264e-03,-1.43390893e-02, 1.51243590e-02,
  1.40346968e+00, 3.23982527e-02, 2.86614542e-01,-3.09653022e-02,
  9.52748009e-02,-7.08794214e-02, 1.04563158e-01, 9.99983203e-01,
  8.89680737e-04,-8.26779827e-04,-5.66732795e-03]

qacc:
[ 1.53628557e+00,-4.61732915e-01, 2.03552115e+00,-3.60240003e+00,
  6.83267296e+00, 2.16076410e+00,-8.08759259e+00, 1.10304715e+01,
  2.12621264e+00, 1.44599783e+00,-4.17684429e+00, 3.42663304e+00,
  4.60933057e-02,-5.71377791e+00,-6.28838018e+01, 1.51078322e+02,
  8.76649274e-01, 4.71675807e-01, 1.83545007e-01,-8.57718967e+00,
  2.60665557e+01,-9.96606796e+00]

qfrc_actuator:
[ 5.22466386e-04,-4.61059037e-04,-1.86029263e-04,-4.25789687e-05,
 -6.42667021e-04,-7.38713566e-04,-2.69243681e-04,-9.67456690e-05,
 -5.48554476e-04,-4.03779803e-04,-1.89094553e-04,-2.94035560e-05,
  2.10000000e-01,-5.70754967e-03, 9.00000000e-02, 3.49207328e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40343557,  0.38659363,  0.11535001,  0.38659363,  0.48284625,
       -0.26614358,  0.11535001, -0.26614358,  1.29541135,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021187270861013988
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70398512e-01,  2.41478061e-01, -3.88240788e-03,  2.41476128e-01,
        9.70406279e-01,  9.66107029e-04,  4.00080664e-03,  1.08420217e-19,
       -9.99991997e-01])
  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([ 0.10398304, -0.0894922 ,  0.14121528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008369625070669229
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.84632761e-01,  4.38445204e-01, -4.38311798e-01,  3.82771003e-01,
        8.98757922e-01,  2.13823657e-01,  4.87686158e-01,  2.77555756e-17,
       -8.73019021e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10380749, -0.08874542,  0.15015062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.72241916,  -8.6641625 ,  -6.31684738,  -8.6641625 ,
        42.28211828, -43.28715662,  -6.31684738, -43.28715662,
        70.09490941,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004673585370426059
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48470464e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.48470464e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0815871 , -0.06193908,  0.06198014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.10729265e-06, 7.55117534e-06, 8.63063292e-06,-3.34855877e-06,
  4.06373055e-05,-1.32100525e-05,-4.14178505e-05, 3.49005693e-06,
  1.26619904e-05, 3.56811656e-05,-1.38830807e-05,-2.18863031e-06,
  2.64127602e-01, 2.77305186e-04, 8.73636890e-02, 3.56311068e-02,
 -5.94292936e-05, 2.56970132e-05,-9.80994341e+00,-1.18346431e-02,
 -2.39970535e-02, 5.88629138e-05]


--- Step 646 ---
qpos:
[-1.35388737e-02, 1.35217206e-02, 1.00344835e-02, 1.47395898e-02,
 -1.90778069e-02,-9.07794830e-03,-1.74621081e-02, 1.63350667e-02,
 -1.21639241e-02,-6.68723746e-03,-1.43397916e-02, 1.51243550e-02,
  1.40346651e+00, 3.23911659e-02, 2.86601582e-01,-3.09710552e-02,
  9.52760517e-02,-7.08822791e-02, 1.04563621e-01, 9.99983456e-01,
  9.05268866e-04,-8.39973289e-04,-5.61803072e-03]

qacc:
[ 9.05634354e-01, 9.07685853e-03,-3.98798115e+00, 1.61042422e+01,
  1.23225650e+00,-8.19377652e-01, 5.73191916e+00,-1.70140074e+01,
  1.40290869e+00, 5.43639900e-01,-1.55924312e+00, 1.21180508e+00,
  1.63799202e-01,-3.71352006e+00,-5.86093722e+01, 1.39550501e+02,
  7.64308270e-01, 3.04913489e-01, 1.18694341e-01,-7.84084049e+00,
  2.39469372e+01,-1.60118305e+01]

qfrc_actuator:
[ 5.27505088e-04,-5.19804544e-04,-1.84179518e-04,-9.44047871e-06,
 -6.36523249e-04,-7.35266611e-04,-2.77688135e-04,-1.30176425e-04,
 -5.40573899e-04,-4.07974586e-04,-2.00353835e-04,-3.15056228e-05,
  2.10000000e-01,-5.65711088e-03, 9.00000000e-02, 3.49424302e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40327018,  0.38523774,  0.11924226,  0.38523774,  0.48313483,
       -0.2580199 ,  0.11924226, -0.2580199 ,  1.23685888,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002110349801077143
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70400814e-01,  2.41467114e-01, -3.98651501e-03,  2.41465077e-01,
        9.70409003e-01,  9.91965527e-04,  4.10807711e-03, -1.08420217e-19,
       -9.99991562e-01])
  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([ 0.10398013, -0.08949777,  0.14121628])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008383997427303342
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78491318,  0.43793759, -0.43831719,  0.38235921,  0.89900538,
        0.21351994,  0.48755792,  0.        , -0.87309064])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10380305, -0.08875101,  0.15015082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004685152025721423
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.44311766e-14,  5.92415688e-14,  1.00000000e+00, -2.63217261e-27,
        1.00000000e+00, -5.92415688e-14, -1.00000000e+00,  0.00000000e+00,
        4.44311766e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08158935, -0.06194297,  0.06198009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.25363569e-06,-5.28839262e-05, 4.35504134e-06, 3.36948915e-05,
  7.34345519e-06,-1.23193926e-05,-1.61521269e-05,-3.53631200e-05,
  8.32012310e-06, 1.28300440e-05,-5.66573057e-06,-1.09472940e-06,
  2.64277434e-01, 3.55755532e-04, 8.89638877e-02, 3.53975469e-02,
 -2.79730160e-05, 1.48683666e-05,-9.80997824e+00,-1.18299501e-02,
 -2.39980025e-02, 6.21620808e-05]


--- Step 647 ---
qpos:
[-1.35384936e-02, 1.35222059e-02, 1.00343513e-02, 1.47405375e-02,
 -1.90775714e-02,-9.07869414e-03,-1.74629227e-02, 1.63339936e-02,
 -1.21645477e-02,-6.68626427e-03,-1.43401253e-02, 1.51243519e-02,
  1.40346257e+00, 3.23842181e-02, 2.86560197e-01,-3.09732032e-02,
  9.52799584e-02,-7.08844839e-02, 1.04564335e-01, 9.99983518e-01,
  9.06732363e-04,-8.08812015e-04,-5.61139010e-03]

qacc:
[ 4.98193888e-01, 8.48083061e-01,-5.68126466e+00, 1.36366613e+01,
  3.66371786e+00, 7.13392481e-01,-5.53287060e+00, 1.65029732e+01,
  8.98639358e-01,-1.48149787e+00, 4.61971688e+00,-4.93768900e+00,
  2.63330499e-01,-1.69119437e+00,-5.30106946e+01, 1.24315590e+02,
  6.63985531e-01, 1.63224347e-01, 6.26085082e-02,-7.20462141e+00,
  2.21179366e+01,-2.13426300e+01]

qfrc_actuator:
[ 5.30337735e-04,-5.55121742e-04,-2.01016705e-04, 9.80986718e-06,
 -6.15095744e-04,-7.32949824e-04,-2.64492839e-04,-9.58885033e-05,
 -5.35592638e-04,-4.46605228e-04,-1.88984896e-04,-3.27481293e-05,
  2.10000000e-01,-5.71265432e-03, 9.00000000e-02, 3.49728216e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40362392,  0.38569204,  0.11897026,  0.38569204,  0.47810752,
       -0.24146985,  0.11897026, -0.24146985,  1.18644977,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021282200668957672
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70406154e-01,  2.41445354e-01, -4.00469952e-03,  2.41443298e-01,
        9.70414417e-01,  9.96395018e-04,  4.12679310e-03,  2.16840434e-19,
       -9.99991485e-01])
  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([ 0.10398146, -0.08949954,  0.14121808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008398754601189756
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.84923947e-01,  4.37739185e-01, -4.38496069e-01,  3.82150156e-01,
        8.99102000e-01,  2.13487360e-01,  4.87704476e-01,  2.77555756e-17,
       -8.73008788e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10380448, -0.08875379,  0.15014948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004681406627328258
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48222414e-14,  2.22333621e-14,  1.00000000e+00,  3.29548259e-28,
        1.00000000e+00, -2.22333621e-14, -1.00000000e+00,  0.00000000e+00,
       -1.48222414e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08159076, -0.06194579,  0.06198011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.92782527e-06,-6.25535311e-05,-2.60618374e-05, 1.77899203e-05,
  2.16738431e-05,-9.41454644e-06, 7.43912596e-06, 3.25129415e-05,
  5.18495004e-06,-3.26475859e-05, 1.32908008e-05,-9.08920408e-07,
  2.64371160e-01, 3.10060186e-04, 9.04852509e-02, 3.52044762e-02,
 -7.63837019e-06, 4.12419755e-06,-9.80999649e+00,-1.18270346e-02,
 -2.39973991e-02, 6.33987490e-05]


--- Step 648 ---
qpos:
[-1.35384278e-02, 1.35224416e-02, 1.00339697e-02, 1.47409941e-02,
 -1.90770800e-02,-9.07946950e-03,-1.74639532e-02, 1.63343860e-02,
 -1.21644176e-02,-6.68563937e-03,-1.43402691e-02, 1.51243478e-02,
  1.40345893e+00, 3.23777853e-02, 2.86492892e-01,-3.09729701e-02,
  9.52861584e-02,-7.08865451e-02, 1.04565102e-01, 9.99983326e-01,
  8.95372522e-04,-7.36448207e-04,-5.65711172e-03]

qacc:
[-2.72849648e+00,-6.39352829e-01, 3.88394126e+00,-1.18135638e+01,
  2.21604623e+00, 3.57474281e+00,-1.89988042e+01, 4.47379696e+01,
  6.59154809e+00,-1.00614805e+00, 2.90208541e+00,-2.94458165e+00,
  2.98889393e-01, 7.28212738e-01,-4.55695226e+01, 1.03731167e+02,
  5.73301258e-01, 3.59134951e-02, 1.33139642e-02,-6.54822503e+00,
  2.05411074e+01,-2.61948974e+01]

qfrc_actuator:
[ 5.14098286e-04,-5.58478139e-04,-2.10939580e-04,-1.47766028e-05,
 -6.02586114e-04,-7.31176367e-04,-2.74090545e-04,-2.20129686e-05,
 -4.96909744e-04,-4.69967699e-04,-1.82251191e-04,-3.34929832e-05,
  2.10000000e-01,-5.74328470e-03, 9.00000000e-02, 3.49542473e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40437052,  0.38709496,  0.11693164,  0.38709496,  0.47132859,
       -0.22166056,  0.11693164, -0.22166056,  1.13816413,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021653613406817123
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70414498e-01,  2.41412824e-01, -3.94351597e-03,  2.41410831e-01,
        9.70422510e-01,  9.81031783e-04,  4.06371032e-03,  1.08420217e-19,
       -9.99991743e-01])
  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([ 0.10398625, -0.08949888,  0.14122043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008414237350401638
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78473232,  0.43775834, -0.43881979,  0.38207755,  0.89909267,
        0.21365654,  0.48806959,  0.        , -0.87280472])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10381074, -0.08875476,  0.15014672])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046653781356309487
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48731651e-14,  2.23097476e-14,  1.00000000e+00, -3.31816558e-28,
        1.00000000e+00, -2.23097476e-14, -1.00000000e+00,  0.00000000e+00,
        1.48731651e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08159151, -0.06194778,  0.06198017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61946827e-05,-4.29692659e-05,-2.54428742e-05,-2.78233717e-05,
  1.31677956e-05,-5.62318812e-07,-9.50446836e-06, 7.43608620e-05,
  3.87882086e-05,-3.88910100e-05, 1.60225171e-06,-1.70060028e-06,
  2.64410080e-01, 2.71628142e-04, 9.19062983e-02, 3.50055864e-02,
 -2.55270606e-06,-2.40034862e-07,-9.80999825e+00,-1.18265322e-02,
 -2.39956695e-02, 6.27483759e-05]


--- Step 649 ---
qpos:
[-1.35389023e-02, 1.35224935e-02, 1.00339571e-02, 1.47411004e-02,
 -1.90764416e-02,-9.08030464e-03,-1.74647693e-02, 1.63352890e-02,
 -1.21641700e-02,-6.68538323e-03,-1.43400219e-02, 1.51243235e-02,
  1.40345618e+00, 3.23719631e-02, 2.86400835e-01,-3.09723811e-02,
  9.52942964e-02,-7.08888775e-02, 1.04565770e-01, 9.99982811e-01,
  8.71930978e-04,-6.25900634e-04,-5.76418565e-03]

qacc:
[-4.66898678e+00,-1.98698142e+00, 8.22656267e+00,-1.47598201e+01,
  1.28511156e+00, 3.70493413e-01,-3.59663581e+00, 1.21422754e+01,
  1.04312127e+00,-1.62303311e+00, 5.16157237e+00,-5.85990768e+00,
  3.99499481e-01, 1.28365795e+00,-3.77059663e+01, 7.87387976e+01,
  4.84531565e-01,-6.78017045e-02,-2.48262297e-02,-6.17120260e+00,
  1.90298051e+01,-3.06892012e+01]

qfrc_actuator:
[ 4.86764255e-04,-5.42683754e-04,-1.81085733e-04,-2.94163677e-05,
 -5.95430385e-04,-7.29784440e-04,-2.61554867e-04, 3.52358746e-06,
 -4.91957002e-04,-4.84026164e-04,-1.60514819e-04,-3.39375731e-05,
  2.10000000e-01,-5.72389356e-03, 9.00000000e-02, 3.49060755e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40541325,  0.4006925 ,  0.06168812,  0.4006925 ,  0.42215913,
       -0.10877211,  0.06168812, -0.10877211,  1.1119378 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022159921730072765
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70425719e-01,  2.41369882e-01, -3.80850130e-03,  2.41368024e-01,
        9.70433192e-01,  9.47265118e-04,  3.92453735e-03,  1.08420217e-19,
       -9.99992299e-01])
  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([ 0.1039938 , -0.08949701,  0.14122311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009069570021064562
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78439639,  0.43791252, -0.43926635,  0.3820804 ,  0.89901759,
        0.21396715,  0.48860707,  0.        , -0.87250394])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1038209 , -0.08875485,  0.15014263])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046396691102502247
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49555792e-14,  7.47778962e-15,  1.00000000e+00, -1.11834675e-28,
        1.00000000e+00, -7.47778962e-15, -1.00000000e+00,  0.00000000e+00,
        1.49555792e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08159174, -0.0619491 ,  0.06198028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.78189596e-05,-1.46900224e-05, 1.68810939e-05,-1.79024089e-05,
  7.57133113e-06, 2.28755312e-06, 1.38156381e-05, 2.66291196e-05,
  6.02923741e-06,-3.55412690e-05, 1.38380932e-05,-2.09080820e-06,
  2.64395164e-01, 2.63912246e-04, 9.32018883e-02, 3.48382768e-02,
 -1.78799075e-05, 7.51590249e-06,-9.80998380e+00,-1.18288735e-02,
 -2.39931320e-02, 6.03711956e-05]


--- Step 650 ---
qpos:
[-1.35397012e-02, 1.35226638e-02, 1.00341311e-02, 1.47413483e-02,
 -1.90760663e-02,-9.08114088e-03,-1.74654334e-02, 1.63364878e-02,
 -1.21648996e-02,-6.68529012e-03,-1.43398451e-02, 1.51239542e-02,
  1.40345513e+00, 3.23671057e-02, 2.86286597e-01,-3.09725550e-02,
  9.53041292e-02,-7.08917916e-02, 1.04566193e-01, 9.99981899e-01,
  8.37038886e-04,-4.79274713e-04,-5.93891719e-03]

qacc:
[ -2.80854796, -0.06783098, -0.1194193 ,  2.17471074, -2.28024039,
   0.18723359, -1.91105987,  6.78035164, -8.52901965, -0.71228399,
   3.71290659, -9.4838364 ,  0.32942155,  3.80032782,-30.48619171,
  59.07414246,  0.423677  , -0.1454399 , -0.06105918, -5.85015736,
  17.97624192,-33.84151079]

qfrc_actuator:
[ 4.70877761e-04,-5.15365033e-04,-1.63389863e-04,-2.02800121e-05,
 -6.09233213e-04,-7.28579360e-04,-2.53835674e-04, 1.81778931e-05,
 -5.42412713e-04,-4.92342453e-04,-1.65559075e-04,-5.19351797e-05,
  2.10000000e-01,-5.72804895e-03, 9.00000000e-02, 3.48767233e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4066269 ,  0.40214263,  0.06022243,  0.40214263,  0.42087285,
       -0.0951291 ,  0.06022243, -0.0951291 ,  1.04186309,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022732173349787125
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70440207e-01,  2.41314748e-01, -3.60518315e-03,  2.41313083e-01,
        9.70446903e-01,  8.96477549e-04,  3.71497207e-03,  1.08420217e-19,
       -9.99993099e-01])
  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([ 0.10400352, -0.08949509,  0.14122591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009079617940736899
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.83975621e-01,  4.38128153e-01, -4.39802168e-01,  3.82108140e-01,
        8.98912521e-01,  2.14358691e-01,  4.89260253e-01,  2.77555756e-17,
       -8.72137836e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10383411, -0.08875484,  0.15013745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046064944693179066
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50632850e-14,  3.76582125e-14,  1.00000000e+00, -5.67256387e-28,
        1.00000000e+00, -3.76582125e-14, -1.00000000e+00,  0.00000000e+00,
        1.50632850e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08159156, -0.06194989,  0.06198042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.66957665e-05, 2.18314874e-05, 1.61278686e-05, 8.74479733e-06,
 -1.35478136e-05, 6.45847629e-06, 1.08072617e-05, 1.57469264e-05,
 -5.03080089e-05,-2.54301449e-05,-1.07569792e-05,-1.90833655e-05,
  2.64351253e-01, 2.27378464e-04, 9.44390545e-02, 3.47910307e-02,
 -5.94995940e-05, 3.27161879e-05,-9.80995348e+00,-1.18343690e-02,
 -2.39900597e-02, 5.63895487e-05]


--- Step 651 ---
qpos:
[-1.35403401e-02, 1.35232124e-02, 1.00344087e-02, 1.47413300e-02,
 -1.90762036e-02,-9.08177948e-03,-1.74660556e-02, 1.63374895e-02,
 -1.21662284e-02,-6.68533936e-03,-1.43397485e-02, 1.51233703e-02,
  1.40345641e+00, 3.23635448e-02, 2.86152489e-01,-3.09745375e-02,
  9.53154629e-02,-7.08955183e-02, 1.04566251e-01, 9.99980508e-01,
  7.91036374e-04,-2.98260342e-04,-6.18621100e-03]

qacc:
[  1.38305948, -0.34079085,  3.06005596, -8.10817477, -4.45291256,
  -0.25282622,  2.12789231, -5.76811674, -5.22999239, -0.39543605,
   2.06085295, -5.56130342,  0.21615781,  6.25552593,-23.86858637,
  40.96338633,  0.37523434, -0.20312948, -0.09150182, -5.67441287,
  17.13043922,-36.29363679]

qfrc_actuator:
[ 4.79612699e-04,-4.81360389e-04,-1.52953891e-04,-3.27349713e-05,
 -6.35259746e-04,-7.09768516e-04,-2.49029662e-04, 8.56085447e-06,
 -5.71807980e-04,-4.97271639e-04,-1.68614092e-04,-6.23789911e-05,
  2.10000000e-01,-5.72917812e-03, 9.00000000e-02, 3.48418866e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40795068,  0.40376214,  0.05830861,  0.40376214,  0.41975669,
       -0.08175157,  0.05830861, -0.08175157,  0.97404532,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002333698365586877
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70457704e-01,  2.41248227e-01, -3.33733095e-03,  2.41246801e-01,
        9.70463442e-01,  8.29629578e-04,  3.43890435e-03,  0.00000000e+00,
       -9.99994087e-01])
  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([ 0.10401492, -0.08949382,  0.14122867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009091279525225475
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78350473,  0.43835493, -0.44041492,  0.38212329,  0.89880195,
        0.21479487,  0.49000218,  0.        , -0.87172121])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10384974, -0.08875529,  0.15013119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045677578858063783
  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([ 0.08159106, -0.06195027,  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:
[ 8.25133492e-06, 4.99431247e-05, 1.72451020e-05,-1.07885733e-05,
 -2.63799669e-05, 2.53110904e-05, 8.01237727e-06,-8.66010845e-06,
 -3.08484548e-05,-2.21809792e-05,-1.02828493e-05,-1.22734414e-05,
  2.64267250e-01, 1.75711317e-04, 9.55476307e-02, 3.47942206e-02,
 -1.32490321e-04, 7.91129070e-05,-9.80990767e+00,-1.18431229e-02,
 -2.39866234e-02, 5.08942061e-05]


--- Step 652 ---
qpos:
[-1.35408700e-02, 1.35240817e-02, 1.00351210e-02, 1.47408012e-02,
 -1.90763066e-02,-9.08218401e-03,-1.74666026e-02, 1.63376704e-02,
 -1.21668651e-02,-6.68543865e-03,-1.43394890e-02, 1.51229819e-02,
  1.40346046e+00, 3.23615811e-02, 2.86000324e-01,-3.09791142e-02,
  9.53281606e-02,-7.09001962e-02, 1.04565841e-01, 9.99978541e-01,
  7.33863864e-04,-8.41237224e-05,-6.50932785e-03]

qacc:
[  0.95322157, -1.84471651,  9.34382178,-19.10554383,  0.29569191,
  -1.59056234,  9.58564717,-24.08491677,  6.04686635, -0.1308202 ,
  -0.47580332,  3.65930039,  0.05293243,  8.58733158,-18.77756281,
  27.12107887,  0.34099721, -0.23780892, -0.11674038, -5.69842081,
  16.49617728,-37.92399722]

qfrc_actuator:
[ 4.85013289e-04,-4.61403983e-04,-1.29112847e-04,-5.77934517e-05,
 -6.32760561e-04,-6.98345161e-04,-2.45922318e-04,-3.29970615e-05,
 -5.35296236e-04,-4.82371426e-04,-1.52684961e-04,-5.05303281e-05,
  2.10000000e-01,-5.69370388e-03, 9.00000000e-02, 3.48406154e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40933368,  0.40533506,  0.05707497,  0.40533506,  0.41920867,
       -0.07013022,  0.05707497, -0.07013022,  0.90738451,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002394890116830479
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70477962e-01,  2.41171054e-01, -3.00801995e-03,  2.41169895e-01,
        9.70482624e-01,  7.47511932e-04,  3.09950933e-03,  0.00000000e+00,
       -9.99995197e-01])
  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([ 0.10402761, -0.08949376,  0.14123128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009105659393271421
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78300981,  0.43855533, -0.44109507,  0.38209806,  0.89870419,
        0.21524835,  0.4908123 ,  0.        , -0.87126534])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1038673 , -0.08875657,  0.15012386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045250673140735664
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.13373762e-14, -7.66717202e-15,  1.00000000e+00,  4.70284215e-28,
        1.00000000e+00,  7.66717202e-15, -1.00000000e+00,  0.00000000e+00,
        6.13373762e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08159033, -0.06195033,  0.06198077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.63268811e-06, 5.10130592e-05, 3.59164158e-05,-2.25302706e-05,
  1.77676385e-06, 2.68568926e-05, 9.02541834e-06,-4.03631530e-05,
  3.56233501e-05,-1.15833210e-07, 9.67297853e-06, 1.03078197e-05,
  2.64151068e-01, 1.43660441e-04, 9.65405264e-02, 3.48832495e-02,
 -2.40849642e-04, 1.49445127e-04,-9.80984660e+00,-1.18551777e-02,
 -2.39829614e-02, 4.39454534e-05]


--- Step 653 ---
qpos:
[-1.35413315e-02, 1.35250150e-02, 1.00359749e-02, 1.47400300e-02,
 -1.90763785e-02,-9.08244431e-03,-1.74676699e-02, 1.63380960e-02,
 -1.21674044e-02,-6.68553176e-03,-1.43387551e-02, 1.51220183e-02,
  1.40347788e+00, 3.23637782e-02, 2.85923233e-01,-3.10032122e-02,
  9.53334109e-02,-7.09080672e-02, 1.04564435e-01, 9.99976830e-01,
  7.39290478e-04, 2.98313619e-05,-6.76697812e-03]

qacc:
[ 5.96549625e-01,-8.11715264e-01, 4.03874886e+00,-8.50661792e+00,
  2.51455932e-01, 2.14703105e+00,-8.41347924e+00, 1.33758654e+01,
  8.64040789e-01,-2.50299573e+00, 1.13632883e+01,-2.20816347e+01,
 -2.07477211e-01, 3.13730217e+01, 1.70546788e+02,-4.34517780e+02,
 -1.86185231e+00,-7.98299543e-01,-2.49144165e-01, 3.16276079e+01,
 -4.98619229e+01, 3.27675487e+01]

qfrc_actuator:
[ 4.88400167e-04,-4.85475453e-04,-1.33106581e-04,-7.23107871e-05,
 -6.31240425e-04,-7.09222410e-04,-2.79389549e-04,-2.20064166e-05,
 -5.31302387e-04,-4.73361541e-04,-1.25576477e-04,-7.88884089e-05,
  2.10000000e-01,-5.67259215e-03, 9.00000000e-02, 3.48787452e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4107358 ,  0.40481453,  0.0694917 ,  0.40481453,  0.41506448,
       -0.02521615,  0.0694917 , -0.02521615,  0.55762909,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002455004669370092
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70500761e-01,  2.41083826e-01, -2.61966535e-03,  2.41082948e-01,
        9.70504296e-01,  6.50753375e-04,  2.69928259e-03,  0.00000000e+00,
       -9.99996357e-01])
  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([ 0.10404131, -0.08949521,  0.14123366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009123290373160911
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78250772,  0.43870653, -0.4418351 ,  0.38201606,  0.89863039,
        0.21570152,  0.49167611,  0.        , -0.87077816])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10388644, -0.08875894,  0.15011547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.53681509,  9.30387434,  4.94594728,  9.30387434, 13.24298901,
       -5.09061272,  4.94594728, -5.09061272, 20.11282114,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045359690547613213
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.52974895e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.52974895e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09943139, -0.05237068,  0.06198072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.52800935e-06, 1.09337240e-05, 1.01955800e-05,-1.15258096e-05,
  1.60269361e-06, 4.27997846e-06,-2.82036842e-05, 1.16684517e-05,
  5.01478319e-06, 1.14204571e-05, 2.86386883e-05,-2.78277296e-05,
  2.64013340e-01, 8.18420439e-05, 9.74427052e-02, 3.50509430e-02,
 -3.86905399e-04, 2.44979411e-04,-9.80977033e+00,-1.18704956e-02,
 -2.39792066e-02, 3.55671430e-05]


--- Step 654 ---
qpos:
[-1.35414043e-02, 1.35256360e-02, 1.00366918e-02, 1.47395053e-02,
 -1.90764311e-02,-9.08283524e-03,-1.74684447e-02, 1.63382838e-02,
 -1.21682364e-02,-6.68553549e-03,-1.43377052e-02, 1.51203771e-02,
  1.40350270e+00, 3.23683156e-02, 2.85915723e-01,-3.10420936e-02,
  9.53325571e-02,-7.09180812e-02, 1.04562381e-01, 9.99975696e-01,
  7.85473338e-04, 4.22677223e-05,-6.92731736e-03]

qacc:
[ 3.36997040e+00, 4.71422597e-01,-3.33222502e+00, 8.06114516e+00,
  1.78976090e-01,-1.47899353e+00, 6.02653595e+00,-1.05122092e+01,
 -2.54592792e+00,-2.15442755e+00, 1.07230363e+01,-2.30309991e+01,
 -9.21161571e-01, 2.12949873e+01, 1.47987518e+02,-3.67606101e+02,
 -1.52603037e+00,-5.35720807e-01,-1.61947238e-01, 2.07194736e+01,
 -5.05843263e+01, 4.86944762e+01]

qfrc_actuator:
[ 5.08328436e-04,-5.35835404e-04,-1.53681970e-04,-6.28145950e-05,
 -6.30318229e-04,-7.15731180e-04,-2.63225498e-04,-3.34816996e-05,
 -5.46501372e-04,-4.67922078e-04,-1.09889514e-04,-1.12925230e-04,
  2.10000000e-01,-5.69880576e-03, 9.00000000e-02, 3.49052224e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41092703,  0.37921251,  0.15830002,  0.37921251,  0.97418964,
       -1.34931269,  0.15830002, -1.34931269,  3.64324659,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024630615566002156
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70516334e-01,  2.41023448e-01, -2.39635494e-03,  2.41022713e-01,
        9.70519293e-01,  5.95122358e-04,  2.46914714e-03, -1.08420217e-19,
       -9.99996952e-01])
  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([ 0.10404493, -0.08950731,  0.14123371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36381361,  0.34210814,  0.12378355,  0.34210814,  0.4873611 ,
       -0.3414557 ,  0.12378355, -0.3414557 ,  1.3075155 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009161982884341323
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78265312,  0.43797577, -0.44230229,  0.38129938,  0.89898678,
        0.21548447,  0.49200089,  0.        , -0.8705947 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10389193, -0.08877012,  0.1501081 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.564735  ,  -9.92475572,  -3.62116686,  -9.92475572,
        16.11267275, -15.20557571,  -3.62116686, -15.20557571,
        52.23959567,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004557223340739269
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.09045762e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.09045762e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09943617, -0.05238092,  0.06198063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99918635e-05,-4.26119391e-05,-1.74529500e-05, 1.00942930e-05,
  9.91517784e-07,-9.43778841e-06, 1.39783645e-05,-1.20406696e-05,
 -1.50544010e-05, 1.65698503e-05, 2.06163534e-05,-3.30969416e-05,
  2.63345241e-01,-1.54052590e-04, 9.36886851e-02, 3.60533846e-02,
 -1.90174276e-04, 1.43766385e-04,-9.80994088e+00,-1.18492040e-02,
 -2.39619265e-02, 3.44635468e-05]


--- Step 655 ---
qpos:
[-1.35408935e-02, 1.35259858e-02, 1.00371512e-02, 1.47394479e-02,
 -1.90768167e-02,-9.08329095e-03,-1.74684649e-02, 1.63379463e-02,
 -1.21685546e-02,-6.68507340e-03,-1.43369372e-02, 1.51186790e-02,
  1.40352718e+00, 3.23725237e-02, 2.85956580e-01,-3.10892648e-02,
  9.53263703e-02,-7.09296134e-02, 1.04559834e-01, 9.99975332e-01,
  8.58138112e-04,-4.87053576e-05,-6.97115036e-03]

qacc:
[ 5.05706762e+00, 1.31381504e+00,-7.19393655e+00, 1.59098939e+01,
 -2.86738987e+00,-3.26924255e+00, 1.37617761e+01,-2.40262614e+01,
  4.46705635e+00, 1.27704682e+00,-3.43526692e+00, 2.57515006e+00,
 -1.17124303e+00, 4.00749669e+00, 9.67597116e+01,-2.34391759e+02,
 -1.33324295e+00,-3.79542837e-01,-1.23299073e-01, 1.35960459e+01,
 -5.15659996e+01, 5.82955444e+01]

qfrc_actuator:
[ 5.37834011e-04,-5.48359731e-04,-1.66231766e-04,-3.93023313e-05,
 -6.47508102e-04,-7.01649054e-04,-2.17887334e-04,-5.80520196e-05,
 -5.19607165e-04,-4.29205274e-04,-1.18839492e-04,-1.14531690e-04,
  2.10000000e-01,-5.70000045e-03, 9.00000000e-02, 3.48745208e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41018738,  0.3849105 , -0.14176597,  0.3849105 ,  0.43102751,
        0.0565833 , -0.14176597,  0.0565833 ,  0.56381739,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002431712696494628
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70525572e-01,  2.40986696e-01, -2.35101929e-03,  2.40985988e-01,
        9.70528419e-01,  5.83768965e-04,  2.42241159e-03,  1.08420217e-19,
       -9.99997066e-01])
  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([ 0.10404036, -0.08952589,  0.14123212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36444686,  0.34421896,  0.11972811,  0.34421896,  0.43564267,
       -0.20468833,  0.11972811, -0.20468833,  0.95292695,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009213467106143911
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.83280972e-01,  4.36671777e-01, -4.42480144e-01,  3.80200921e-01,
        8.99620897e-01,  2.14777793e-01,  4.91851785e-01,  2.77555756e-17,
       -8.70678943e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1038861 , -0.08878647,  0.15010279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.5703624 ,  -9.97589412,  -3.49486735,  -9.97589412,
        17.1453971 , -18.7680514 ,  -3.49486735, -18.7680514 ,
        64.14266573,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045614827833369287
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.60596305e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.60596305e-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([ 0.09944015, -0.05238848,  0.06198061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00378462e-05,-3.95137723e-05,-2.31511191e-05, 2.12782417e-05,
 -1.71418024e-05, 1.11780922e-05, 4.46945987e-05,-2.47252937e-05,
  2.64608877e-05, 5.08469836e-05,-4.12352291e-06,-8.24529222e-07,
  2.62976050e-01,-2.72562964e-04, 9.02095370e-02, 3.67618063e-02,
 -4.83316936e-05, 3.98929574e-05,-9.81001090e+00,-1.18327832e-02,
 -2.39573028e-02, 3.65352527e-05]


--- Step 656 ---
qpos:
[-1.35407227e-02, 1.35261196e-02, 1.00374402e-02, 1.47393141e-02,
 -1.90774051e-02,-9.08362840e-03,-1.74683162e-02, 1.63380242e-02,
 -1.21685487e-02,-6.68411969e-03,-1.43360743e-02, 1.51172901e-02,
  1.40354187e+00, 3.23727657e-02, 2.86013296e-01,-3.11383541e-02,
  9.53149537e-02,-7.09425667e-02, 1.04556696e-01, 9.99975736e-01,
  9.51917601e-04,-2.44831965e-04,-6.89642426e-03]

qacc:
[-2.95018799e+00, 3.95968907e-02,-2.23103743e-01,-6.77698722e-01,
 -1.75718887e+00, 5.42913509e-01,-3.45760333e+00, 1.02855927e+01,
  2.82436137e+00, 1.01563621e+00,-3.99357385e+00, 8.84143652e+00,
 -9.89080894e-01,-2.07413615e+01, 2.90971004e+01,-6.81688980e+01,
 -1.30744816e+00,-3.55289390e-01,-1.47869073e-01, 1.09261748e+01,
 -5.24509817e+01, 5.93253690e+01]

qfrc_actuator:
[ 5.19477526e-04,-5.55851576e-04,-1.73790953e-04,-4.32049395e-05,
 -6.57467961e-04,-6.92978627e-04,-2.08881826e-04,-3.68386843e-05,
 -5.03651562e-04,-3.88686892e-04,-1.06595007e-04,-9.70295838e-05,
  2.10000000e-01,-5.66669758e-03, 9.00000000e-02, 3.48266843e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40841912,  0.37009984, -0.17272027,  0.37009984,  0.36610618,
       -0.09066691, -0.17272027, -0.09066691,  0.21414078,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002354645266303258
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70532606e-01,  2.40956925e-01, -2.49405048e-03,  2.40956130e-01,
        9.70535811e-01,  6.19203051e-04,  2.56976657e-03,  0.00000000e+00,
       -9.99996698e-01])
  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([ 0.10402921, -0.08954944,  0.14122927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36501719,  0.34918685,  0.10633011,  0.34918685,  0.37222688,
       -0.02367654,  0.10633011, -0.02367654,  0.44277067,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009262747556568237
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78435537,  0.43494535, -0.44227728,  0.37886515,  0.90045685,
        0.21363205,  0.49116988,  0.        , -0.87106381])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10387059, -0.0888063 ,  0.15010147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.5583404 , -10.0292235 ,  -3.30048905, -10.0292235 ,
        17.90100724, -22.31222274,  -3.30048905, -22.31222274,
        78.35867704,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004552373283768299
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.09694634e-14, -1.52423658e-14,  1.00000000e+00, -9.29318866e-28,
        1.00000000e+00,  1.52423658e-14, -1.00000000e+00,  0.00000000e+00,
       -6.09694634e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0994435 , -0.05239391,  0.06198065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75218942e-05,-3.34652142e-05,-1.78430517e-05,-5.98510665e-06,
 -1.04327363e-05, 2.31014745e-05, 1.59696989e-05, 2.27593530e-05,
  1.67095448e-05, 6.80838164e-05, 2.22125590e-05, 1.95219762e-05,
  2.62992652e-01,-2.22160318e-04, 8.77912091e-02, 3.71284426e-02,
 -1.03611787e-05,-1.53234299e-05,-9.80998509e+00,-1.18266092e-02,
 -2.39633381e-02, 4.15989899e-05]


--- Step 657 ---
qpos:
[-1.35418078e-02, 1.35261065e-02, 1.00376254e-02, 1.47384302e-02,
 -1.90777636e-02,-9.08367643e-03,-1.74681196e-02, 1.63383419e-02,
 -1.21680071e-02,-6.68285971e-03,-1.43350099e-02, 1.51164830e-02,
  1.40355077e+00, 3.23718484e-02, 2.86038641e-01,-3.11819561e-02,
  9.53078368e-02,-7.09519920e-02, 1.04554791e-01, 9.99976166e-01,
  1.02319998e-03,-3.80946816e-04,-6.81730165e-03]

qacc:
[-10.88745038, -1.42784834,  8.01281004,-20.76013213,  1.99310578,
   0.73811278, -3.09614949,  6.96415298,  4.67698593,  1.03002741,
  -5.55821298, 15.09911993, -0.65025544, -7.85250878,-63.10514512,
 153.21281307,  1.07491933,  0.88198515,  0.30840362,-11.45468867,
  29.92967122,  2.17247838]

qfrc_actuator:
[ 4.55341515e-04,-5.60270564e-04,-1.78339721e-04,-8.09524287e-05,
 -6.45334221e-04,-6.69959712e-04,-2.03639317e-04,-2.43911330e-05,
 -4.76522446e-04,-3.82804947e-04,-9.96503104e-05,-6.84055923e-05,
  2.10000000e-01,-5.64443308e-03, 9.00000000e-02, 3.48542742e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40524632,  0.40400035,  0.03175378,  0.40400035,  0.41106473,
       -0.07402704,  0.03175378, -0.07402704,  1.34708529,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022079806421672557
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70544099e-01,  2.40906901e-01, -2.83137270e-03,  2.40905876e-01,
        9.70548229e-01,  7.02795804e-04,  2.91729212e-03,  0.00000000e+00,
       -9.99995745e-01])
  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([ 0.1040126 , -0.08957927,  0.14122537])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36531539, -0.36511922, -0.01197057, -0.36511922,  0.36799573,
       -0.08175406, -0.01197057, -0.08175406,  2.85892934,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009289812246055785
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.85967919e-01,  4.32764819e-01, -4.41552988e-01,  3.77300807e-01,
        9.01506856e-01,  2.11965774e-01,  4.89794376e-01, -2.77555756e-17,
       -8.71837983e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10384601, -0.08883007,  0.15010674])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.5906652 ,  9.26067273,  5.1383003 ,  9.26067273, 15.12604651,
       -8.17404191,  5.1383003 , -8.17404191, 25.32260429,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045767827205917683
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.27416102e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.27416102e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0815993 , -0.06196501,  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:
[-6.46599597e-05,-2.70869384e-05,-1.38672901e-05,-3.99150593e-05,
  1.18501769e-05, 4.02288034e-05, 1.27763195e-05, 1.44348183e-05,
  2.75882502e-05, 4.93811788e-05, 2.44172673e-05, 3.26893210e-05,
  2.63482199e-01,-6.69131298e-07, 8.69983737e-02, 3.72519270e-02,
 -9.89998905e-05, 3.17130223e-06,-9.80986894e+00,-1.18326555e-02,
 -2.39775411e-02, 4.96423063e-05]


--- Step 658 ---
qpos:
[-1.35433086e-02, 1.35258920e-02, 1.00380306e-02, 1.47370854e-02,
 -1.90786638e-02,-9.08318012e-03,-1.74682172e-02, 1.63381064e-02,
 -1.21674902e-02,-6.68152299e-03,-1.43337241e-02, 1.51160539e-02,
  1.40355506e+00, 3.23701694e-02, 2.86033193e-01,-3.12186509e-02,
  9.53045723e-02,-7.09586487e-02, 1.04553807e-01, 9.99976562e-01,
  1.07322608e-03,-4.61963125e-04,-6.74608684e-03]

qacc:
[ -3.59438343, -1.82405481,  8.07582214,-16.27204162, -4.72232322,
   0.41200304,  1.92660415,-11.44875066, -0.20945127,  0.26129062,
  -2.37973072,  8.51057522, -0.48510613, -5.85820431,-66.53228544,
 166.48221492,  0.96311467,  0.69216094,  0.23027343,-10.81718836,
  27.47210783, -3.97805719]

qfrc_actuator:
[ 4.35800005e-04,-5.62828630e-04,-1.63328210e-04,-1.02797390e-04,
 -6.73553803e-04,-6.38550177e-04,-2.18353806e-04,-5.26988023e-05,
 -4.78535644e-04,-3.97716159e-04,-9.60302142e-05,-5.12574877e-05,
  2.10000000e-01,-5.66551706e-03, 9.00000000e-02, 3.49559871e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40330972,  0.39274604,  0.0917021 ,  0.39274604,  0.4482265 ,
       -0.19237169,  0.0917021 , -0.19237169,  1.22720815,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021123562485467648
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70557667e-01,  2.40849405e-01, -3.06254313e-03,  2.40848206e-01,
        9.70562499e-01,  7.59983713e-04,  3.15543114e-03,  0.00000000e+00,
       -9.99995022e-01])
  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([ 0.10400263, -0.08959991,  0.14122309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35686309, -0.29223224, -0.20482086, -0.29223224,  1.47835786,
       -1.60011497, -0.20482086, -1.60011497,  2.63985897,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008719846840666985
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.87059177e-01,  4.31248700e-01, -4.41092293e-01,  3.76197957e-01,
        9.02233095e-01,  2.10832964e-01,  4.88889507e-01,  2.77555756e-17,
       -8.72345717e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10383064, -0.08884695,  0.1501101 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.6499668 ,  -8.6295745 ,  -6.2411727 ,  -8.6295745 ,
        37.75509803, -37.47785241,  -6.2411727 , -37.47785241,
        62.47002289,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004620877305494403
  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([ 0.08160347, -0.06197134,  0.06198036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.14131361e-05,-2.22636561e-05, 6.34236123e-06,-2.42573969e-05,
 -2.78667232e-05, 5.71800739e-05,-4.32801949e-06,-2.58604181e-05,
 -1.26439283e-06, 1.91322567e-05, 1.79493867e-05, 2.07426773e-05,
  2.63771272e-01, 3.65295202e-05, 8.85669521e-02, 3.70792460e-02,
 -5.99001555e-05, 1.24763862e-05,-9.80992511e+00,-1.18277511e-02,
 -2.39821012e-02, 5.71126695e-05]


--- Step 659 ---
qpos:
[-1.35443428e-02, 1.35254647e-02, 1.00388712e-02, 1.47358205e-02,
 -1.90798954e-02,-9.08217910e-03,-1.74687844e-02, 1.63375511e-02,
 -1.21676919e-02,-6.68027880e-03,-1.43325735e-02, 1.51162265e-02,
  1.40355585e+00, 3.23679788e-02, 2.85997795e-01,-3.12485647e-02,
  9.53046698e-02,-7.09632865e-02, 1.04553477e-01, 9.99976850e-01,
  1.10357750e-03,-4.92608824e-04,-6.69612176e-03]

qacc:
[  4.0612909 , -1.34177638,  4.0249607 , -3.16607382, -2.90111917,
   1.32583218, -2.39967709, -2.76655009, -6.27533061,  1.50610227,
  -8.06734885, 18.74376784, -0.24512444, -4.80786655,-64.90006259,
 162.59080636,  0.84049317,  0.50473173,  0.16357015,-10.0118627 ,
  25.10692285,-10.64746197]

qfrc_actuator:
[ 4.60430143e-04,-5.64156711e-04,-1.36862729e-04,-9.73371755e-05,
 -6.89800450e-04,-6.20229585e-04,-2.44719529e-04,-6.92573038e-05,
 -5.15440798e-04,-4.24996257e-04,-1.12257930e-04,-2.32711236e-05,
  2.10000000e-01,-5.71254413e-03, 9.00000000e-02, 3.50097959e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4022703 ,  0.39069565,  0.09580346,  0.39069565,  0.44859026,
       -0.18889721,  0.09580346, -0.18889721,  1.17261114,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020588415696093506
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70573235e-01,  2.40784918e-01, -3.19658042e-03,  2.40783612e-01,
        9.70578499e-01,  7.93020199e-04,  3.29347953e-03,  0.00000000e+00,
       -9.99994576e-01])
  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([ 0.1039984 , -0.08961312,  0.14122214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008739006353813195
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78771743,  0.43028342, -0.44085987,  0.37547808,  0.90269385,
        0.21014289,  0.48838249,  0.        , -0.87262967])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382327, -0.08885824,  0.15011177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.68188623,  -8.58810495,  -6.35194039,  -8.58810495,
        45.05817759, -46.47826964,  -6.35194039, -46.47826964,
        73.52256691,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004644253212880492
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.49408174e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.49408174e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08160642, -0.06197613,  0.06198026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.40116939e-05,-1.34611641e-05, 2.18266877e-05, 4.25753248e-06,
 -1.70441554e-05, 4.83163728e-05,-1.59713666e-05,-1.47580990e-05,
 -3.69987695e-05,-1.20094919e-05,-9.35560138e-06, 2.98295086e-05,
  2.64001778e-01, 2.73072487e-05, 9.01064487e-02, 3.67876516e-02,
 -3.05607424e-05, 1.12937312e-05,-9.80996584e+00,-1.18231028e-02,
 -2.39840087e-02, 6.19805118e-05]


--- Step 660 ---
qpos:
[-1.35454189e-02, 1.35250981e-02, 1.00399185e-02, 1.47346109e-02,
 -1.90806231e-02,-9.08108943e-03,-1.74692481e-02, 1.63371612e-02,
 -1.21673010e-02,-6.67913603e-03,-1.43318683e-02, 1.51167568e-02,
  1.40355432e+00, 3.23655918e-02, 2.85934265e-01,-3.12723410e-02,
  9.53076743e-02,-7.09665932e-02, 1.04553564e-01, 9.99976953e-01,
  1.11600900e-03,-4.77001381e-04,-6.67986955e-03]

qacc:
[-3.56576699e-01,-3.82750645e-01, 1.24851275e+00,-6.66690502e-01,
  4.37728623e+00, 1.59934409e-01,-1.11323359e+00, 3.76039988e+00,
  5.16183837e+00, 1.83687531e+00,-8.27206432e+00, 1.52691695e+01,
 -6.92706169e-02,-3.13307211e+00,-6.02508705e+01, 1.50258319e+02,
  7.26734928e-01, 3.32784103e-01, 1.03931765e-01,-9.12280816e+00,
  2.30473910e+01,-1.68777787e+01]

qfrc_actuator:
[ 4.57589413e-04,-5.46902431e-04,-1.21580968e-04,-9.36030516e-05,
 -6.63351671e-04,-6.27693092e-04,-2.42277795e-04,-6.10257910e-05,
 -4.83814086e-04,-4.41806472e-04,-1.40126384e-04,-6.90937613e-06,
  2.10000000e-01,-5.73957716e-03, 9.00000000e-02, 3.50499780e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40186969,  0.38965911,  0.09831085,  0.38965911,  0.44768561,
       -0.18159329,  0.09831085, -0.18159329,  1.12162216,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020377727353248663
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70590990e-01,  2.40712734e-01, -3.24199232e-03,  2.40711391e-01,
        9.70596404e-01,  8.04030214e-04,  3.34020640e-03,  0.00000000e+00,
       -9.99994421e-01])
  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([ 0.10399902, -0.08962074,  0.14122222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008750579775883385
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.88034043e-01,  4.29749590e-01, -4.40814743e-01,  3.75057329e-01,
        9.02948110e-01,  2.09801596e-01,  4.88194990e-01, -2.77555756e-17,
       -8.72734583e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382262, -0.08886526,  0.15011201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046506256241288235
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.46017253e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.46017253e-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([ 0.08160841, -0.06197967,  0.06198023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.14550157e-06, 1.44628958e-05, 1.53480901e-05, 3.99651998e-06,
  2.59476963e-05, 1.56623311e-05, 9.95862116e-06, 9.46553709e-06,
  3.05030430e-05,-2.41908837e-05,-3.04679337e-05, 1.61054038e-05,
  2.64177192e-01, 2.50058659e-05, 9.16037186e-02, 3.64887126e-02,
 -1.02835462e-05, 5.08673492e-06,-9.80999065e+00,-1.18196476e-02,
 -2.39839238e-02, 6.44691827e-05]


--- Step 661 ---
qpos:
[-1.35465204e-02, 1.35249233e-02, 1.00407883e-02, 1.47338105e-02,
 -1.90810288e-02,-9.08003425e-03,-1.74693065e-02, 1.63365225e-02,
 -1.21665355e-02,-6.67797648e-03,-1.43309950e-02, 1.51170758e-02,
  1.40355166e+00, 3.23633773e-02, 2.85845055e-01,-3.12910344e-02,
  9.53131761e-02,-7.09691864e-02, 1.04553853e-01, 9.99976791e-01,
  1.11231049e-03,-4.18669871e-04,-6.70863129e-03]

qacc:
[-2.29080275e-01, 1.59264862e+00,-7.03743575e+00, 1.42600485e+01,
  2.80850918e+00,-1.69500706e+00, 7.01878483e+00,-1.19365446e+01,
  3.27365674e+00,-8.88651394e-01, 4.08176262e+00,-8.00735300e+00,
  2.93807824e-02,-9.01926265e-01,-5.34065063e+01, 1.31635667e+02,
  6.24345718e-01, 1.78352647e-01, 5.08082885e-02,-8.21810333e+00,
  2.12824863e+01,-2.25273378e+01]

qfrc_actuator:
[ 4.56340450e-04,-5.36439645e-04,-1.30707434e-04,-7.31593390e-05,
 -6.47493674e-04,-6.32660251e-04,-2.22936678e-04,-7.37827382e-05,
 -4.65350103e-04,-4.16783599e-04,-1.21356978e-04,-1.52716844e-05,
  2.10000000e-01,-5.71921907e-03, 9.00000000e-02, 3.50621627e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40193133,  0.38934123,  0.09981083,  0.38934123,  0.4458449 ,
       -0.17129766,  0.09981083, -0.17129766,  1.07012774,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020410314325031595
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70610925e-01,  2.40632819e-01, -3.20600872e-03,  2.40631506e-01,
        9.70616220e-01,  7.94825907e-04,  3.30306527e-03,  0.00000000e+00,
       -9.99994545e-01])
  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([ 0.10400362, -0.08962442,  0.14122304])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008755814022218304
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78808841,  0.42953688, -0.44092485,  0.37485554,  0.90304932,
        0.20972662,  0.4882622 ,  0.        , -0.87269698])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382751, -0.08886924,  0.15011096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046432106495550296
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.47208605e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.47208605e-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([ 0.08160962, -0.06198224,  0.06198026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30280166e-06, 2.19301452e-05,-4.09708173e-06, 2.16747344e-05,
  1.65765159e-05, 6.28927572e-06, 2.41380191e-05,-1.15564003e-05,
  1.92789665e-05, 5.88414612e-06, 1.05690740e-05,-1.01424151e-05,
  2.64293536e-01, 5.37956318e-05, 9.30100821e-02, 3.61939419e-02,
 -1.88198416e-06, 4.80630760e-07,-9.80999901e+00,-1.18182165e-02,
 -2.39824638e-02, 6.47978360e-05]


--- Step 662 ---
qpos:
[-1.35479733e-02, 1.35250614e-02, 1.00414822e-02, 1.47332455e-02,
 -1.90812419e-02,-9.07889737e-03,-1.74688618e-02, 1.63353688e-02,
 -1.21662452e-02,-6.67669401e-03,-1.43299720e-02, 1.51172789e-02,
  1.40354891e+00, 3.23616890e-02, 2.85732552e-01,-3.13056954e-02,
  9.53208367e-02,-7.09715562e-02, 1.04554162e-01, 9.99976287e-01,
  1.09382385e-03,-3.20517935e-04,-6.79160565e-03]

qacc:
[-3.05686503e+00, 1.39657387e+00,-5.36301160e+00, 9.47794874e+00,
  1.68687384e+00,-2.36063645e+00, 1.07437318e+01,-2.05182813e+01,
 -4.14575043e+00,-4.86640945e-01, 2.47469521e+00,-4.82722236e+00,
  7.52215755e-02, 1.34855859e+00,-4.66708502e+01, 1.13254933e+02,
  5.39691112e-01, 5.58777747e-02, 4.97799770e-03,-7.53862720e+00,
  1.98299253e+01,-2.71258701e+01]

qfrc_actuator:
[ 4.38294304e-04,-5.12454405e-04,-1.36424772e-04,-6.08183883e-05,
 -6.38009748e-04,-6.18289301e-04,-1.93799208e-04,-9.87848500e-05,
 -4.90307868e-04,-4.02243754e-04,-1.10545479e-04,-2.02899422e-05,
  2.10000000e-01,-5.72397457e-03, 9.00000000e-02, 3.51094064e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40232969,  0.38980533,  0.09960414,  0.38980533,  0.44241398,
       -0.15687168,  0.09960414, -0.15687168,  1.01625414,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020619435899767047
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70632915e-01,  2.40545560e-01, -3.09468288e-03,  2.40544338e-01,
        9.70637849e-01,  7.66930970e-04,  3.18829817e-03,  1.08420217e-19,
       -9.99994917e-01])
  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([ 0.1040114 , -0.08962564,  0.14122437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00087574536810003
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.87948468e-01,  4.29545957e-01, -4.41166049e-01,  3.74798686e-01,
        9.03044999e-01,  2.09846788e-01,  4.88531634e-01, -2.77555756e-17,
       -8.72546184e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10383689, -0.08887129,  0.15010871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004624783890946893
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.00148597e-14,  7.50185746e-15,  1.00000000e+00,  4.50222922e-28,
        1.00000000e+00, -7.50185746e-15, -1.00000000e+00,  0.00000000e+00,
       -6.00148597e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08161022, -0.06198402,  0.06198034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80788056e-05, 3.63708914e-05,-9.28428422e-07, 1.35632763e-05,
  9.92669906e-06, 2.23989921e-05, 3.30141811e-05,-2.41220073e-05,
 -2.44564494e-05, 1.95531492e-05, 1.29659852e-05,-4.60073654e-06,
  2.64350612e-01, 3.85342960e-05, 9.42936918e-02, 3.59869415e-02,
 -1.02313652e-05, 3.97222939e-06,-9.80999074e+00,-1.18194106e-02,
 -2.39800928e-02, 6.31698276e-05]


--- Step 663 ---
qpos:
[-1.35496313e-02, 1.35251786e-02, 1.00427964e-02, 1.47328203e-02,
 -1.90813404e-02,-9.07770790e-03,-1.74677825e-02, 1.63342640e-02,
 -1.21659124e-02,-6.67535070e-03,-1.43290737e-02, 1.51174473e-02,
  1.40354689e+00, 3.23608589e-02, 2.85598821e-01,-3.13172109e-02,
  9.53303912e-02,-7.09740647e-02, 1.04554335e-01, 9.99975367e-01,
  1.06138803e-03,-1.84855759e-04,-6.93581546e-03]

qacc:
[-1.75853457e+00,-1.47066221e+00, 4.61916241e+00,-3.18230660e+00,
  1.01426815e+00,-1.60425811e+00, 5.61136548e+00,-5.81421868e+00,
  3.66827842e-01, 3.56653347e-01,-1.00987380e+00, 5.65565333e-01,
  5.77615697e-02, 3.57665573e+00,-4.09069332e+01, 9.75844061e+01,
  4.73460756e-01,-3.47146614e-02,-3.42572317e-02,-7.11138488e+00,
  1.86737499e+01,-3.06366958e+01]

qfrc_actuator:
[ 4.28258606e-04,-5.16058917e-04,-1.04521896e-04,-5.33290782e-05,
 -6.32349760e-04,-6.10170497e-04,-1.59043852e-04,-9.52629357e-05,
 -4.87360841e-04,-4.11859227e-04,-1.22310278e-04,-2.33125391e-05,
  2.10000000e-01,-5.70871565e-03, 9.00000000e-02, 3.52122081e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40297304,  0.39066897,  0.09881816,  0.39066897,  0.43856662,
       -0.14071612,  0.09881816, -0.14071612,  0.95928194,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002095199254921324
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70656795e-01,  2.40451451e-01, -2.91303924e-03,  2.40450368e-01,
        9.70661166e-01,  7.21615880e-04,  3.00108765e-03,  0.00000000e+00,
       -9.99995497e-01])
  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([ 0.10402169, -0.08962553,  0.14122603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008758194621747184
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78766806,  0.42969765, -0.44151892,  0.37482757,  0.90297283,
        0.21010559,  0.48896146,  0.        , -0.87230539])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10384986, -0.08887227,  0.15010528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045977301860262304
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.03679957e-14, -7.54599946e-15,  1.00000000e+00, -4.55536863e-28,
        1.00000000e+00,  7.54599946e-15, -1.00000000e+00,  0.00000000e+00,
       -6.03679957e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08161035, -0.06198518,  0.06198045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05566953e-05, 1.71712078e-05, 3.97893567e-05, 9.28380110e-06,
  5.90935278e-06, 2.64409667e-05, 4.26161719e-05, 5.15480543e-06,
  2.19417404e-06, 3.77554869e-06,-6.29279875e-06,-1.82568312e-06,
  2.64355896e-01, 2.51542091e-05, 9.54578808e-02, 3.58880132e-02,
 -4.09918918e-05, 2.12228743e-05,-9.80996601e+00,-1.18236122e-02,
 -2.39771357e-02, 5.97437937e-05]


--- Step 664 ---
qpos:
[-1.35507077e-02, 1.35253350e-02, 1.00445259e-02, 1.47321493e-02,
 -1.90810262e-02,-9.07651601e-03,-1.74665434e-02, 1.63339401e-02,
 -1.21652033e-02,-6.67408298e-03,-1.43279570e-02, 1.51172269e-02,
  1.40354655e+00, 3.23612744e-02, 2.85446729e-01,-3.13271356e-02,
  9.53415697e-02,-7.09771044e-02, 1.04554232e-01, 9.99973931e-01,
  1.01628420e-03,-1.38068621e-05,-7.14873152e-03]

qacc:
[ 5.05442226e+00,-1.62505001e+00, 6.88962079e+00,-1.18170807e+01,
  3.58802328e+00, 1.15648862e+00,-7.42879424e+00, 2.07010430e+01,
  3.29229664e+00,-1.51647983e+00, 6.89284110e+00,-1.39034597e+01,
  3.49381274e-04, 6.31808328e+00,-3.19235955e+01, 7.23958623e+01,
  4.06018361e-01,-1.32767921e-01,-6.87749789e-02,-6.46264351e+00,
  1.76124836e+01,-3.43716750e+01]

qfrc_actuator:
[ 4.58528731e-04,-5.18255975e-04,-8.62781202e-05,-6.65019203e-05,
 -6.11230542e-04,-6.23559193e-04,-1.56755695e-04,-5.72319660e-05,
 -4.67998682e-04,-4.18202332e-04,-1.11901049e-04,-4.29252749e-05,
  2.10000000e-01,-5.68199056e-03, 9.00000000e-02, 3.51523396e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40379327,  0.39212407,  0.09637278,  0.39212407,  0.4344551 ,
       -0.12475765,  0.09637278, -0.12475765,  0.91141042,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002136711968807301
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70682391e-01,  2.40350976e-01, -2.66515897e-03,  2.40350070e-01,
        9.70686050e-01,  6.59918373e-04,  2.74564466e-03,  0.00000000e+00,
       -9.99996231e-01])
  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([ 0.10403398, -0.08962497,  0.14122783])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008760122510450281
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.87287672e-01,  4.29933085e-01, -4.41967945e-01,  3.74898361e-01,
        9.02860755e-01,  2.10460629e-01,  4.89519500e-01,  2.77555756e-17,
       -8.71992350e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10386576, -0.08887282,  0.15010073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000456409296582215
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.21625812e-13,  7.60161324e-15,  1.00000000e+00, -9.24552382e-28,
        1.00000000e+00, -7.60161324e-15, -1.00000000e+00,  0.00000000e+00,
        1.21625812e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0816101 , -0.06198587,  0.0619806 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.99510953e-05, 1.60802647e-05, 2.70340135e-05,-1.08751959e-05,
  2.12432472e-05, 1.04260570e-05, 1.31786135e-05, 4.07390369e-05,
  1.93671286e-05,-5.62635436e-06, 1.03444737e-05,-1.97055347e-05,
  2.64319747e-01, 6.23051617e-06, 9.65187905e-02, 3.56707443e-02,
 -9.91941116e-05, 5.64198668e-05,-9.80992506e+00,-1.18310101e-02,
 -2.39738206e-02, 5.46294336e-05]


--- Step 665 ---
qpos:
[-1.35517583e-02, 1.35258601e-02, 1.00458089e-02, 1.47309983e-02,
 -1.90801174e-02,-9.07551049e-03,-1.74651504e-02, 1.63340998e-02,
 -1.21649586e-02,-6.67272373e-03,-1.43267910e-02, 1.51167633e-02,
  1.40355777e+00, 3.23649513e-02, 2.85371007e-01,-3.13525302e-02,
  9.53455142e-02,-7.09833801e-02, 1.04553205e-01, 9.99972854e-01,
  1.02561287e-03, 5.48845550e-05,-7.29637439e-03]

qacc:
[ 2.02307848e-01, 7.46306007e-01, 7.26152562e-02,-7.93928308e+00,
  5.17156289e+00, 3.09165811e-01,-3.51960439e+00, 1.18011653e+01,
 -4.05418364e+00,-5.09695501e-01, 3.03373995e+00,-7.40507038e+00,
 -8.27795106e-02, 2.55403914e+01, 1.60127509e+02,-3.95450749e+02,
 -1.80851477e+00,-8.09001162e-01,-2.31151432e-01, 2.75816709e+01,
 -5.09496742e+01, 3.26886580e+01]

qfrc_actuator:
[ 4.59019731e-04,-5.01907646e-04,-1.11778031e-04,-9.17424368e-05,
 -5.81179607e-04,-6.49823244e-04,-1.55974358e-04,-3.47523481e-05,
 -4.92396062e-04,-4.04717302e-04,-1.06233148e-04,-5.43715097e-05,
  2.10000000e-01,-5.72012690e-03, 9.00000000e-02, 3.51726918e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40472905,  0.3907085 ,  0.10560524,  0.3907085 ,  0.4245974 ,
       -0.07350708,  0.10560524, -0.07350708,  0.67668373,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021829292187476509
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70709464e-01,  2.40244861e-01, -2.35453595e-03,  2.40244154e-01,
        9.70712319e-01,  5.82732031e-04,  2.42557543e-03,  1.08420217e-19,
       -9.99997058e-01])
  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([ 0.10404772, -0.08962484,  0.14122965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009320112260828432
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78684715,  0.43018916, -0.44250293,  0.37496243,  0.90273877,
        0.21086938,  0.49017827,  0.        , -0.8716222 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10388388, -0.08887362,  0.15009501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.55779789,  9.33786924,  4.92659056,  9.33786924, 13.81857946,
       -6.18049166,  4.92659056, -6.18049166, 22.2723137 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004551961325042625
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.21949962e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.21949962e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09946239, -0.05242938,  0.06198065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33539600e-06, 3.05104328e-05,-1.92116452e-05,-2.38262537e-05,
  3.06068686e-05,-1.59699784e-05, 5.96351180e-06, 2.41737143e-05,
 -2.39027086e-05, 1.16070477e-05, 5.08662437e-06,-1.17156946e-05,
  2.64236753e-01,-9.72787655e-05, 9.74362249e-02, 3.56114257e-02,
 -1.90836941e-04, 1.14529569e-04,-9.80986827e+00,-1.18418110e-02,
 -2.39702911e-02, 4.79569715e-05]


--- Step 666 ---
qpos:
[-1.35531399e-02, 1.35265400e-02, 1.00465449e-02, 1.47299343e-02,
 -1.90792009e-02,-9.07486521e-03,-1.74636330e-02, 1.63345529e-02,
 -1.21653543e-02,-6.67112246e-03,-1.43262190e-02, 1.51165367e-02,
  1.40357496e+00, 3.23701451e-02, 2.85365955e-01,-3.13888503e-02,
  9.53435162e-02,-7.09918432e-02, 1.04551570e-01, 9.99972437e-01,
  1.06938465e-03, 2.03551789e-05,-7.34713384e-03]

qacc:
[-2.88810505e+00, 1.91878455e+00,-6.90244787e+00, 9.15928717e+00,
  7.65746457e-02,-2.20178456e-01,-1.14483888e+00, 6.28915514e+00,
 -5.61142303e+00, 2.47793472e+00,-9.35324496e+00, 1.42065437e+01,
 -6.81901669e-01, 1.56499647e+01, 1.37846750e+02,-3.29960846e+02,
 -1.48559347e+00,-5.46871468e-01,-1.51737720e-01, 1.75946624e+01,
 -5.14336765e+01, 4.84966885e+01]

qfrc_actuator:
[ 4.41966556e-04,-5.10282594e-04,-1.45075934e-04,-8.83856319e-05,
 -5.81621991e-04,-6.83624701e-04,-1.56155046e-04,-2.16186605e-05,
 -5.24606318e-04,-3.97224895e-04,-1.38833665e-04,-4.31552274e-05,
  2.10000000e-01,-5.76418893e-03, 9.00000000e-02, 3.52931061e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40462829,  0.40435523,  0.0148628 ,  0.40435523,  0.4051136 ,
       -0.01320327,  0.0148628 , -0.01320327,  0.76383454,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021780092472223304
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70728462e-01,  2.40169394e-01, -2.21724163e-03,  2.40168767e-01,
        9.70730994e-01,  5.48569666e-04,  2.28409481e-03, -1.08420217e-19,
       -9.99997391e-01])
  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([ 0.10405138, -0.08963474,  0.14122935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36585431,  0.34184092,  0.13036165,  0.34184092,  0.50341629,
       -0.36072202,  0.13036165, -0.36072202,  1.31175789,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009341422555023397
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78702724,  0.42961018, -0.44274509,  0.37442913,  0.90301445,
        0.21063649,  0.4902968 ,  0.        , -0.87155554])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10388838, -0.08888256,  0.15009075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.57410883, -10.09966997,  -3.13184354, -10.09966997,
        16.23163809, -18.24458269,  -3.13184354, -18.24458269,
        69.40982705,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045643139751033734
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.08099613e-14, -7.60124516e-15,  1.00000000e+00, -4.62231424e-28,
        1.00000000e+00,  7.60124516e-15, -1.00000000e+00,  0.00000000e+00,
       -6.08099613e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09946578, -0.05243649,  0.0619806 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70336495e-05, 3.73848270e-06,-3.01722777e-05, 3.53822708e-06,
  3.78791711e-07,-4.04864720e-05,-1.92007459e-06, 1.31228662e-05,
 -3.29523645e-05, 1.45091166e-05,-2.99862133e-05, 1.16617258e-05,
  2.63659559e-01,-3.06039064e-04, 9.36174671e-02, 3.65052502e-02,
 -6.21628946e-05, 4.94327781e-05,-9.80998110e+00,-1.18275278e-02,
 -2.39604683e-02, 4.76464117e-05]


--- Step 667 ---
qpos:
[-1.35540259e-02, 1.35269849e-02, 1.00472918e-02, 1.47292760e-02,
 -1.90786423e-02,-9.07438846e-03,-1.74626977e-02, 1.63344944e-02,
 -1.21657893e-02,-6.66956298e-03,-1.43259615e-02, 1.51168091e-02,
  1.40358970e+00, 3.23739516e-02, 2.85403779e-01,-3.14288060e-02,
  9.53361320e-02,-7.10020320e-02, 1.04549381e-01, 9.99972797e-01,
  1.13715755e-03,-1.18840030e-04,-7.28684696e-03]

qacc:
[ 4.30081770e+00, 4.86319926e-01,-3.91204217e+00, 1.11059674e+01,
 -3.12277665e+00, 3.56741562e-01, 5.75811257e-01,-8.38851732e+00,
 -3.52872796e-01, 1.85175510e+00,-8.78905564e+00, 1.79597901e+01,
 -8.54856292e-01,-3.71176883e+00, 7.44469211e+01,-1.68360270e+02,
 -1.34658707e+00,-4.31399169e-01,-1.38820262e-01, 1.23831764e+01,
 -5.21839368e+01, 5.55806935e+01]

qfrc_actuator:
[ 4.67991080e-04,-5.33424951e-04,-1.47268221e-04,-6.82455463e-05,
 -6.00011226e-04,-7.03947537e-04,-1.92450403e-04,-4.96009819e-05,
 -5.25637419e-04,-4.11267805e-04,-1.58266480e-04,-1.87243656e-05,
  2.10000000e-01,-5.79361392e-03, 9.00000000e-02, 3.52799221e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40375063,  0.38058734, -0.13478815,  0.38058734,  0.40205434,
       -0.00478965, -0.13478815, -0.00478965,  0.39022659,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021345778093070618
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70740251e-01,  2.40121300e-01, -2.26428518e-03,  2.40120647e-01,
        9.70742891e-01,  5.60089707e-04,  2.33252822e-03,  0.00000000e+00,
       -9.99997280e-01])
  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([ 0.10404683, -0.08965064,  0.14122758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35917635,  0.34118136,  0.11226278,  0.34118136,  0.3966574 ,
       -0.11390983,  0.11226278, -0.11390983,  0.70536332,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008849659214018629
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78766935,  0.42849332, -0.44268552,  0.37354097,  0.90354495,
        0.2099373 ,  0.489943  ,  0.        , -0.87175447])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10388157, -0.08889617,  0.15008886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.57032275, -10.14403373,  -2.97158254, -10.14403373,
        16.97299684, -21.85668447,  -2.97158254, -21.85668447,
        85.18206305,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004561452801535859
  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([ 0.09946867, -0.05244157,  0.06198061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.55048831e-05,-2.70859951e-05,-4.99579828e-06, 1.93289887e-05,
 -1.84352148e-05,-4.28301572e-05,-4.44511198e-05,-2.95303663e-05,
 -2.03328052e-06,-1.16263186e-05,-1.97222369e-05, 2.42438050e-05,
  2.63360810e-01,-4.11566103e-04, 9.00839333e-02, 3.70383055e-02,
 -2.81524304e-06,-1.71760096e-06,-9.81000124e+00,-1.18194155e-02,
 -2.39611216e-02, 5.04522562e-05]


--- Step 668 ---
qpos:
[-1.35539040e-02, 1.35271766e-02, 1.00480141e-02, 1.47292146e-02,
 -1.90786540e-02,-9.07389203e-03,-1.74625669e-02, 1.63334021e-02,
 -1.21662347e-02,-6.66826103e-03,-1.43252870e-02, 1.51173492e-02,
  1.40359903e+00, 3.23770717e-02, 2.85409720e-01,-3.14607757e-02,
  9.53327606e-02,-7.10091941e-02, 1.04548099e-01, 9.99973142e-01,
  1.18336441e-03,-2.01145346e-04,-7.23013035e-03]

qacc:
[ 8.74121982e+00, 9.46298187e-01,-6.40896263e+00, 1.69962235e+01,
 -4.97786645e+00, 1.55977416e-01, 3.86333679e+00,-2.05018902e+01,
 -7.32171327e-02,-9.54283701e-01, 1.77889693e+00, 2.37640169e+00,
 -8.77497609e-01,-4.69636810e+00,-7.13894318e+01, 1.81189409e+02,
  1.00321901e+00, 7.56651450e-01, 2.27007273e-01,-1.09902010e+01,
  2.83635676e+01,-1.81620584e+00]

qfrc_actuator:
[ 5.19168099e-04,-5.47347414e-04,-1.48888924e-04,-3.83890116e-05,
 -6.28806134e-04,-6.98478192e-04,-2.32005080e-04,-1.01565226e-04,
 -5.26058414e-04,-4.20292273e-04,-1.34335133e-04,-4.47424779e-06,
  2.10000000e-01,-5.77645377e-03, 9.00000000e-02, 3.52901755e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40189737,  0.38224573,  0.12413583,  0.38224573,  0.47578352,
       -0.22751422,  0.12413583, -0.22751422,  1.10247141,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002039236993840275
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70750213e-01,  2.40078648e-01, -2.50335608e-03,  2.40077850e-01,
        9.70753441e-01,  6.19109157e-04,  2.57877642e-03,  0.00000000e+00,
       -9.99996675e-01])
  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([ 0.10403565, -0.0896721 ,  0.14122462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34520307,  0.28666063, -0.19233004,  0.28666063,  1.29641858,
        1.41775061, -0.19233004,  1.41775061,  2.45830653,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008186147420106562
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78878876,  0.42692306, -0.44220921,  0.37239478,  0.90428795,
        0.20877123,  0.48901372,  0.        , -0.8722761 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10386486, -0.08891358,  0.1500916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.59705099,  9.25993664,  5.15277238,  9.25993664, 15.25977503,
       -8.37928129,  5.15277238, -8.37928129, 25.65527754,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045815732749002885
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.05808834e-14, -1.51452208e-14,  1.00000000e+00, -9.17510857e-28,
        1.00000000e+00,  1.51452208e-14, -1.00000000e+00,  0.00000000e+00,
       -6.05808834e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08161698, -0.061998  ,  0.06198052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.18791719e-05,-2.92298601e-05,-7.15188724e-06, 2.89001435e-05,
 -2.93658082e-05,-2.89548157e-05,-5.49047826e-05,-5.59130234e-05,
 -5.43568192e-07,-1.85509891e-05, 1.99426471e-05, 1.35419169e-05,
  2.63483748e-01,-3.24444144e-04, 8.79402623e-02, 3.72303408e-02,
 -5.27414552e-05, 4.48478402e-06,-9.80993104e+00,-1.18220144e-02,
 -2.39706053e-02, 5.62793341e-05]


--- Step 669 ---
qpos:
[-1.35538595e-02, 1.35275080e-02, 1.00485798e-02, 1.47287790e-02,
 -1.90790114e-02,-9.07323138e-03,-1.74633644e-02, 1.63320308e-02,
 -1.21670278e-02,-6.66710521e-03,-1.43243319e-02, 1.51177053e-02,
  1.40360375e+00, 3.23794448e-02, 2.85383024e-01,-3.14858203e-02,
  9.53328300e-02,-7.10141331e-02, 1.04547485e-01, 9.99973378e-01,
  1.20935629e-03,-2.32042715e-04,-7.19212521e-03]

qacc:
[-6.78901532e-01,-1.46544796e-01, 2.37244626e+00,-8.70284885e+00,
 -3.03365141e+00, 2.24141824e+00,-6.48885103e+00, 3.01064514e+00,
 -3.02359089e+00,-1.34978273e+00, 5.31944278e+00,-8.85478773e+00,
 -4.62474699e-01,-5.94187351e+00,-6.93167932e+01, 1.72257437e+02,
  8.60199291e-01, 5.55797148e-01, 1.66791955e-01,-1.02948814e+01,
  2.56191232e+01,-9.38426106e+00]

qfrc_actuator:
[ 5.13715557e-04,-5.20120342e-04,-1.50135495e-04,-5.63138519e-05,
 -6.45736228e-04,-6.77654325e-04,-2.73060100e-04,-1.13934015e-04,
 -5.43879224e-04,-4.26073213e-04,-1.20496305e-04,-1.40534415e-05,
  2.10000000e-01,-5.74924123e-03, 9.00000000e-02, 3.53398290e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40096023,  0.39416775,  0.07349074,  0.39416775,  0.42575207,
       -0.13297109,  0.07349074, -0.13297109,  1.11415094,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019889686349163096
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70761991e-01,  2.40029536e-01, -2.64185506e-03,  2.40028647e-01,
        9.70765585e-01,  6.53219740e-04,  2.72141400e-03, -1.08420217e-19,
       -9.99996297e-01])
  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([ 0.10403054, -0.08968553,  0.14122315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008953195702677308
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78945558,  0.42593783, -0.44196928,  0.37165857,  0.90475243,
        0.20806956,  0.48849748,  0.        , -0.8725653 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10385666, -0.08892512,  0.15009278])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.63384788,  -8.57675838,  -6.28632932,  -8.57675838,
        42.0509248 , -42.86391376,  -6.28632932, -42.86391376,
        69.11526251,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046089783318901956
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.50551671e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.50551671e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08162029, -0.06200329,  0.06198041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.98275505e-06, 1.06575822e-05,-7.16800447e-06,-1.88647220e-05,
 -1.77982977e-05,-9.11413024e-06,-5.57327087e-05,-1.65964535e-05,
 -1.79004337e-05,-1.14440384e-05, 1.29352404e-05,-9.41997301e-06,
  2.63753516e-01,-2.62930571e-04, 8.95343920e-02, 3.68806716e-02,
 -2.49507409e-05, 6.93228661e-06,-9.80996979e+00,-1.18181940e-02,
 -2.39729540e-02, 6.09886047e-05]


--- Step 670 ---
qpos:
[-1.35545705e-02, 1.35281958e-02, 1.00490061e-02, 1.47277570e-02,
 -1.90788798e-02,-9.07247193e-03,-1.74647139e-02, 1.63305035e-02,
 -1.21680295e-02,-6.66605706e-03,-1.43232352e-02, 1.51182941e-02,
  1.40360559e+00, 3.23817228e-02, 2.85327466e-01,-3.15041412e-02,
  9.53358927e-02,-7.10176314e-02, 1.04547281e-01, 9.99973417e-01,
  1.21759692e-03,-2.15562709e-04,-7.18586747e-03]

qacc:
[-6.55908125e+00,-3.34564403e-01, 4.37423330e+00,-1.45873058e+01,
  4.22683590e+00, 1.34363769e+00,-3.95763779e+00, 2.08450718e+00,
 -1.81375215e+00,-5.55746577e-02,-9.84348900e-01, 4.85661179e+00,
 -3.99084746e-01,-1.88973340e+00,-6.30813248e+01, 1.58651360e+02,
  7.48334757e-01, 3.60149461e-01, 1.02620758e-01,-9.04932234e+00,
  2.36050018e+01,-1.59005750e+01]

qfrc_actuator:
[ 4.74967462e-04,-4.86247907e-04,-1.51015677e-04,-8.44226777e-05,
 -6.20038635e-04,-6.65522808e-04,-2.96817196e-04,-1.20639286e-04,
 -5.54045860e-04,-4.29916428e-04,-1.12743416e-04,-2.08046802e-06,
  2.10000000e-01,-5.69790960e-03, 9.00000000e-02, 3.53399786e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40062966,  0.38167048,  0.12178576,  0.38167048,  0.46577476,
       -0.20416146,  0.12178576, -0.20416146,  1.04046144,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019708792341744812
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70776461e-01,  2.39970470e-01, -2.68988464e-03,  2.39969549e-01,
        9.70780188e-01,  6.64921771e-04,  2.77084831e-03,  0.00000000e+00,
       -9.99996161e-01])
  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([ 0.10403054, -0.08969311,  0.14122277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008390250099814999
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.89759941e-01,  4.25408489e-01, -4.41935348e-01,  3.71237621e-01,
        9.05001446e-01,  2.07737844e-01,  4.88325572e-01, -2.77555756e-17,
       -8.72661524e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10385539, -0.08893199,  0.15009232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004619048948079768
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.00893732e-14, -1.50223433e-14,  1.00000000e+00, -9.02683193e-28,
        1.00000000e+00,  1.50223433e-14, -1.00000000e+00,  0.00000000e+00,
       -6.00893732e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08162257, -0.06200724,  0.06198036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.88758051e-05, 3.75417045e-05,-2.13825028e-07,-2.82671255e-05,
  2.51733247e-05,-5.18124332e-06,-3.30745044e-05,-9.34590044e-06,
 -1.07372427e-05,-7.95675745e-06, 6.66421211e-06, 1.17488845e-05,
  2.63984804e-01,-1.74901446e-04, 9.11661396e-02, 3.65345330e-02,
 -6.84569275e-06, 3.06892545e-06,-9.80999284e+00,-1.18153062e-02,
 -2.39731435e-02, 6.32606885e-05]


--- Step 671 ---
qpos:
[-1.35550510e-02, 1.35288033e-02, 1.00498205e-02, 1.47271161e-02,
 -1.90780966e-02,-9.07196214e-03,-1.74656815e-02, 1.63288872e-02,
 -1.21691464e-02,-6.66509126e-03,-1.43220689e-02, 1.51193688e-02,
  1.40360582e+00, 3.23842865e-02, 2.85245436e-01,-3.15167830e-02,
  9.53415321e-02,-7.10203268e-02, 1.04547278e-01, 9.99973171e-01,
  1.20985412e-03,-1.55370318e-04,-7.22290208e-03]

qacc:
[ 2.01061801e+00,-4.10114538e-01,-3.07795092e-01, 6.35026285e+00,
  5.67456073e+00,-1.59111149e+00, 5.55157952e+00,-7.49887550e+00,
 -1.00243082e+00, 6.98667343e-01,-4.69752985e+00, 1.30536062e+01,
 -2.80961605e-01, 3.73192146e-01,-5.63627448e+01, 1.40328393e+02,
  6.44140974e-01, 2.00741202e-01, 5.02641880e-02,-8.15305412e+00,
  2.17717975e+01,-2.16715126e+01]

qfrc_actuator:
[ 4.87961469e-04,-5.01918632e-04,-1.33878085e-04,-6.50220765e-05,
 -5.87213460e-04,-6.76359580e-04,-2.74695095e-04,-1.23957979e-04,
 -5.59620073e-04,-4.32577013e-04,-1.08615314e-04, 2.24808678e-05,
  2.10000000e-01,-5.66796465e-03, 9.00000000e-02, 3.53788677e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40077218,  0.38140017,  0.12309447,  0.38140017,  0.4632942 ,
       -0.1937204 ,  0.12309447, -0.1937204 ,  1.00100218,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019787019093423254
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70793014e-01,  2.39903897e-01, -2.65417676e-03,  2.39903000e-01,
        9.70796642e-01,  6.55901885e-04,  2.73401930e-03,  0.00000000e+00,
       -9.99996263e-01])
  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([ 0.10403469, -0.0896965 ,  0.14122324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008400641591229332
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.89790767e-01,  4.25213876e-01, -4.42067534e-01,  3.71044777e-01,
        9.05092901e-01,  2.07683929e-01,  4.88422275e-01,  2.77555756e-17,
       -8.72607404e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10385993, -0.08893572,  0.15009057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046150324641525825
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.01416693e-14, -7.51770866e-15,  1.00000000e+00,  4.52127548e-28,
        1.00000000e+00,  7.51770866e-15, -1.00000000e+00,  0.00000000e+00,
        6.01416693e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08162402, -0.06201014,  0.06198038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18595692e-05, 4.08203394e-06, 2.38988869e-05, 2.04550786e-05,
  3.35415477e-05,-2.09622349e-05, 1.66516289e-05,-4.86848539e-06,
 -5.93733141e-06,-5.20203102e-06, 3.72187415e-06, 2.46817844e-05,
  2.64128763e-01,-1.41390242e-04, 9.26090242e-02, 3.62371776e-02,
 -1.02596023e-06, 2.58539705e-07,-9.80999931e+00,-1.18143105e-02,
 -2.39718906e-02, 6.33482494e-05]


--- Step 672 ---
qpos:
[-1.35553729e-02, 1.35291559e-02, 1.00509424e-02, 1.47270863e-02,
 -1.90776153e-02,-9.07188919e-03,-1.74660332e-02, 1.63279419e-02,
 -1.21706675e-02,-6.66401122e-03,-1.43214716e-02, 1.51204035e-02,
  1.40360538e+00, 3.23873466e-02, 2.85138772e-01,-3.15253293e-02,
  9.53493604e-02,-7.10227482e-02, 1.04547305e-01, 9.99972549e-01,
  1.18742433e-03,-5.47885466e-05,-7.31356097e-03]

qacc:
[ 1.39002343e+00, 5.93446462e-02,-3.28489757e+00, 1.35624249e+01,
 -2.59498495e+00,-9.11889015e-01,-4.10531961e-01, 1.13510679e+01,
 -3.54791416e+00, 1.66552849e+00,-5.53844959e+00, 5.65761303e+00,
 -1.25859667e-01, 1.52344069e+00,-4.88389072e+01, 1.17977996e+02,
  5.47267580e-01, 6.85020856e-02, 7.61424045e-03,-7.49309915e+00,
  2.01086389e+01,-2.68360690e+01]

qfrc_actuator:
[ 4.95811888e-04,-5.29268454e-04,-1.24154147e-04,-3.56014029e-05,
 -6.03727922e-04,-7.00668398e-04,-2.43511375e-04,-8.97440131e-05,
 -5.80201292e-04,-4.34510275e-04,-1.42152064e-04, 1.87436128e-05,
  2.10000000e-01,-5.70445255e-03, 9.00000000e-02, 3.54038506e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40126553,  0.38894212,  0.09868157,  0.38894212,  0.43804865,
       -0.14497647,  0.09868157, -0.14497647,  0.97267367,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020055065109833117
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70811550e-01,  2.39830103e-01, -2.54106701e-03,  2.39829281e-01,
        9.70814875e-01,  6.27745184e-04,  2.61745785e-03,  0.00000000e+00,
       -9.99996574e-01])
  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([ 0.10404218, -0.08969721,  0.14122431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008729059938857634
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78962024,  0.42525185, -0.44233556,  0.3710051 ,  0.90507506,
        0.2078325 ,  0.48872804,  0.        , -0.87243619])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1038692 , -0.08893745,  0.15008767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045997162206299486
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20683861e-13, -7.54274130e-15,  1.00000000e+00, -9.10287142e-28,
        1.00000000e+00,  7.54274130e-15, -1.00000000e+00,  0.00000000e+00,
       -1.20683861e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08162483, -0.06201219,  0.06198044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.16198638e-06,-1.92296406e-05, 1.42249949e-05, 3.08213724e-05,
 -1.55600730e-05,-3.28167852e-05, 2.87261270e-05, 3.37940093e-05,
 -2.08052306e-05,-2.98187644e-06,-3.32878042e-05,-3.34891217e-06,
  2.64210259e-01,-1.93870493e-04, 9.39324034e-02, 3.59781445e-02,
 -1.21354435e-05, 5.22612973e-06,-9.80998908e+00,-1.18158787e-02,
 -2.39696573e-02, 6.14608510e-05]


--- Step 673 ---
qpos:
[-1.35559434e-02, 1.35293790e-02, 1.00519311e-02, 1.47267338e-02,
 -1.90776802e-02,-9.07199358e-03,-1.74666417e-02, 1.63277865e-02,
 -1.21724244e-02,-6.66311534e-03,-1.43208554e-02, 1.51206928e-02,
  1.40360569e+00, 3.23915324e-02, 2.85011530e-01,-3.15305974e-02,
  9.53591062e-02,-7.10253573e-02, 1.04547189e-01, 9.99971464e-01,
  1.15191669e-03, 8.39253501e-05,-7.46576334e-03]

qacc:
[-2.15755259e+00,-4.59077981e-01, 2.75818508e+00,-8.04328088e+00,
 -4.74744844e+00, 2.11808700e+00,-1.12126221e+01, 2.54104235e+01,
 -2.05426354e+00,-1.82654880e+00, 9.31364316e+00,-2.21159546e+01,
 -2.23118432e-01, 5.84911285e+00,-4.03132021e+01, 9.69842401e+01,
  4.79348814e-01,-4.69138581e-02,-3.59163191e-02,-6.67959520e+00,
  1.89811651e+01,-3.07948730e+01]

qfrc_actuator:
[ 4.82803033e-04,-5.45666554e-04,-1.36705755e-04,-5.38089885e-05,
 -6.31400568e-04,-7.15020767e-04,-2.60535296e-04,-5.14874439e-05,
 -5.91699057e-04,-4.53923427e-04,-1.44418896e-04,-1.93937861e-05,
  2.10000000e-01,-5.71011447e-03, 9.00000000e-02, 3.54020488e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40199523,  0.38022136,  0.13050626,  0.38022136,  0.46312074,
       -0.17808513,  0.13050626, -0.17808513,  0.92083449,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020444028287272615
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70832204e-01,  2.39748365e-01, -2.35642933e-03,  2.39747658e-01,
        9.70835064e-01,  5.81921790e-04,  2.42721902e-03,  0.00000000e+00,
       -9.99997054e-01])
  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([ 0.10405228, -0.08969656,  0.14122575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008245433133127657
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78929217,  0.42543884, -0.44274108,  0.37105006,  0.90498718,
        0.20813472,  0.48922359,  0.        , -0.8721584 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10388208, -0.08893788,  0.15008322])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045754824591796167
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.06615277e-14, -7.58269097e-15,  1.00000000e+00,  4.59977619e-28,
        1.00000000e+00,  7.58269097e-15, -1.00000000e+00,  0.00000000e+00,
        6.06615277e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08162512, -0.06201357,  0.06198055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28078384e-05,-2.28755230e-05,-1.37003529e-05,-1.79389265e-05,
 -2.81310971e-05,-2.53447275e-05,-1.90992759e-05, 3.85016214e-05,
 -1.21415638e-05,-2.80563802e-05,-7.08233729e-06,-3.94785116e-05,
  2.64243850e-01,-2.26526016e-04, 9.51637629e-02, 3.57714800e-02,
 -4.58300194e-05, 2.40276134e-05,-9.80996226e+00,-1.18204631e-02,
 -2.39668083e-02, 5.77648458e-05]


--- Step 674 ---
qpos:
[-1.35563210e-02, 1.35295565e-02, 1.00530384e-02, 1.47254473e-02,
 -1.90777313e-02,-9.07249438e-03,-1.74675963e-02, 1.63277807e-02,
 -1.21739614e-02,-6.66251759e-03,-1.43199651e-02, 1.51208653e-02,
  1.40361612e+00, 3.23986008e-02, 2.84960737e-01,-3.15491442e-02,
  9.53619156e-02,-7.10311800e-02, 1.04546232e-01, 9.99970813e-01,
  1.16606291e-03, 1.20231102e-04,-7.54979137e-03]

qacc:
[ 1.67606395e+00,-2.31930511e+00, 1.21198518e+01,-2.84362180e+01,
  1.16618134e-01, 7.50532607e-01,-4.06861951e+00, 7.50362909e+00,
  1.93206074e+00,-1.40373051e+00, 4.92021721e+00,-7.15352971e+00,
 -3.17217758e-01, 2.36532838e+01, 1.53593785e+02,-3.72458878e+02,
 -1.73409617e+00,-8.03419156e-01,-2.10383412e-01, 2.52053862e+01,
 -5.09780122e+01, 3.41488879e+01]

qfrc_actuator:
[ 4.93127736e-04,-5.37764247e-04,-1.26799533e-04,-9.99041652e-05,
 -6.29897810e-04,-7.58989291e-04,-2.88104721e-04,-4.66979648e-05,
 -5.80000918e-04,-4.65819169e-04,-1.28284274e-04,-2.41921684e-05,
  2.10000000e-01,-5.73361408e-03, 9.00000000e-02, 3.54366133e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40292746,  0.37426753,  0.14924595,  0.37426753,  0.46625674,
       -0.15881232,  0.14924595, -0.15881232,  0.8011848 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002092863364040175
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70854279e-01,  2.39661308e-01, -2.10388350e-03,  2.39660745e-01,
        9.70856559e-01,  5.19355270e-04,  2.16703845e-03,  1.08420217e-19,
       -9.99997652e-01])
  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([ 0.10406439, -0.08969547,  0.14122741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008263998185792027
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.88865462e-01,  4.25701599e-01, -4.43248724e-01,  3.71129180e-01,
        9.04863608e-01,  2.08530534e-01,  4.89851421e-01,  2.77555756e-17,
       -8.71805933e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10389796, -0.08893804,  0.15007764])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.59424491,  9.38432402,  4.91655244,  9.38432402, 14.45504843,
       -7.36919451,  4.91655244, -7.36919451, 24.65997691,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045794694507916844
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.06087144e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.06087144e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09948303, -0.05246967,  0.06198053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.92983173e-06,-8.47086299e-06, 2.88105219e-06,-4.78966726e-05,
  6.94401916e-07,-6.04438118e-05,-3.38229754e-05, 3.79311214e-06,
  1.13022977e-05,-3.06836888e-05, 8.12028659e-06,-7.00999124e-06,
  2.64207472e-01,-3.08889834e-04, 9.61922275e-02, 3.56420463e-02,
 -1.07696083e-04, 6.15984568e-05,-9.80991920e+00,-1.18282914e-02,
 -2.39635211e-02, 5.24139033e-05]


--- Step 675 ---
qpos:
[-1.35569174e-02, 1.35299496e-02, 1.00538158e-02, 1.47239608e-02,
 -1.90777635e-02,-9.07366174e-03,-1.74684478e-02, 1.63274916e-02,
 -1.21756921e-02,-6.66190339e-03,-1.43192990e-02, 1.51209728e-02,
  1.40363148e+00, 3.24068185e-02, 2.84979597e-01,-3.15772851e-02,
  9.53589747e-02,-7.10392203e-02, 1.04544706e-01, 9.99970870e-01,
  1.21154439e-03, 5.32695167e-05,-7.53582152e-03]

qacc:
[-1.91005999e+00, 7.99171505e-01,-1.58537829e+00,-1.51304308e+00,
  1.78297901e-01,-1.75206003e+00, 6.16518863e+00,-1.07437421e+01,
 -1.69785835e+00, 5.17176150e-01,-1.53188177e+00, 7.44874751e-01,
 -7.43468087e-01, 1.34254975e+01, 1.32286947e+02,-3.12750438e+02,
 -1.43758797e+00,-5.54405808e-01,-1.41950951e-01, 1.60506899e+01,
 -5.14567813e+01, 4.90622729e+01]

qfrc_actuator:
[ 4.81605238e-04,-5.15313858e-04,-1.39122559e-04,-1.08733617e-04,
 -6.28984063e-04,-8.02684874e-04,-2.86304265e-04,-6.16643601e-05,
 -5.90251718e-04,-4.55264210e-04,-1.36876652e-04,-2.70701482e-05,
  2.10000000e-01,-5.78777590e-03, 9.00000000e-02, 3.54904906e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40294043,  0.40127006,  0.03665148,  0.40127006,  0.40662326,
       -0.04032052,  0.03665148, -0.04032052,  0.8443801 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020935285794260875
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70867926e-01,  2.39606682e-01, -2.02711862e-03,  2.39606159e-01,
        9.70870042e-01,  5.00284431e-04,  2.08794023e-03,  5.42101086e-20,
       -9.99997820e-01])
  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([ 0.10406667, -0.08970374,  0.14122719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35851841,  0.34658144,  0.09174287,  0.34658144,  0.58276987,
       -0.84716555,  0.09174287, -0.84716555,  3.55889646,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008811459423470671
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78903145,  0.42517361, -0.44346   ,  0.3706452 ,  0.90511182,
        0.20831403,  0.48995051,  0.        , -0.87175025])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10390063, -0.08894585,  0.15007383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.60388538, -10.23212513,  -2.78316377, -10.23212513,
        15.97275356, -19.73830345,  -2.78316377, -19.73830345,
        83.17050657,   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: -0.00045866889504627556
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.51283289e-14,  3.78208223e-14,  1.00000000e+00, -5.72165839e-28,
        1.00000000e+00, -3.78208223e-14, -1.00000000e+00,  0.00000000e+00,
        1.51283289e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09948577, -0.05247523,  0.0619805 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12536883e-05, 1.62745889e-05,-1.53702297e-05,-1.00244853e-05,
  9.43271722e-07,-8.43171871e-05,-1.47190614e-05,-1.86530696e-05,
 -9.97021001e-06,-5.16970720e-06,-1.41566686e-05,-4.04564347e-06,
  2.63701583e-01,-5.08272910e-04, 9.23696830e-02, 3.63598167e-02,
 -1.84763942e-05, 1.64881330e-05,-9.80999604e+00,-1.18181564e-02,
 -2.39577905e-02, 5.28053816e-05]


--- Step 676 ---
qpos:
[-1.35576474e-02, 1.35303509e-02, 1.00544562e-02, 1.47230838e-02,
 -1.90777838e-02,-9.07503335e-03,-1.74692205e-02, 1.63273125e-02,
 -1.21775328e-02,-6.66122133e-03,-1.43187512e-02, 1.51203401e-02,
  1.40363261e+00, 3.24083138e-02, 2.85073150e-01,-3.15787978e-02,
  9.53483582e-02,-7.10438479e-02, 1.04543693e-01, 9.99971815e-01,
  1.21039765e-03,-1.20055182e-04,-7.40878005e-03]

qacc:
[ -1.16262111,  1.65196519, -8.44346967, 19.20109277,  0.10893103,
  -0.26387946,  0.08443828,  1.84397724, -0.9652537 , -1.10091044,
   7.18395954,-19.85813877, -1.02298995,-35.635663  , 29.55309396,
  56.19340886, -1.91886923,  0.85319058,  0.12804283,-22.91621007,
 -53.28722686, 56.60069588]

qfrc_actuator:
[ 4.75061503e-04,-5.19882887e-04,-1.46629447e-04,-7.78115029e-05,
 -6.28434276e-04,-7.74777449e-04,-2.67192628e-04,-5.26059079e-05,
 -5.95593705e-04,-4.49186779e-04,-1.42164078e-04,-6.43061024e-05,
  2.10000000e-01,-5.80649708e-03, 9.00000000e-02, 3.55043245e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40223328,  0.38054936, -0.13028352,  0.38054936,  0.71956043,
        0.92689113, -0.13028352,  0.92689113,  3.10961953,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002056905388538943
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70874414e-01,  2.39579442e-01, -2.13628473e-03,  2.39578862e-01,
        9.70876764e-01,  5.27162584e-04,  2.20036653e-03,  1.08420217e-19,
       -9.99997579e-01])
  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([ 0.10406092, -0.08971769,  0.14122565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35865769,  0.31920945,  0.16352574,  0.31920945,  0.82774463,
       -0.91567835,  0.16352574, -0.91567835,  2.14610213,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008819454082830653
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78965386,  0.42412836, -0.44335304,  0.36982534,  0.90560208,
        0.20763932,  0.48956716,  0.        , -0.87196559])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10389231, -0.08895819,  0.15007284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.58629763, -4.05783589,  9.77771269, -4.05783589, 24.43460997,
        5.74717019,  9.77771269,  5.74717019, 12.9714233 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004573500254492503
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.84474152e-14,  6.78930936e-06,  1.00000000e+00, -1.93138302e-19,
        1.00000000e+00, -6.78930936e-06, -1.00000000e+00,  0.00000000e+00,
        2.84474152e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10199441, -0.06286657,  0.06198055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.88154817e-06, 9.46707842e-07,-6.37674185e-06, 3.08943338e-05,
  6.01958331e-07,-2.30806061e-05,-7.62647164e-07, 4.57293486e-06,
 -5.65882093e-06, 1.45538767e-07,-8.21977501e-06,-3.80220936e-05,
  2.63455042e-01,-5.84202637e-04, 8.88871769e-02, 3.68533656e-02,
 -8.96701497e-06,-2.68692907e-06,-9.80998398e+00,-1.18151650e-02,
 -2.39615162e-02, 5.62903831e-05]


--- Step 677 ---
qpos:
[-1.35587954e-02, 1.35307910e-02, 1.00546960e-02, 1.47229440e-02,
 -1.90777965e-02,-9.07632980e-03,-1.74696662e-02, 1.63275338e-02,
 -1.21787342e-02,-6.66049564e-03,-1.43182866e-02, 1.51192669e-02,
  1.40362780e+00, 3.24080127e-02, 2.85135972e-01,-3.15724793e-02,
  9.53416439e-02,-7.10461764e-02, 1.04543750e-01, 9.99972612e-01,
  1.19692953e-03,-2.38555816e-04,-7.29976816e-03]

qacc:
[-3.63689605e+00, 2.69644114e+00,-1.26400539e+01, 2.59978478e+01,
  7.54656928e-02, 9.69888883e-03,-1.58149227e+00, 7.93429097e+00,
  5.57740818e+00,-6.27995703e-01, 4.16441180e+00,-1.16692210e+01,
 -4.46893507e-02,-1.31558530e+01,-6.93256800e+01, 1.76168531e+02,
  9.75522915e-01, 5.74776604e-01, 2.67446418e-01,-6.36460049e+00,
  2.73546963e+01,-9.04752100e+00]

qfrc_actuator:
[ 4.53754811e-04,-5.22789808e-04,-1.69060071e-04,-4.15204838e-05,
 -6.28103390e-04,-7.39609167e-04,-2.37711225e-04,-2.94125453e-05,
 -5.62491370e-04,-4.45853866e-04,-1.45484560e-04,-8.59505658e-05,
  2.10000000e-01,-5.77878922e-03, 9.00000000e-02, 3.54795005e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40027533,  0.39238101,  0.07910429,  0.39238101,  0.4406144 ,
       -0.20009389,  0.07910429, -0.20009389,  1.3928011 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019512731820172348
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70865553e-01,  2.39612103e-01, -2.47344213e-03,  2.39611325e-01,
        9.70868704e-01,  6.10449866e-04,  2.54765873e-03, -1.08420217e-19,
       -9.99996755e-01])
  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([ 0.104047  , -0.08972817,  0.14122223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35223525,  0.06715847,  0.34577365,  0.06715847,  1.49061175,
       -0.22110308,  0.34577365, -0.22110308,  0.39517937,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008489444689826611
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.90567130e-01,  4.23396798e-01, -4.42423739e-01,  3.69474785e-01,
        9.05944342e-01,  2.06768546e-01,  4.88356424e-01, -2.77555756e-17,
       -8.72644259e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10387235, -0.08896378,  0.15008247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.65636949, 10.64225672, -0.54825406, 10.64225672, 10.70372425,
        0.91921159, -0.54825406,  0.91921159, 28.49934853,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046255860915205005
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.50055643e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.50055643e-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([ 0.08163261, -0.06203097,  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:
[-2.15258784e-05,-2.34504641e-06,-2.19417656e-05, 3.67141431e-05,
  3.99313799e-07, 2.23010371e-05, 2.47785366e-05, 2.22669335e-05,
  3.29125981e-05, 1.49188425e-07,-5.59803157e-06,-2.26584200e-05,
  2.64165997e-01,-2.18504637e-04, 8.51528854e-02, 3.54972221e-02,
 -1.11880240e-04, 6.57599947e-05,-9.80991222e+00,-1.18264459e-02,
 -2.39681465e-02, 6.05629264e-05]


--- Step 678 ---
qpos:
[-1.35601905e-02, 1.35313778e-02, 1.00546064e-02, 1.47232215e-02,
 -1.90778042e-02,-9.07732062e-03,-1.74701422e-02, 1.63280254e-02,
 -1.21791853e-02,-6.65946457e-03,-1.43180454e-02, 1.51186089e-02,
  1.40361875e+00, 3.24063570e-02, 2.85169555e-01,-3.15593179e-02,
  9.53383189e-02,-7.10470064e-02, 1.04544569e-01, 9.99973191e-01,
  1.17214844e-03,-3.06733023e-04,-7.22139041e-03]

qacc:
[-2.15397786e+00, 1.97855200e+00,-8.52743784e+00, 1.61602391e+01,
  3.70186141e-02, 1.04465484e+00,-4.28070679e+00, 8.78410014e+00,
  6.53607425e+00, 1.86975843e+00,-7.85690396e+00, 1.52009244e+01,
  2.47611052e-01,-1.09559347e+01,-6.41112739e+01, 1.61165883e+02,
  8.47334134e-01, 3.74609484e-01, 1.90837510e-01,-5.84352852e+00,
  2.51013738e+01,-1.53462098e+01]

qfrc_actuator:
[ 4.41680860e-04,-5.06980536e-04,-1.82374057e-04,-2.01322479e-05,
 -6.27904372e-04,-7.18034713e-04,-2.37792925e-04,-1.58252850e-05,
 -5.24780433e-04,-4.08665310e-04,-1.47612861e-04,-6.27383456e-05,
  2.10000000e-01,-5.76096623e-03, 9.00000000e-02, 3.54928851e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39915555,  0.38895093,  0.089679  ,  0.38895093,  0.44779651,
       -0.21096296,  0.089679  , -0.21096296,  1.31413278,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018877589513913604
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70858214e-01,  2.39639281e-01, -2.70974406e-03,  2.39638348e-01,
        9.70861996e-01,  6.68850076e-04,  2.79107028e-03,  0.00000000e+00,
       -9.99996105e-01])
  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([ 0.10403849, -0.08973251,  0.14122058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000847707860530272
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79109035,  0.42310002, -0.44177193,  0.36940362,  0.90608299,
        0.20628763,  0.48756233,  0.        , -0.87308818])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10386001, -0.08896516,  0.1500901 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.70413393, -10.00408872,  -3.80745218, -10.00408872,
        20.56628989, -25.91283578,  -3.80745218, -25.91283578,
        78.79016516,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004660401235905415
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.48890483e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.48890483e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08163486, -0.06203809,  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:
[-1.27145766e-05, 1.15744131e-05,-1.52155860e-05, 2.12465950e-05,
  2.68213778e-07, 4.01179755e-05, 8.34765525e-06, 1.58337279e-05,
  3.86255517e-05, 3.51971244e-05,-3.55941021e-06, 2.25852103e-05,
  2.64462812e-01,-1.09575029e-04, 8.66896895e-02, 3.51191041e-02,
 -6.17648409e-05, 4.53308720e-05,-9.80995879e+00,-1.18220979e-02,
 -2.39719915e-02, 6.29572082e-05]


--- Step 679 ---
qpos:
[-1.35610305e-02, 1.35319673e-02, 1.00549736e-02, 1.47233714e-02,
 -1.90778086e-02,-9.07809989e-03,-1.74702951e-02, 1.63286635e-02,
 -1.21791816e-02,-6.65796496e-03,-1.43179609e-02, 1.51185529e-02,
  1.40360721e+00, 3.24038506e-02, 2.85176418e-01,-3.15409347e-02,
  9.53379036e-02,-7.10470822e-02, 1.04545878e-01, 9.99973481e-01,
  1.13747216e-03,-3.28557980e-04,-7.18576502e-03]

qacc:
[ 4.82624989e+00,-1.54559128e+00, 6.03815345e+00,-8.96067662e+00,
  3.49996094e-02,-3.21735470e-01, 9.34366576e-01, 9.28644766e-01,
  3.95837158e+00, 2.28865552e+00,-9.81755442e+00, 2.01581716e+01,
  4.55046176e-01,-8.09569266e+00,-5.54497508e+01, 1.36337795e+02,
  7.27438846e-01, 1.88561578e-01, 1.22137073e-01,-5.12121289e+00,
  2.31146752e+01,-2.14023061e+01]

qfrc_actuator:
[ 4.70648008e-04,-4.97817762e-04,-1.54623747e-04,-2.54132738e-05,
 -6.27784839e-04,-7.04877085e-04,-2.19880732e-04,-8.03179187e-06,
 -5.02423496e-04,-3.69195199e-04,-1.48852277e-04,-3.10443354e-05,
  2.10000000e-01,-5.73104476e-03, 9.00000000e-02, 3.54205351e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39863183,  0.38670141,  0.09679545,  0.38670141,  0.45143554,
       -0.21095277,  0.09679545, -0.21095277,  1.24139595,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018571940430045774
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70852657e-01,  2.39660127e-01, -2.85354522e-03,  2.39659092e-01,
        9.70856850e-01,  7.04409727e-04,  2.93920285e-03, -1.08420217e-19,
       -9.99995681e-01])
  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([ 0.10403446, -0.08973251,  0.14122034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008466008864090286
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79130524,  0.42312342, -0.44136445,  0.36952887,  0.90607205,
        0.20611124,  0.48711849,  0.        , -0.87333589])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10385399, -0.08896358,  0.15009576])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.72524291,  -9.95653118,  -3.98727003,  -9.95653118,
        24.0251527 , -33.21093522,  -3.98727003, -33.21093522,
        93.65559623,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046756143629148733
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.93624141e-14, -7.42030177e-15,  1.00000000e+00, -4.40487027e-28,
        1.00000000e+00,  7.42030177e-15, -1.00000000e+00,  0.00000000e+00,
       -5.93624141e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08163628, -0.06204347,  0.06198012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.85834803e-05, 1.34506150e-05, 2.90196952e-05,-4.89422944e-06,
  1.80743951e-07, 3.79945829e-05, 2.77749744e-05, 1.01096633e-05,
  2.34360444e-05, 5.94114092e-05, 6.37644244e-06, 3.35179474e-05,
  2.64674357e-01,-1.11962313e-05, 8.81518082e-02, 3.47046524e-02,
 -2.42284060e-05, 2.34131028e-05,-9.80998747e+00,-1.18190241e-02,
 -2.39743568e-02, 6.34732809e-05]


--- Step 680 ---
qpos:
[-1.35618622e-02, 1.35327182e-02, 1.00553593e-02, 1.47231212e-02,
 -1.90778109e-02,-9.07896736e-03,-1.74695137e-02, 1.63293860e-02,
 -1.21792551e-02,-6.65649147e-03,-1.43176773e-02, 1.51189162e-02,
  1.40359477e+00, 3.24010035e-02, 2.85159271e-01,-3.15191221e-02,
  9.53399885e-02,-7.10470242e-02, 1.04547433e-01, 9.99973411e-01,
  1.09415439e-03,-3.07365121e-04,-7.20323222e-03]

qacc:
[ 6.92293406e-02,-6.62284991e-01, 4.35945020e+00,-1.14306699e+01,
  4.97356998e-02,-2.55267389e+00, 8.57662921e+00,-8.54439792e+00,
 -6.67694917e-01, 2.73161560e-01,-2.79193273e+00, 9.74616172e+00,
  5.73704617e-01,-4.98410538e+00,-4.59845861e+01, 1.09116778e+02,
  6.25030633e-01, 3.34516540e-02, 6.16185049e-02,-4.48370606e+00,
  2.14470348e+01,-2.65699284e+01]

qfrc_actuator:
[ 4.70278590e-04,-4.92557504e-04,-1.56147122e-04,-4.63179333e-05,
 -6.27713305e-04,-7.14550368e-04,-1.73760867e-04,-3.69882054e-06,
 -5.07036413e-04,-3.99651993e-04,-1.49535619e-04,-1.23667378e-05,
  2.10000000e-01,-5.69382623e-03, 9.00000000e-02, 3.53311334e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39854079,  0.38552349,  0.10102675,  0.38552349,  0.45118127,
       -0.20087887,  0.10102675, -0.20087887,  1.16510531,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018518219581941934
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70848962e-01,  2.39674391e-01, -2.91196484e-03,  2.39673312e-01,
        9.70853329e-01,  7.18876247e-04,  2.99938698e-03, -1.08420217e-19,
       -9.99995502e-01])
  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([ 0.10403404, -0.08972984,  0.14122116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008457860024696309
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79129002,  0.42335704, -0.44116768,  0.36977032,  0.90596292,
        0.20615793,  0.48695997,  0.        , -0.87342429])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1038531 , -0.08896025,  0.15009955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000467482965290901
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -2.2264642e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  2.2264642e-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([ 0.08163704, -0.06204747,  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:
[ 4.32710577e-07, 1.86094232e-05, 4.66972073e-06,-1.94184686e-05,
  1.17134046e-07, 1.77436132e-05, 5.77391052e-05, 7.11901987e-06,
 -3.97775454e-06, 5.52275278e-06, 1.35312292e-05, 2.20952026e-05,
  2.64798810e-01, 6.87707095e-05, 8.94878236e-02, 3.43541804e-02,
 -2.61913288e-06, 6.46735915e-06,-9.80999864e+00,-1.18179556e-02,
 -2.39756285e-02, 6.22904628e-05]


--- Step 681 ---
qpos:
[-1.35630369e-02, 1.35334291e-02, 1.00558182e-02, 1.47226452e-02,
 -1.90774671e-02,-9.07975940e-03,-1.74684408e-02, 1.63298333e-02,
 -1.21790392e-02,-6.65530291e-03,-1.43172276e-02, 1.51195371e-02,
  1.40358277e+00, 3.23982884e-02, 2.85120620e-01,-3.14956144e-02,
  9.53442386e-02,-7.10473132e-02, 1.04549026e-01, 9.99972911e-01,
  1.04303772e-03,-2.45897169e-04,-7.28206250e-03]

qacc:
[-2.97019958e+00,-7.17309007e-01, 3.44492268e+00,-7.45430285e+00,
  3.01262464e+00,-1.28683371e+00, 5.88539116e+00,-1.11603598e+01,
  2.53710243e+00,-3.14997800e-01,-5.20103802e-01, 4.93466384e+00,
  6.30531921e-01,-1.98304960e+00,-3.69953899e+01, 8.31267943e+01,
  5.41320280e-01,-8.67607303e-02, 9.53919833e-03,-4.05360003e+00,
  2.00752858e+01,-3.07031066e+01]

qfrc_actuator:
[ 4.52632037e-04,-5.07551181e-04,-1.57226473e-04,-5.85206893e-05,
 -6.09918176e-04,-7.19954433e-04,-1.64714728e-04,-1.91913523e-05,
 -4.91975745e-04,-4.36252425e-04,-1.50178574e-04,-1.55698991e-06,
  2.10000000e-01,-5.70565721e-03, 9.00000000e-02, 3.52489572e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39877074,  0.38555062,  0.10182742,  0.38555062,  0.44693628,
       -0.18236989,  0.10182742, -0.18236989,  1.08928045,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000186535687807634
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70847138e-01,  2.39682033e-01, -2.89093808e-03,  2.39680970e-01,
        9.70851442e-01,  7.13709519e-04,  2.97773476e-03,  0.00000000e+00,
       -9.99995567e-01])
  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([ 0.10403646, -0.08972586,  0.14122278])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008454762701832889
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79110897,  0.42370842, -0.44115504,  0.37005966,  0.90579864,
        0.20636055,  0.48703434,  0.        , -0.87338282])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10385632, -0.08895622,  0.15010151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046611678226408243
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.95463984e-14, -2.23298994e-14,  1.00000000e+00, -1.32966509e-27,
        1.00000000e+00,  2.23298994e-14, -1.00000000e+00,  0.00000000e+00,
       -5.95463984e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08163728, -0.06205038,  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:
[-1.76580602e-05,-4.42165908e-06, 2.67881924e-06,-1.16196082e-05,
  1.78228016e-05, 1.67494718e-05, 2.00701194e-05,-1.25955892e-05,
  1.48897294e-05,-2.97740466e-05, 2.92832974e-06, 1.19445761e-05,
  2.64844097e-01, 7.37135836e-05, 9.06883175e-02, 3.41005415e-02,
 -2.24391733e-06, 1.19757733e-06,-9.80999298e+00,-1.18194547e-02,
 -2.39760281e-02, 5.95670791e-05]


--- Step 682 ---
qpos:
[-1.35637250e-02, 1.35341925e-02, 1.00562123e-02, 1.47223699e-02,
 -1.90765674e-02,-9.08044103e-03,-1.74675462e-02, 1.63304657e-02,
 -1.21783006e-02,-6.65425552e-03,-1.43167924e-02, 1.51199321e-02,
  1.40357223e+00, 3.23961126e-02, 2.85062185e-01,-3.14716750e-02,
  9.53504154e-02,-7.10482535e-02, 1.04550481e-01, 9.99971919e-01,
  9.84234337e-04,-1.46240811e-04,-7.42771868e-03]

qacc:
[ 4.21519237e+00, 6.55852169e-01,-3.09967274e+00, 6.65466129e+00,
  4.81884803e+00, 1.01540086e+00,-4.20671679e+00, 7.63136149e+00,
  4.56368086e+00,-6.20248292e-01, 2.87962581e+00,-6.64728949e+00,
  6.11212368e-01, 7.11805294e-01,-3.05926790e+01, 6.44990222e+01,
  4.81644997e-01,-1.62834102e-01,-3.45314950e-02,-3.99025248e+00,
  1.90307876e+01,-3.34328052e+01]

qfrc_actuator:
[ 4.78225008e-04,-4.99055147e-04,-1.58101615e-04,-4.77637182e-05,
 -5.81833649e-04,-7.22925310e-04,-1.77643737e-04,-1.07480176e-05,
 -4.65446781e-04,-4.40764522e-04,-1.50843888e-04,-1.32268078e-05,
  2.10000000e-01,-5.71174890e-03, 9.00000000e-02, 3.52602418e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39924235,  0.38620651,  0.1011879 ,  0.38620651,  0.44113208,
       -0.15988164,  0.1011879 , -0.15988164,  1.00946683,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018927703377474497
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70847173e-01,  2.39683025e-01, -2.79541689e-03,  2.39682032e-01,
        9.70851197e-01,  6.90130454e-04,  2.87934639e-03, -1.08420217e-19,
       -9.99995855e-01])
  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([ 0.1040411 , -0.08972166,  0.14122494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008458497157930366
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.90812775e-01,  4.24105615e-01, -4.41304410e-01,  3.70343884e-01,
        9.05612736e-01,  2.06666350e-01,  4.87299254e-01,  2.77555756e-17,
       -8.73235041e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10386285, -0.08895228,  0.1501017 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004637316182535961
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.48158378e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.48158378e-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([ 0.0816371 , -0.06205242,  0.06198029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.50525652e-05, 6.11781314e-06,-1.84508400e-06, 1.04375361e-05,
  2.86184372e-05, 9.99489238e-06,-7.43762900e-06, 9.60895871e-06,
  2.68947369e-05,-2.00520060e-05,-6.04623558e-06,-1.26134481e-05,
  2.64821577e-01, 6.03472299e-05, 9.17634446e-02, 3.40270597e-02,
 -2.85821080e-05, 1.31938760e-05,-9.80997125e+00,-1.18238730e-02,
 -2.39756839e-02, 5.54216669e-05]


--- Step 683 ---
qpos:
[-1.35634121e-02, 1.35350776e-02, 1.00562572e-02, 1.47225817e-02,
 -1.90760274e-02,-9.08084475e-03,-1.74671663e-02, 1.63311963e-02,
 -1.21775956e-02,-6.65316173e-03,-1.43164618e-02, 1.51201662e-02,
  1.40356384e+00, 3.23948325e-02, 2.84985177e-01,-3.14482347e-02,
  9.53583448e-02,-7.10500318e-02, 1.04551650e-01, 9.99970365e-01,
  9.17410894e-04,-1.00129161e-05,-7.64382909e-03]

qacc:
[ 8.66458944e+00, 2.12361625e+00,-9.42399828e+00, 1.83551257e+01,
 -3.14351395e+00, 2.01323522e+00,-7.05038325e+00, 9.35910633e+00,
 -2.96734571e-01, 2.30008542e-02, 6.87578068e-01,-3.34127084e+00,
  5.36094660e-01, 3.16675249e+00,-2.59578613e+01, 5.09503791e+01,
  4.38181511e-01,-2.09467007e-01,-7.14558430e-02,-4.15061568e+00,
  1.82207566e+01,-3.52456294e+01]

qfrc_actuator:
[ 5.29069355e-04,-4.94294334e-04,-1.76498064e-04,-2.35672222e-05,
 -6.01181551e-04,-7.06748793e-04,-2.03404593e-04,-6.04598297e-06,
 -4.67891027e-04,-4.26053396e-04,-1.51408518e-04,-2.02511189e-05,
  2.10000000e-01,-5.71485719e-03, 9.00000000e-02, 3.53281883e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39990064,  0.38734749,  0.09941046,  0.38734749,  0.43511289,
       -0.13720265,  0.09941046, -0.13720265,  0.93450335,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019302886735470958
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70849081e-01,  2.39677177e-01, -2.62939120e-03,  2.39676298e-01,
        9.70852641e-01,  6.49125349e-04,  2.70833192e-03,  0.00000000e+00,
       -9.99996332e-01])
  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([ 0.10404752, -0.08971792,  0.14122744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008469810798308256
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79043608,  0.42450332, -0.4415968 ,  0.37059086,  0.90542638,
        0.20703981,  0.48772248,  0.        , -0.87299873])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1038721 , -0.08894893,  0.15010015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004605587578936504
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.50662511e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.50662511e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0816366 , -0.06205379,  0.06198042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.15370292e-05, 8.28450833e-06,-1.69906401e-05, 2.45986151e-05,
 -1.85076728e-05, 2.06184230e-05,-2.42917838e-05, 5.05676575e-06,
 -1.72409070e-06, 1.68743308e-06,-5.89907817e-06,-8.34142314e-06,
  2.64749625e-01, 2.91998579e-05, 9.27523936e-02, 3.40733951e-02,
 -8.57197498e-05, 4.60598967e-05,-9.80993411e+00,-1.18313717e-02,
 -2.39746821e-02, 4.99119413e-05]


--- Step 684 ---
qpos:
[-1.35628372e-02, 1.35358193e-02, 1.00564880e-02, 1.47227335e-02,
 -1.90764127e-02,-9.08101805e-03,-1.74670746e-02, 1.63312774e-02,
 -1.21772706e-02,-6.65237794e-03,-1.43157209e-02, 1.51203241e-02,
  1.40356815e+00, 3.23968478e-02, 2.84985229e-01,-3.14416852e-02,
  9.53591967e-02,-7.10552469e-02, 1.04551714e-01, 9.99969185e-01,
  9.09225970e-04, 2.65342008e-05,-7.79747829e-03]

qacc:
[ 2.27938983e+00,-8.37147628e-01, 2.95485410e+00,-4.17472701e+00,
 -8.04787866e+00,-2.11624589e-01, 3.96667765e+00,-1.49485600e+01,
 -3.29938023e+00,-1.70619490e+00, 5.82192733e+00,-7.57963197e+00,
  3.63468931e-01, 2.49438969e+01, 1.65432821e+02,-4.12572999e+02,
 -1.76939623e+00,-8.59236597e-01,-2.76240678e-01, 2.96995028e+01,
 -4.95861479e+01, 3.12765452e+01]

qfrc_actuator:
[ 5.41097610e-04,-5.09617611e-04,-1.69591768e-04,-2.71789281e-05,
 -6.48295763e-04,-6.97048149e-04,-2.18704254e-04,-3.90812583e-05,
 -4.87372112e-04,-4.53197345e-04,-1.34064122e-04,-2.44627595e-05,
  2.10000000e-01,-5.69899490e-03, 9.00000000e-02, 3.53243743e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40070479,  0.38918285,  0.09539936,  0.38918285,  0.41775939,
       -0.06957444,  0.09539936, -0.06957444,  0.68453453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019750073168914612
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70852882e-01,  2.39664225e-01, -2.39612141e-03,  2.39663495e-01,
        9.70855839e-01,  5.91503454e-04,  2.46805068e-03, -1.08420217e-19,
       -9.99996954e-01])
  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([ 0.10405543, -0.0897151 ,  0.14123011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008488797121675861
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79000279,  0.4248738 , -0.44201567,  0.37078213,  0.90525259,
        0.20745688,  0.48827882,  0.        , -0.87268768])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10388366, -0.08894646,  0.15009694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.6422471 ,  9.3894069 ,  5.00963684,  9.3894069 , 13.80424696,
       -5.92643823,  5.00963684, -5.92643823, 21.74998639,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046151866030006566
  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([ 0.09949622, -0.05251715,  0.06198038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34840570e-05,-1.31365619e-05, 7.37131574e-06,-3.36849148e-06,
 -4.76305766e-05, 1.64034823e-05,-1.38638602e-05,-3.28943620e-05,
 -1.95733033e-05,-2.78062512e-05, 1.66679814e-05,-4.50762557e-06,
  2.64641887e-01,-1.16694467e-06, 9.36808461e-02, 3.40944981e-02,
 -1.76254664e-04, 1.01696766e-04,-9.80988185e+00,-1.18419956e-02,
 -2.39731439e-02, 4.30564386e-05]


--- Step 685 ---
qpos:
[-1.35631573e-02, 1.35365913e-02, 1.00567583e-02, 1.47224835e-02,
 -1.90770148e-02,-9.08137351e-03,-1.74670277e-02, 1.63313439e-02,
 -1.21768374e-02,-6.65201086e-03,-1.43146679e-02, 1.51201059e-02,
  1.40357969e+00, 3.24005234e-02, 2.85056313e-01,-3.14479836e-02,
  9.53542473e-02,-7.10628716e-02, 1.04550992e-01, 9.99968689e-01,
  9.39618716e-04,-3.74424708e-05,-7.85730946e-03]

qacc:
[-7.75755392e+00,-8.83251783e-01, 4.93055560e+00,-1.20013004e+01,
 -1.88000211e+00,-1.41614666e-01, 2.23272904e-01,-2.75548392e-01,
  9.61170740e-01,-2.19861845e+00, 8.62555012e+00,-1.53251332e+01,
 -2.90349078e-01, 1.58260108e+01, 1.44195856e+02,-3.51414666e+02,
 -1.45033059e+00,-6.02381808e-01,-1.96511952e-01, 1.96786018e+01,
 -5.00672995e+01, 4.69564403e+01]

qfrc_actuator:
[ 4.94669524e-04,-5.01269536e-04,-1.65651839e-04,-4.71234060e-05,
 -6.58102322e-04,-7.26801950e-04,-2.27747848e-04,-4.07924619e-05,
 -4.81210098e-04,-4.87363865e-04,-1.24200002e-04,-4.47598790e-05,
  2.10000000e-01,-5.67450825e-03, 9.00000000e-02, 3.53296005e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40066027,  0.40031892,  0.0165351 ,  0.40031892,  0.40128919,
       -0.01522641,  0.0165351 , -0.01522641,  0.76929557,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019725622954793847
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70848538e-01,  2.39682478e-01, -2.32922234e-03,  2.39681788e-01,
        9.70851332e-01,  5.75035295e-04,  2.39915450e-03,  1.08420217e-19,
       -9.99997122e-01])
  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([ 0.10405332, -0.08972257,  0.14123076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35306707,  0.335338  ,  0.11047525,  0.335338  ,  0.44794696,
       -0.28799964,  0.11047525, -0.28799964,  1.22726488,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008528596545340932
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79017917,  0.42437126, -0.44218312,  0.37032984,  0.90548828,
        0.20723604,  0.48833665,  0.        , -0.87265532])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10388185, -0.08895269,  0.15009464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.64957829, -10.25917976,  -2.85705242, -10.25917976,
        15.04438995, -15.78100653,  -2.85705242, -15.78100653,
        67.31643595,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004620591261775553
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.00693159e-14, -1.50173290e-14,  1.00000000e+00, -9.02080678e-28,
        1.00000000e+00,  1.50173290e-14, -1.00000000e+00,  0.00000000e+00,
       -6.00693159e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09949956, -0.0525245 ,  0.06198036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.60738649e-05, 2.36681367e-06, 2.01144809e-06,-2.03195396e-05,
 -1.11652826e-05,-2.48568531e-05,-8.49508699e-06,-2.12537567e-06,
  5.55382231e-06,-4.64879255e-05, 6.01312639e-06,-2.09998672e-05,
  2.64007498e-01,-1.41416479e-04, 8.98278519e-02, 3.49442684e-02,
 -6.25758699e-05, 4.02072304e-05,-9.80998716e+00,-1.18297307e-02,
 -2.39632606e-02, 4.27062150e-05]


--- Step 686 ---
qpos:
[-1.35640317e-02, 1.35371582e-02, 1.00568768e-02, 1.47223856e-02,
 -1.90770401e-02,-9.08212922e-03,-1.74669726e-02, 1.63314144e-02,
 -1.21759897e-02,-6.65159104e-03,-1.43142840e-02, 1.51203449e-02,
  1.40358863e+00, 3.24024443e-02, 2.85163195e-01,-3.14595728e-02,
  9.53439479e-02,-7.10724678e-02, 1.04549527e-01, 9.99968978e-01,
  9.98293347e-04,-2.03947557e-04,-7.81053508e-03]

qacc:
[  -4.80647685,   0.47629963,  -2.71758705,   5.72750572,   5.01491593,
   -0.55328781,   1.17167048,  -0.80344486,   3.59610713,   2.87287622,
  -12.08535783,  21.04289011,  -0.41945849,  -7.21990767,  68.93735934,
 -164.40822581,  -1.33748369,  -0.49287703,  -0.18571655,  14.54492502,
  -51.10139371,  53.35183751]

qfrc_actuator:
[ 4.67477663e-04,-5.32092919e-04,-1.81172354e-04,-4.09962768e-05,
 -6.28110149e-04,-7.62155394e-04,-2.33165871e-04,-4.18370994e-05,
 -4.59998462e-04,-4.72255313e-04,-1.54395184e-04,-2.11199234e-05,
  2.10000000e-01,-5.69778798e-03, 9.00000000e-02, 3.52897065e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39998607,  0.37523421, -0.13852128,  0.37523421,  0.38727048,
       -0.03444471, -0.13852128, -0.03444471,  0.30668032,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001935096448177031
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70837066e-01,  2.39727843e-01, -2.43963708e-03,  2.39727086e-01,
        9.70840132e-01,  6.02415285e-04,  2.51291331e-03,  1.08420217e-19,
       -9.99996843e-01])
  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([ 0.10404307, -0.08973634,  0.14123002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35417592,  0.33721488,  0.10828995,  0.33721488,  0.3781945 ,
       -0.07479383,  0.10828995, -0.07479383,  0.58708389,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008582183347045629
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.90809932e-01,  4.23291947e-01, -4.42090012e-01,  3.69476752e-01,
        9.05993337e-01,  2.06550241e-01,  4.87961659e-01,  2.77555756e-17,
       -8.72865063e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10386896, -0.08896414,  0.15009413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.63688819, -10.2865498 ,  -2.70744962, -10.2865498 ,
        15.61658131, -18.91959908,  -2.70744962, -18.91959908,
        82.51907457,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046112275808663644
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.01912942e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.01912942e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09950242, -0.05252974,  0.0619804 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.85495653e-05,-2.99569112e-05,-1.54803425e-05, 5.90548920e-06,
  2.96746853e-05,-5.10811061e-05,-1.16647831e-05,-2.44332836e-06,
  2.13299871e-05,-1.05613032e-05,-3.97902753e-05, 2.14457914e-05,
  2.63645186e-01,-2.46302847e-04, 8.62764879e-02, 3.55468303e-02,
 -1.26424769e-05,-6.89328148e-06,-9.80999893e+00,-1.18234669e-02,
 -2.39637117e-02, 4.56113495e-05]


--- Step 687 ---
qpos:
[-1.35648813e-02, 1.35374570e-02, 1.00568514e-02, 1.47223701e-02,
 -1.90767053e-02,-9.08319176e-03,-1.74667327e-02, 1.63314477e-02,
 -1.21745498e-02,-6.65129221e-03,-1.43142543e-02, 1.51212109e-02,
  1.40359243e+00, 3.24032125e-02, 2.85235612e-01,-3.14667635e-02,
  9.53377709e-02,-7.10792758e-02, 1.04549030e-01, 9.99969244e-01,
  1.03765757e-03,-3.13073997e-04,-7.76764379e-03]

qacc:
[  0.21528548,  0.21707822, -1.63681478,  3.49086655,  3.13706381,
  -1.0042796 ,  3.13922459, -3.84175479,  5.16147934,  2.11050955,
 -10.42265287, 21.95053974, -0.3083889 , -8.69542858,-64.4022121 ,
 151.0616444 ,  1.03060948,  0.69705458,  0.24175581, -9.87936733,
  28.61108065, -1.96824815]

qfrc_actuator:
[ 4.69597531e-04,-5.50690736e-04,-1.90440970e-04,-3.73721549e-05,
 -6.10450776e-04,-7.65072389e-04,-2.18690992e-04,-4.24944624e-05,
 -4.30106568e-04,-4.81142386e-04,-1.72264490e-04, 1.04467869e-05,
  2.10000000e-01,-5.72922390e-03, 9.00000000e-02, 3.52913329e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39837352,  0.39129672,  0.0747552 ,  0.39129672,  0.42637325,
       -0.14656107,  0.0747552 , -0.14656107,  1.1655291 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018419045220108727
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70825604e-01,  2.39771059e-01, -2.73605679e-03,  2.39770107e-01,
        9.70829459e-01,  6.75738904e-04,  2.81826717e-03,  1.08420217e-19,
       -9.99996029e-01])
  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([ 0.10402638, -0.0897566 ,  0.14122808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35508894,  0.30363197, -0.18410806,  0.30363197,  1.30528984,
        1.56707629, -0.18410806,  1.56707629,  2.93951933,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008627625164212757
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.91946876e-01,  4.21695395e-01, -4.41580274e-01,  3.68309826e-01,
        9.06737555e-01,  2.05365232e-01,  4.86998991e-01,  2.77555756e-17,
       -8.73402532e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10384632, -0.08898027,  0.15009823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.66035276,  9.30035102,  5.21023914,  9.30035102, 15.81277404,
       -9.1971453 ,  5.21023914, -9.1971453 , 27.077388  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046285104997224186
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.19933078e-13, -7.49581740e-15,  1.00000000e+00,  8.98996455e-28,
        1.00000000e+00,  7.49581740e-15, -1.00000000e+00,  0.00000000e+00,
        1.19933078e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08164246, -0.06206672,  0.06198032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26477891e-06,-3.82710870e-05,-1.71470456e-05, 1.92290819e-06,
  1.85232043e-05,-3.39842294e-05, 2.40154544e-06,-3.29868585e-06,
  3.04795845e-05,-2.21179450e-05,-2.42217261e-05, 3.01516295e-05,
  2.63774813e-01,-1.87895865e-04, 8.44869971e-02, 3.58130777e-02,
 -6.64183105e-05,-5.97303166e-07,-9.80992042e+00,-1.18272118e-02,
 -2.39731943e-02, 5.16614717e-05]


--- Step 688 ---
qpos:
[-1.35653548e-02, 1.35378307e-02, 1.00565700e-02, 1.47220163e-02,
 -1.90768505e-02,-9.08412083e-03,-1.74665278e-02, 1.63314306e-02,
 -1.21724181e-02,-6.65110228e-03,-1.43138849e-02, 1.51220529e-02,
  1.40359225e+00, 3.24031191e-02, 2.85274092e-01,-3.14694300e-02,
  9.53352234e-02,-7.10840258e-02, 1.04549218e-01, 9.99969404e-01,
  1.05897324e-03,-3.69630606e-04,-7.74165794e-03]

qacc:
[ 3.25059691e+00, 1.11439382e-01, 1.16375025e+00,-6.65348721e+00,
 -4.17057090e+00, 1.78475319e-01,-1.53563946e-01,-7.76167576e-01,
  6.05126021e+00,-1.15430959e+00, 3.98810487e+00,-4.84503858e+00,
 -7.14714271e-02,-7.41781669e+00,-6.39961117e+01, 1.50788862e+02,
  9.07357280e-01, 5.14519360e-01, 1.71432195e-01,-9.23076268e+00,
  2.62052225e+01,-8.47732066e+00]

qfrc_actuator:
[ 4.88947021e-04,-5.26302745e-04,-1.95905620e-04,-5.29935419e-05,
 -6.35710330e-04,-7.30708207e-04,-2.10212900e-04,-4.28798736e-05,
 -3.95350148e-04,-4.68768943e-04,-1.47280157e-04, 1.09115506e-05,
  2.10000000e-01,-5.72994850e-03, 9.00000000e-02, 3.53280512e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39757099,  0.38905096,  0.08186599,  0.38905096,  0.42901578,
       -0.1494348 ,  0.08186599, -0.1494348 ,  1.10772858,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017934535842823737
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70817373e-01,  2.39802093e-01, -2.92983970e-03,  2.39801001e-01,
        9.70821794e-01,  7.23697900e-04,  3.01789651e-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([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10401591, -0.08976927,  0.14122764])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008654523924050205
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79263535,  0.42065839, -0.44133403,  0.36752831,  0.90721911,
        0.20463729,  0.48646906,  0.        , -0.8736978 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10383223, -0.08899078,  0.1501003 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.6990586 ,  -8.77720099,  -6.11805506,  -8.77720099,
        41.06064951, -43.55792538,  -6.11805506, -43.55792538,
        73.18896134,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046567277847237715
  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([ 0.08164551, -0.06207189,  0.0619802 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.93627816e-05,-4.41074532e-07,-1.54055100e-05,-1.78154292e-05,
 -2.47023200e-05, 1.57092796e-05, 1.63555841e-06,-1.82432511e-06,
  3.56082433e-05,-3.74868010e-06, 1.84568662e-05,-7.39112194e-07,
  2.64031358e-01,-1.29564370e-04, 8.62105098e-02, 3.56299256e-02,
 -3.16141797e-05, 3.42261202e-06,-9.80996280e+00,-1.18239806e-02,
 -2.39768660e-02, 5.66746548e-05]


--- Step 689 ---
qpos:
[-1.35649032e-02, 1.35381697e-02, 1.00562279e-02, 1.47214782e-02,
 -1.90766070e-02,-9.08488912e-03,-1.74665251e-02, 1.63310713e-02,
 -1.21705765e-02,-6.65042991e-03,-1.43134910e-02, 1.51228385e-02,
  1.40358931e+00, 3.24025040e-02, 2.85280157e-01,-3.14679495e-02,
  9.53358444e-02,-7.10873860e-02, 1.04549842e-01, 9.99969371e-01,
  1.06368789e-03,-3.77836415e-04,-7.74482157e-03]

qacc:
[ 8.01849780e+00,-2.71645024e-01, 1.65340965e+00,-4.69232703e+00,
  3.36657766e+00, 6.64466950e-02, 1.50534956e+00,-7.21251647e+00,
 -2.54037148e+00, 4.57998019e-01,-4.61105583e-01,-9.18749278e-01,
  1.09748707e-01,-5.63529812e+00,-6.05873736e+01, 1.42166454e+02,
  7.92124929e-01, 3.47417920e-01, 1.08994641e-01,-8.49269745e+00,
  2.40949309e+01,-1.45975756e+01]

qfrc_actuator:
[ 5.36025747e-04,-5.29616978e-04,-1.98918248e-04,-6.20218569e-05,
 -6.15014763e-04,-7.27550787e-04,-2.22939658e-04,-6.08266793e-05,
 -4.11269341e-04,-4.08097605e-04,-1.32641139e-04, 1.08680286e-05,
  2.10000000e-01,-5.72982904e-03, 9.00000000e-02, 3.53661868e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39734891,  0.38799175,  0.08572373,  0.38799175,  0.42949828,
       -0.14551038,  0.08572373, -0.14551038,  1.0559393 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001779781144111347
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70812611e-01,  2.39820131e-01, -3.02982048e-03,  2.39818963e-01,
        9.70817339e-01,  7.48453817e-04,  3.12089654e-03,  0.00000000e+00,
       -9.99995130e-01])
  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([ 0.10401077, -0.08977618,  0.14122836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008688268963631591
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.92966582e-01,  4.20064643e-01, -4.41304538e-01,  3.67051635e-01,
        9.07494185e-01,  2.04272861e-01,  4.86289108e-01, -2.77555756e-17,
       -8.73797976e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382543, -0.08899697,  0.15010067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046667214070385266
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18951072e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.18951072e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08164757, -0.06207574,  0.06198016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.76289283e-05,-7.48189651e-06,-5.61288134e-06,-9.92679757e-06,
  2.00212019e-05, 1.21983049e-05,-9.34091971e-06,-1.72511836e-05,
 -1.49145030e-05, 6.22899022e-05, 1.60855540e-05, 4.13622389e-07,
  2.64230128e-01,-8.56107588e-05, 8.79075088e-02, 3.54418769e-02,
 -9.07014633e-06, 1.49721805e-06,-9.80998943e+00,-1.18214195e-02,
 -2.39783904e-02, 5.93487231e-05]


--- Step 690 ---
qpos:
[-1.35638906e-02, 1.35384464e-02, 1.00558362e-02, 1.47211841e-02,
 -1.90754272e-02,-9.08551293e-03,-1.74664459e-02, 1.63311730e-02,
 -1.21692851e-02,-6.64950265e-03,-1.43128344e-02, 1.51232840e-02,
  1.40358484e+00, 3.24017378e-02, 2.85256045e-01,-3.14630962e-02,
  9.53392127e-02,-7.10899562e-02, 1.04550682e-01, 9.99969057e-01,
  1.05328648e-03,-3.41360902e-04,-7.78836245e-03]

qacc:
[ 4.86221540e+00, 5.49877639e-01,-3.12704596e+00, 7.49435563e+00,
  8.12869697e+00, 9.09930939e-01,-4.94218823e+00, 1.27245953e+01,
 -4.79833608e+00,-1.08768513e+00, 5.81908841e+00,-1.23294337e+01,
  2.36980651e-01,-3.47930336e+00,-5.49130644e+01, 1.27169537e+02,
  6.86832792e-01, 1.97503944e-01, 5.40789814e-02,-7.73830279e+00,
  2.22599136e+01,-2.02099990e+01]

qfrc_actuator:
[ 5.63537242e-04,-5.31720386e-04,-2.00552646e-04,-4.93603525e-05,
 -5.67422869e-04,-7.07692851e-04,-2.12702805e-04,-3.57403799e-05,
 -4.39136016e-04,-4.07758480e-04,-1.24029948e-04,-7.19109340e-06,
  2.10000000e-01,-5.74695080e-03, 9.00000000e-02, 3.53859879e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39755413,  0.3878488 ,  0.08730747,  0.3878488 ,  0.42847244,
       -0.13734939,  0.08730747, -0.13734939,  1.00770575,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017924201670192048
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70811352e-01,  2.39825053e-01, -3.04358920e-03,  2.39823875e-01,
        9.70816123e-01,  7.51871466e-04,  3.13508308e-03,  1.08420217e-19,
       -9.99995086e-01])
  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([ 0.10401011, -0.08977896,  0.14122994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008715917533552495
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.93020075e-01,  4.19806485e-01, -4.41454047e-01,  3.66802521e-01,
        9.07613638e-01,  2.04189607e-01,  4.86389835e-01,  2.77555756e-17,
       -8.73741912e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382475, -0.08900005,  0.15009954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000466191023424975
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.44211445e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.44211445e-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([ 0.08164883, -0.06207853,  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:
[ 2.88760402e-05,-7.87130920e-06,-4.22204526e-06, 1.19503763e-05,
  4.82024018e-05, 2.40086729e-05, 1.10051411e-05, 2.49486624e-05,
 -2.83035321e-05, 3.84374369e-05, 2.34511951e-05,-1.48290342e-05,
  2.64368051e-01,-7.65140236e-05, 8.95282668e-02, 3.52543396e-02,
 -1.11386148e-07,-1.06682687e-07,-9.80999989e+00,-1.18204392e-02,
 -2.39783529e-02, 5.98840253e-05]


--- Step 691 ---
qpos:
[-1.35632455e-02, 1.35388147e-02, 1.00553344e-02, 1.47213733e-02,
 -1.90743752e-02,-9.08598194e-03,-1.74662898e-02, 1.63322632e-02,
 -1.21679935e-02,-6.64856341e-03,-1.43119393e-02, 1.51235432e-02,
  1.40358002e+00, 3.24012186e-02, 2.85204432e-01,-3.14559524e-02,
  9.53449541e-02,-7.10922644e-02, 1.04551546e-01, 9.99968370e-01,
  1.02920576e-03,-2.63342607e-04,-7.88230181e-03]

qacc:
[-3.19005939e+00, 1.43041906e+00,-6.95431071e+00, 1.54169173e+01,
 -1.10856638e+00, 2.02608066e+00,-1.10980222e+01, 2.79667650e+01,
  7.79059332e-03,-1.03436725e+00, 4.49818860e+00,-8.11444049e+00,
  2.94343774e-01,-9.61418356e-01,-4.76540395e+01, 1.07580491e+02,
  5.93263708e-01, 6.55092035e-02, 5.88127122e-03,-7.00962526e+00,
  2.06908732e+01,-2.52194623e+01]

qfrc_actuator:
[ 5.43797296e-04,-5.15303031e-04,-2.01346706e-04,-2.40396059e-05,
 -5.75406585e-04,-6.95615252e-04,-2.06638342e-04, 1.44993042e-05,
 -4.38289898e-04,-4.25831475e-04,-1.19283479e-04,-1.80007899e-05,
  2.10000000e-01,-5.73907413e-03, 9.00000000e-02, 3.53761508e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.398079  ,  0.38833639,  0.08753135,  0.38833639,  0.42661231,
       -0.12658916,  0.08753135, -0.12658916,  0.95969693,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001824293696473206
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70813485e-01,  2.39817245e-01, -2.97763232e-03,  2.39816117e-01,
        9.70818051e-01,  7.35552434e-04,  3.06713737e-03, -1.08420217e-19,
       -9.99995296e-01])
  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([ 0.10401313, -0.08977906,  0.14123213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008739420023305624
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.92864530e-01,  4.19786661e-01, -4.41752188e-01,  3.66709553e-01,
        9.07622807e-01,  2.04315796e-01,  4.86713407e-01,  2.77555756e-17,
       -8.73561709e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382913, -0.08900109,  0.15009706])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046452407033741733
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.46882061e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.46882061e-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([ 0.08164947, -0.0620805 ,  0.06198025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89150640e-05, 1.16294492e-05,-2.53971304e-06, 2.50663783e-05,
 -6.56744705e-06, 2.88193650e-05, 1.32267432e-05, 5.21302378e-05,
  6.27654870e-09, 7.56948461e-06, 1.50459287e-05,-8.64176164e-06,
  2.64444716e-01,-6.15518132e-05, 9.10370183e-02, 3.50758456e-02,
 -8.27316914e-06, 4.82075494e-06,-9.80999402e+00,-1.18217230e-02,
 -2.39772120e-02, 5.84678146e-05]


--- Step 692 ---
qpos:
[-1.35635315e-02, 1.35391643e-02, 1.00548866e-02, 1.47215218e-02,
 -1.90737709e-02,-9.08650562e-03,-1.74661991e-02, 1.63336387e-02,
 -1.21667031e-02,-6.64736127e-03,-1.43116105e-02, 1.51233497e-02,
  1.40357584e+00, 3.24013328e-02, 2.85127878e-01,-3.14475992e-02,
  9.53527605e-02,-7.10947283e-02, 1.04552267e-01, 9.99967217e-01,
  9.92509911e-04,-1.46354819e-04,-8.03477538e-03]

qacc:
[-8.06941126e+00,-2.43721938e-01, 1.03243548e+00,-1.84014537e+00,
 -3.88900003e+00, 7.05014934e-01,-3.81044071e+00, 8.87951474e+00,
 -3.23990005e-02, 9.98050095e-01,-1.14305133e+00,-5.98028352e+00,
  2.86118610e-01, 1.62097693e+00,-4.05612912e+01, 8.83401574e+01,
  5.16257475e-01,-3.89314075e-02,-3.55725148e-02,-6.46841754e+00,
  1.94042287e+01,-2.92864026e+01]

qfrc_actuator:
[ 4.96410494e-04,-5.23407581e-04,-2.01556479e-04,-2.69654944e-05,
 -5.98293631e-04,-7.23779232e-04,-2.20860806e-04, 2.58613346e-05,
 -4.38298883e-04,-4.19305525e-04,-1.52442049e-04,-4.22310940e-05,
  2.10000000e-01,-5.71653605e-03, 9.00000000e-02, 3.53837694e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39884349,  0.38930071,  0.0867242 ,  0.38930071,  0.42418565,
       -0.11375972,  0.0867242 , -0.11375972,  0.90950535,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018696158290500015
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70818810e-01,  2.39797386e-01, -2.83740497e-03,  2.39796362e-01,
        9.70822957e-01,  7.00851056e-04,  2.92268013e-03,  0.00000000e+00,
       -9.99995729e-01])
  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([ 0.1040191 , -0.08977773,  0.14123469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000876146923457564
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79255819,  0.41991937, -0.44217558,  0.36670855,  0.90756142,
        0.20459011,  0.48721284,  0.        , -0.87328326])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1038376 , -0.08900103,  0.15009329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004619244059804045
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.00868351e-14, -7.51085439e-15,  1.00000000e+00, -4.51303469e-28,
        1.00000000e+00,  7.51085439e-15, -1.00000000e+00,  0.00000000e+00,
       -6.00868351e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08164961, -0.0620818 ,  0.06198036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.79371155e-05,-1.08096874e-06, 2.74015661e-06,-2.02821681e-06,
 -2.30560497e-05,-7.12288295e-06,-4.84853276e-06, 1.40671846e-05,
 -5.15020417e-08, 1.34456463e-05,-3.00577341e-05,-2.35567610e-05,
  2.64462778e-01,-5.23726622e-05, 9.24119700e-02, 3.49689044e-02,
 -3.84204039e-05, 2.21370902e-05,-9.80997194e+00,-1.18257549e-02,
 -2.39753025e-02, 5.52682596e-05]


--- Step 693 ---
qpos:
[-1.35640387e-02, 1.35393287e-02, 1.00545479e-02, 1.47213067e-02,
 -1.90727558e-02,-9.08714800e-03,-1.74661783e-02, 1.63344586e-02,
 -1.21661135e-02,-6.64602624e-03,-1.43116619e-02, 1.51228716e-02,
  1.40357329e+00, 3.24024714e-02, 2.85029322e-01,-3.14394837e-02,
  9.53623473e-02,-7.10977339e-02, 1.04552705e-01, 9.99965494e-01,
  9.44308225e-04, 7.34074493e-06,-8.25339342e-03]

qacc:
[ -1.91143192, -1.29513827,  5.80388165,-12.14051548,  3.56727799,
  -1.11176912,  6.07073527,-15.47531696, -6.131199  ,  0.66395922,
  -0.89013264, -3.54852156,  0.24776582,  4.34448298,-31.80218442,
  64.08272228,  0.4450964 , -0.1354216 , -0.07103492, -5.90475585,
  18.27419736,-33.09081666]

qfrc_actuator:
[ 4.86404087e-04,-5.46151498e-04,-2.01535530e-04,-4.65085719e-05,
 -5.76493621e-04,-7.40435353e-04,-2.29391353e-04,-3.54809561e-06,
 -4.74325009e-04,-4.16028551e-04,-1.72128895e-04,-5.64202666e-05,
  2.10000000e-01,-5.73894414e-03, 9.00000000e-02, 3.52955104e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39978626,  0.39097656,  0.08346487,  0.39097656,  0.42096956,
       -0.09922946,  0.08346487, -0.09922946,  0.86460929,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019238303363954963
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70827104e-01,  2.39766201e-01, -2.62741125e-03,  2.39765323e-01,
        9.70830659e-01,  6.48892172e-04,  2.70635381e-03, -1.08420217e-19,
       -9.99996338e-01])
  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([ 0.10402741, -0.08977596,  0.14123744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008784473944165436
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.92147000e-01,  4.20136487e-01, -4.42705842e-01,  3.66748416e-01,
        9.07460926e-01,  2.04964061e-01,  4.87851134e-01, -2.77555756e-17,
       -8.72926842e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10384939, -0.08900062,  0.15008828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004586087476134773
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.05212521e-14,  1.51303130e-14,  1.00000000e+00, -9.15705488e-28,
        1.00000000e+00, -1.51303130e-14, -1.00000000e+00,  0.00000000e+00,
        6.05212521e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08164936, -0.06208258,  0.0619805 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13970486e-05,-2.28749840e-05, 7.01815253e-08,-1.95314140e-05,
  2.11481467e-05,-2.10678887e-05,-1.01184382e-05,-2.96090598e-05,
 -3.60676951e-05, 3.52684800e-06,-2.14438325e-05,-1.51147086e-05,
  2.64430823e-01,-1.07948854e-04, 9.36587083e-02, 3.48201213e-02,
 -9.55420688e-05, 5.67031983e-05,-9.80993389e+00,-1.18328339e-02,
 -2.39728579e-02, 5.04146652e-05]


--- Step 694 ---
qpos:
[-1.35639726e-02, 1.35391295e-02, 1.00543109e-02, 1.47208834e-02,
 -1.90711424e-02,-9.08764663e-03,-1.74664059e-02, 1.63352438e-02,
 -1.21659611e-02,-6.64458312e-03,-1.43122689e-02, 1.51225879e-02,
  1.40358266e+00, 3.24068831e-02, 2.85005754e-01,-3.14480367e-02,
  9.53648542e-02,-7.11040118e-02, 1.04552146e-01, 9.99964219e-01,
  9.51588330e-04, 6.02220361e-05,-8.40542851e-03]

qacc:
[ 4.97880683e+00,-1.20362204e+00, 4.45708799e+00,-7.94021004e+00,
  5.18446228e+00, 8.02152534e-01,-2.45553100e+00, 2.16473042e+00,
 -3.83609787e+00, 2.10288662e+00,-8.09902971e+00, 1.22593844e+01,
  8.01490411e-02, 2.52795226e+01, 1.61704674e+02,-4.03953595e+02,
 -1.76996486e+00,-8.18063583e-01,-2.49103734e-01, 2.81555130e+01,
 -5.01450056e+01, 3.33399787e+01]

qfrc_actuator:
[ 5.16241122e-04,-5.77505170e-04,-2.01453061e-04,-5.79303230e-05,
 -5.46313579e-04,-7.14595586e-04,-2.34476067e-04,-3.43574148e-06,
 -4.95756092e-04,-4.14676109e-04,-2.01444961e-04,-4.68191182e-05,
  2.10000000e-01,-5.71795386e-03, 9.00000000e-02, 3.52216989e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40085301,  0.3900354 ,  0.09249608,  0.3900354 ,  0.41473697,
       -0.05854556,  0.09249608, -0.05854556,  0.64772663,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019831226720095453
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70838102e-01,  2.39724529e-01, -2.35150720e-03,  2.39723826e-01,
        9.70840950e-01,  5.80645014e-04,  2.42213434e-03,  1.08420217e-19,
       -9.99997067e-01])
  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([ 0.10403751, -0.08977465,  0.14124023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000878898882538371
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79167191,  0.42037518, -0.44332866,  0.36678137,  0.90735038,
        0.20539404,  0.48859698,  0.        , -0.87250959])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10386376, -0.08900054,  0.15008203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.6163889 ,  9.39932364,  4.93562848,  9.39932364, 13.86561359,
       -6.18776606,  4.93562848, -6.18776606, 22.40026123,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004596017675732589
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20780979e-13, -7.54881116e-15,  1.00000000e+00, -9.11752799e-28,
        1.00000000e+00,  7.54881116e-15, -1.00000000e+00,  0.00000000e+00,
       -1.20780979e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09952157, -0.0525669 ,  0.06198046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.94996849e-05,-4.49535433e-05,-5.30378258e-06,-1.27781706e-05,
  3.08044891e-05, 1.06703448e-05,-1.17201660e-05,-1.71999896e-06,
 -2.25080542e-05,-1.79043016e-06,-3.17587078e-05, 8.71610950e-06,
  2.64349688e-01,-1.40123930e-04, 9.47584874e-02, 3.47581295e-02,
 -1.85148763e-04, 1.13249928e-04,-9.80988025e+00,-1.18431754e-02,
 -2.39700396e-02, 4.40286760e-05]


--- Step 695 ---
qpos:
[-1.35635492e-02, 1.35384925e-02, 1.00543856e-02, 1.47206669e-02,
 -1.90698689e-02,-9.08791555e-03,-1.74665360e-02, 1.63366787e-02,
 -1.21657229e-02,-6.64328572e-03,-1.43136943e-02, 1.51224730e-02,
  1.40359841e+00, 3.24128739e-02, 2.85051200e-01,-3.14689245e-02,
  9.53615520e-02,-7.11125311e-02, 1.04550905e-01, 9.99963721e-01,
  9.94442735e-04, 1.13518250e-05,-8.45980175e-03]

qacc:
[ 3.11457814e+00,-1.02993610e+00, 1.94863236e+00, 1.46784980e+00,
 -2.95236719e+00, 1.37386041e+00,-7.19218365e+00, 1.81033154e+01,
  7.26486350e-01, 2.43993089e+00,-9.69464759e+00, 1.40343397e+01,
 -5.51907905e-01, 1.57445307e+01, 1.39662011e+02,-3.39871768e+02,
 -1.45228585e+00,-5.60360023e-01,-1.70455798e-01, 1.82108361e+01,
 -5.06779787e+01, 4.88819235e+01]

qfrc_actuator:
[ 5.33772947e-04,-5.96019497e-04,-1.83617077e-04,-4.67363671e-05,
 -5.64715141e-04,-6.81225887e-04,-2.19534193e-04, 3.18437057e-05,
 -4.90660692e-04,-4.50012020e-04,-2.53963714e-04,-4.10616073e-05,
  2.10000000e-01,-5.69133564e-03, 9.00000000e-02, 3.52795975e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40103936,  0.40066278,  0.01737541,  0.40066278,  0.40170389,
       -0.01532352,  0.01737541, -0.01532352,  0.75438721,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019932703762034871
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70841557e-01,  2.39711552e-01, -2.24572397e-03,  2.39710911e-01,
        9.70844154e-01,  5.54492681e-04,  2.31316629e-03,  0.00000000e+00,
       -9.99997325e-01])
  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([ 0.10403775, -0.0897833 ,  0.14124092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35939908,  0.33847134,  0.12085051,  0.33847134,  0.47599796,
       -0.32656362,  0.12085051, -0.32656362,  1.27402018,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00088628502306448
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79180261,  0.4197746 , -0.44366419,  0.36620563,  0.90762838,
        0.20519296,  0.488817  ,  0.        , -0.87238635])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10386486, -0.08900872,  0.15007715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.62604745, -10.14543332,  -3.15959921, -10.14543332,
        16.16482141, -17.78493354,  -3.15959921, -17.78493354,
        67.73324534,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004603197044851792
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.02963013e-14, -1.50740753e-14,  1.00000000e+00,  9.08910989e-28,
        1.00000000e+00,  1.50740753e-14, -1.00000000e+00,  0.00000000e+00,
        6.02963013e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0995251 , -0.05257405,  0.06198043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83785833e-05,-4.52890049e-05, 7.45212134e-06, 8.83380716e-06,
 -1.74913468e-05, 3.67940954e-05, 1.56224136e-05, 3.52927534e-05,
  4.40652020e-06,-4.25408691e-05,-5.65006856e-05, 4.75193319e-06,
  2.63754074e-01,-2.77666566e-04, 9.10090508e-02, 3.56494381e-02,
 -6.08646754e-05, 4.62366633e-05,-9.80998698e+00,-1.18293623e-02,
 -2.39604159e-02, 4.39451157e-05]


--- Step 696 ---
qpos:
[-1.35629184e-02, 1.35376676e-02, 1.00545404e-02, 1.47212603e-02,
 -1.90691703e-02,-9.08793910e-03,-1.74667370e-02, 1.63378436e-02,
 -1.21654263e-02,-6.64227449e-03,-1.43151301e-02, 1.51220451e-02,
  1.40360926e+00, 3.24164511e-02, 2.85125934e-01,-3.14939191e-02,
  9.53528233e-02,-7.11228832e-02, 1.04549003e-01, 9.99964099e-01,
  1.06322316e-03,-1.41475908e-04,-8.40538560e-03]

qacc:
[ 1.80428498e+00, 1.19218943e+00,-8.03679895e+00, 2.20717850e+01,
 -4.99777344e+00,-2.34340357e-02, 1.71136539e+00,-6.47104317e+00,
  5.14238691e-01,-9.94079181e-01, 4.31545542e+00,-9.50290447e+00,
 -6.41474072e-01,-1.12043219e+01, 5.56840642e+01,-1.32113337e+02,
 -1.35661759e+00,-4.58204048e-01,-1.65282790e-01, 1.34012170e+01,
 -5.18131237e+01, 5.44482654e+01]

qfrc_actuator:
[ 5.43908312e-04,-5.88858027e-04,-1.73132364e-04,-4.55228640e-06,
 -5.93814104e-04,-6.78986963e-04,-2.28328188e-04, 1.65422814e-05,
 -4.87750260e-04,-4.53892456e-04,-2.48908545e-04,-5.54150110e-05,
  2.10000000e-01,-5.74971895e-03, 9.00000000e-02, 3.53478452e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40054721,  0.36888408, -0.15608527,  0.36888408,  0.37706148,
       -0.055505  , -0.15608527, -0.055505  ,  0.26936948,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019663375353552362
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70838428e-01,  2.39723505e-01, -2.32109709e-03,  2.39722820e-01,
        9.70841203e-01,  5.73133411e-04,  2.39081024e-03,  0.00000000e+00,
       -9.99997142e-01])
  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([ 0.10402998, -0.08979797,  0.14124016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36049622,  0.3450835 ,  0.1042828 ,  0.3450835 ,  0.37836373,
       -0.05912561,  0.1042828 , -0.05912561,  0.55614951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000892995928593317
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.92386080e-01,  4.18629507e-01, -4.43704446e-01,  3.65263005e-01,
        9.08157109e-01,  2.04532643e-01,  4.88576747e-01,  2.77555756e-17,
       -8.72520924e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10385495, -0.08902172,  0.15007453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.61579112, -10.18350118,  -2.99855379, -10.18350118,
        16.9033166 , -21.35330147,  -2.99855379, -21.35330147,
        83.13454043,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000459557257086754
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.03963384e-14, -1.50990846e-14,  1.00000000e+00,  9.11929423e-28,
        1.00000000e+00,  1.50990846e-14, -1.00000000e+00,  0.00000000e+00,
        6.03963384e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09952811, -0.05257913,  0.06198046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06715865e-05,-1.62575386e-05, 2.34668144e-06, 4.06712238e-05,
 -2.95838075e-05, 2.75009220e-05, 1.93744012e-06,-1.24993654e-05,
  2.99381489e-06,-3.91460342e-05,-1.05301041e-05,-1.80397069e-05,
  2.63435177e-01,-4.14169243e-04, 8.75585022e-02, 3.63344506e-02,
 -5.72975326e-06,-4.56429208e-06,-9.81000034e+00,-1.18219212e-02,
 -2.39613960e-02, 4.70173286e-05]


--- Step 697 ---
qpos:
[-1.35621703e-02, 1.35367159e-02, 1.00545404e-02, 1.47220174e-02,
 -1.90681365e-02,-9.08764044e-03,-1.74670554e-02, 1.63384645e-02,
 -1.21650977e-02,-6.64121449e-03,-1.43163805e-02, 1.51210455e-02,
  1.40361488e+00, 3.24189635e-02, 2.85165686e-01,-3.15140129e-02,
  9.53481117e-02,-7.11303072e-02, 1.04548050e-01, 9.99964448e-01,
  1.11111529e-03,-2.37400776e-04,-8.35534049e-03]

qacc:
[  1.01414724,  0.60054263, -3.07873009,  6.25612194,  2.90103476,
  -0.37181493,  4.23107387,-13.68609964,  0.2832933 , -1.63086315,
   8.32192285,-18.5493059 , -0.41321051, -8.00027593,-66.67814921,
 157.93756503,  1.0042731 ,  0.73203154,  0.23744661,-10.68321437,
  28.36029912, -2.21433195]

qfrc_actuator:
[ 5.49612755e-04,-6.01871039e-04,-1.84704210e-04, 2.28220795e-06,
 -5.75702753e-04,-6.60028774e-04,-2.33481553e-04,-1.06951227e-05,
 -4.86157703e-04,-4.20948244e-04,-2.27542215e-04,-8.14207781e-05,
  2.10000000e-01,-5.78473167e-03, 9.00000000e-02, 3.53479978e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.3989731 ,  0.39583581,  0.04993541,  0.39583581,  0.41072687,
       -0.09317168,  0.04993541, -0.09317168,  1.13754098,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018771756465883865
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70836824e-01,  2.39727287e-01, -2.58641840e-03,  2.39726436e-01,
        9.70840269e-01,  6.38658165e-04,  2.66410292e-03,  0.00000000e+00,
       -9.99996451e-01])
  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([ 0.10401594, -0.0898193 ,  0.14123817])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36136236,  0.31981588, -0.1682277 ,  0.31981588,  1.14383451,
        1.48754941, -0.1682277 ,  1.48754941,  3.18932661,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008985774271040302
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79349815,  0.41697548, -0.44327433,  0.36402554,  0.90891773,
        0.20335672,  0.48769467,  0.        , -0.87301427])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10383533, -0.0890393 ,  0.15007736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.627882  ,  9.29468136,  5.1537146 ,  9.29468136, 15.47938576,
       -8.74964663,  5.1537146 , -8.74964663, 26.40779684,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046045580791079926
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.53480984e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.53480984e-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([ 0.08165616, -0.06209486,  0.06198042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.03145370e-06,-1.98981915e-05,-1.32421618e-05, 7.00867177e-06,
  1.72701605e-05, 3.41654764e-05, 3.26154898e-07,-2.62354792e-05,
  1.64693676e-06, 8.09426325e-06, 1.13560115e-05,-2.83993538e-05,
  2.63679672e-01,-3.27106350e-04, 8.60943983e-02, 3.65399873e-02,
 -5.87352866e-05, 1.19303285e-06,-9.80992358e+00,-1.18249069e-02,
 -2.39712762e-02, 5.31758290e-05]


--- Step 698 ---
qpos:
[-1.35617038e-02, 1.35356438e-02, 1.00544206e-02, 1.47225023e-02,
 -1.90668942e-02,-9.08701797e-03,-1.74672000e-02, 1.63390787e-02,
 -1.21647531e-02,-6.63998509e-03,-1.43174557e-02, 1.51197262e-02,
  1.40361649e+00, 3.24207021e-02, 2.85171731e-01,-3.15293480e-02,
  9.53468965e-02,-7.11356065e-02, 1.04547776e-01, 9.99964667e-01,
  1.13982565e-03,-2.81445241e-04,-8.32384858e-03]

qacc:
[-2.44216093e+00,-3.80423317e-01, 2.28292631e+00,-6.72277035e+00,
  1.81095369e+00,-7.46647904e-02, 9.09141105e-01,-1.53353540e+00,
  1.42336106e-01,-9.24260754e-01, 4.97013984e+00,-1.09089307e+01,
 -1.75171923e-01,-6.66441197e+00,-6.43548561e+01, 1.52564143e+02,
  8.74106041e-01, 5.31166127e-01, 1.69360355e-01,-9.80941031e+00,
  2.58488212e+01,-9.30335800e+00]

qfrc_actuator:
[ 5.34913185e-04,-6.09222120e-04,-1.91554390e-04,-1.17707706e-05,
 -5.65450581e-04,-6.31214029e-04,-2.18623264e-04,-9.20689489e-06,
 -4.85352748e-04,-4.01634982e-04,-2.14333455e-04,-9.62813628e-05,
  2.10000000e-01,-5.77060010e-03, 9.00000000e-02, 3.53176812e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.3981797 ,  0.39436406,  0.05499151,  0.39436406,  0.41160906,
       -0.0963068 ,  0.05499151, -0.0963068 ,  1.08883066,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018303368634571923
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70838521e-01,  2.39718586e-01, -2.75073162e-03,  2.39717624e-01,
        9.70842418e-01,  6.79205485e-04,  2.83334512e-03,  0.00000000e+00,
       -9.99995986e-01])
  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([ 0.10400809, -0.08983298,  0.14123755])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009031073392901485
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.94170980e-01,  4.15895102e-01, -4.43084324e-01,  3.63192486e-01,
        9.09412593e-01,  2.02632558e-01,  4.87220352e-01,  2.77555756e-17,
       -8.73279067e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382416, -0.08905108,  0.15007843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.66526943,  -8.62662343,  -6.27131089,  -8.62662343,
        41.98448466, -43.08175443,  -6.27131089, -43.08175443,
        69.92721297,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046321148620897395
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.99198777e-14, -2.24699541e-14,  1.00000000e+00, -1.34639691e-27,
        1.00000000e+00,  2.24699541e-14, -1.00000000e+00,  0.00000000e+00,
       -5.99198777e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08165942, -0.0621001 ,  0.06198031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44995907e-05,-2.09412398e-05,-1.23588225e-05,-1.52294415e-05,
  1.07538993e-05, 4.68315592e-05, 2.10347489e-05, 2.44995232e-06,
  8.34132537e-07, 2.49550668e-05, 1.52932787e-05,-1.46740409e-05,
  2.63940748e-01,-2.59023312e-04, 8.78436510e-02, 3.62646561e-02,
 -2.76869518e-05, 4.66493307e-06,-9.80996491e+00,-1.18211241e-02,
 -2.39742369e-02, 5.83222729e-05]


--- Step 699 ---
qpos:
[-1.35610715e-02, 1.35345249e-02, 1.00544296e-02, 1.47231335e-02,
 -1.90655386e-02,-9.08638084e-03,-1.74670244e-02, 1.63397354e-02,
 -1.21637121e-02,-6.63886676e-03,-1.43182215e-02, 1.51179204e-02,
  1.40361521e+00, 3.24219362e-02, 2.85145696e-01,-3.15404417e-02,
  9.53487089e-02,-7.11394680e-02, 1.04547940e-01, 9.99964658e-01,
  1.15086206e-03,-2.77949348e-04,-8.32352433e-03]

qacc:
[ 1.44129237e+00,-1.23251958e-01,-2.72551608e-01, 2.63735570e+00,
  9.92772045e-01,-7.89615355e-01, 2.66150883e+00,-2.44729161e+00,
  6.09025714e+00,-2.02454250e+00, 9.03947228e+00,-1.78505144e+01,
  2.52689262e-02,-5.33404806e+00,-6.03728809e+01, 1.42148998e+02,
  7.56888040e-01, 3.59464969e-01, 1.09817347e-01,-9.03878039e+00,
  2.36779871e+01,-1.56088362e+01]

qfrc_actuator:
[ 5.43828346e-04,-5.95379063e-04,-1.77792166e-04,-2.48059566e-06,
 -5.59921373e-04,-6.49873713e-04,-2.09754685e-04,-8.55567371e-06,
 -4.49511967e-04,-4.26145685e-04,-2.06083272e-04,-1.22230767e-04,
  2.10000000e-01,-5.76235230e-03, 9.00000000e-02, 3.53382754e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39793833,  0.39504963,  0.04786134,  0.39504963,  0.40729477,
       -0.07722845,  0.04786134, -0.07722845,  1.03538546,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018158137052618373
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70843637e-01,  2.39697023e-01, -2.82308328e-03,  2.39696010e-01,
        9.70847741e-01,  6.97003895e-04,  2.90785378e-03,  0.00000000e+00,
       -9.99995772e-01])
  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([ 0.10400544, -0.08984095,  0.14123799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009186776378421546
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79450155,  0.41526037, -0.44308702,  0.36267348,  0.9097026 ,
        0.20226003,  0.48706799,  0.        , -0.87336405])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382009, -0.08905851,  0.15007809])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004641931926887277
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.97931552e-14,  1.49482888e-14,  1.00000000e+00, -8.93805352e-28,
        1.00000000e+00, -1.49482888e-14, -1.00000000e+00,  0.00000000e+00,
        5.97931552e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08166165, -0.06210402,  0.06198027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.52993351e-06,-1.09841473e-06, 7.38125698e-06, 7.66817161e-06,
  5.83190416e-06, 1.19367713e-05, 2.12027185e-05, 3.43040732e-06,
  3.58443633e-05,-8.04040877e-06, 1.47769233e-05,-2.46369774e-05,
  2.64141364e-01,-2.12031760e-04, 8.95290486e-02, 3.60473166e-02,
 -7.40590659e-06, 2.02287591e-06,-9.80999048e+00,-1.18181666e-02,
 -2.39750345e-02, 6.10712539e-05]


--- Step 700 ---
qpos:
[-1.35603367e-02, 1.35333784e-02, 1.00548646e-02, 1.47238471e-02,
 -1.90637826e-02,-9.08587321e-03,-1.74669070e-02, 1.63404404e-02,
 -1.21629397e-02,-6.63808062e-03,-1.43187666e-02, 1.51161984e-02,
  1.40361209e+00, 3.24229747e-02, 2.85089525e-01,-3.15475929e-02,
  9.53531676e-02,-7.11424291e-02, 1.04548334e-01, 9.99964335e-01,
  1.14531419e-03,-2.30438266e-04,-8.36445342e-03]

qacc:
[ 9.02528622e-01,-1.05951420e+00, 3.37331018e+00,-2.60345456e+00,
  3.47653679e+00, 8.40061219e-02,-7.63937332e-01, 1.80215975e+00,
 -2.33192136e+00,-8.78416537e-01, 2.14928791e+00,-8.16182261e-01,
  1.47950226e-01,-3.59097041e+00,-5.65754599e+01, 1.33076695e+02,
  6.61580038e-01, 2.25081723e-01, 5.73918490e-02,-8.48057979e+00,
  2.19140141e+01,-2.06502723e+01]

qfrc_actuator:
[ 5.48825112e-04,-5.86597588e-04,-1.51862995e-04, 2.75331694e-06,
 -5.39461383e-04,-6.79085807e-04,-2.22448466e-04,-8.45301387e-06,
 -4.64347003e-04,-4.58985432e-04,-2.01012514e-04,-1.19033586e-04,
  2.10000000e-01,-5.77534726e-03, 9.00000000e-02, 3.54590402e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39808999,  0.39466813,  0.05208365,  0.39466813,  0.40819989,
       -0.07660864,  0.05208365, -0.07660864,  0.97859832,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018249542214982036
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70852218e-01,  2.39662404e-01, -2.81127230e-03,  2.39661399e-01,
        9.70856288e-01,  6.93981473e-04,  2.89566266e-03,  0.00000000e+00,
       -9.99995808e-01])
  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([ 0.1040071 , -0.08984491,  0.14123919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009204628773252296
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79456871,  0.41496066, -0.44324736,  0.36238788,  0.90983935,
        0.2021568 ,  0.48717101,  0.        , -0.87330659])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1038219 , -0.08906281,  0.15007651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046373316978434026
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.49631175e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.49631175e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08166305, -0.06210687,  0.06198029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.28073385e-06, 9.99724851e-06, 2.68680006e-05, 5.58962522e-06,
  2.06043573e-05,-1.80578210e-05,-7.51376794e-06, 1.41137425e-06,
 -1.38383493e-05,-3.53670064e-05, 4.36401817e-06, 2.88095486e-06,
  2.64286049e-01,-2.00379606e-04, 9.11329668e-02, 3.59559809e-02,
 -8.26853921e-08, 2.41556737e-07,-9.80999972e+00,-1.18169984e-02,
 -2.39743212e-02, 6.16372754e-05]


--- Step 701 ---
qpos:
[-1.35605814e-02, 1.35323671e-02, 1.00552774e-02, 1.47246277e-02,
 -1.90621404e-02,-9.08540042e-03,-1.74669437e-02, 1.63407909e-02,
 -1.21630411e-02,-6.63735356e-03,-1.43193989e-02, 1.51155503e-02,
  1.40360819e+00, 3.24241744e-02, 2.85005815e-01,-3.15515387e-02,
  9.53599206e-02,-7.11449900e-02, 1.04548772e-01, 9.99963604e-01,
  1.12444855e-03,-1.41973431e-04,-8.45609114e-03]

qacc:
[-8.49451978e+00, 3.95499934e-01,-1.40498520e+00, 2.46991685e+00,
 -9.91164646e-01,-3.43110300e-01, 2.65694508e+00,-8.52449074e+00,
 -7.62856013e+00, 2.39106935e+00,-1.31482512e+01, 3.18926709e+01,
  2.06427274e-01,-1.34960697e+00,-5.04805278e+01, 1.17384563e+02,
  5.73575520e-01, 1.00056190e-01, 1.09690261e-02,-7.83550247e+00,
  2.03829989e+01,-2.53768006e+01]

qfrc_actuator:
[ 4.98209840e-04,-5.80853452e-04,-1.54487717e-04, 5.55874443e-06,
 -5.45880600e-04,-6.78985773e-04,-2.30076824e-04,-2.64550706e-05,
 -5.08901099e-04,-4.43299154e-04,-1.97884383e-04,-6.32188425e-05,
  2.10000000e-01,-5.74793695e-03, 9.00000000e-02, 3.55319941e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39853032,  0.39468758,  0.05520988,  0.39468758,  0.40883794,
       -0.07368766,  0.05520988, -0.07368766,  0.92531298,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018512031242881122
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70864101e-01,  2.39615296e-01, -2.72168250e-03,  2.39614355e-01,
        9.70867916e-01,  6.71725523e-04,  2.80334992e-03,  1.08420217e-19,
       -9.99996071e-01])
  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([ 0.10401236, -0.08984614,  0.14124092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009216982332384166
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.94434462e-01,  4.14909102e-01, -4.43536156e-01,  3.62272273e-01,
        9.09862867e-01,  2.02258159e-01,  4.87475830e-01,  2.77555756e-17,
       -8.73136481e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382861, -0.08906491,  0.15007383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046211898301525695
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.00615353e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.00615353e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08166381, -0.06210888,  0.06198035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.04260073e-05, 1.70964914e-05, 2.93369742e-06, 4.27045325e-06,
 -5.85345710e-06,-1.15459681e-05,-1.22564274e-05,-1.90132045e-05,
 -4.49813453e-05,-3.10049114e-06,-3.54831131e-06, 5.45054099e-05,
  2.64378597e-01,-1.64347443e-04, 9.26395534e-02, 3.58317672e-02,
 -9.66266055e-06, 5.47889662e-06,-9.80999240e+00,-1.18182721e-02,
 -2.39725881e-02, 6.01863232e-05]


--- Step 702 ---
qpos:
[-1.35610857e-02, 1.35317138e-02, 1.00552986e-02, 1.47250877e-02,
 -1.90609327e-02,-9.08504106e-03,-1.74667781e-02, 1.63409081e-02,
 -1.21636762e-02,-6.63674479e-03,-1.43199661e-02, 1.51155727e-02,
  1.40360462e+00, 3.24259211e-02, 2.84897771e-01,-3.15535232e-02,
  9.53686362e-02,-7.11476267e-02, 1.04549092e-01, 9.99962361e-01,
  1.08969946e-03,-1.52599504e-05,-8.60750056e-03]

qacc:
[-2.26830855e+00, 9.11948794e-01,-1.20349996e+00,-3.99199474e+00,
 -3.76619508e+00,-1.18745607e+00, 5.01438138e+00,-9.30549614e+00,
 -4.65429716e+00, 1.05081963e+00,-6.78890718e+00, 1.83591000e+01,
  2.27650800e-01, 1.21723232e+00,-4.19446002e+01, 9.44726808e+01,
  4.90641990e-01,-1.89573370e-02,-2.95462631e-02,-7.10713928e+00,
  1.90312855e+01,-2.99074528e+01]

qfrc_actuator:
[ 4.86278935e-04,-5.59330996e-04,-1.73966991e-04,-1.08630973e-05,
 -5.68073492e-04,-6.79093978e-04,-2.16794091e-04,-3.71838120e-05,
 -5.35068723e-04,-4.51895399e-04,-1.95702276e-04,-3.01151581e-05,
  2.10000000e-01,-5.74982002e-03, 9.00000000e-02, 3.55044110e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39917954,  0.39527405,  0.05570219,  0.39527405,  0.40867493,
       -0.06738119,  0.05570219, -0.06738119,  0.87733018,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001889145573491305
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70879013e-01,  2.39556652e-01, -2.55969392e-03,  2.39555819e-01,
        9.70882388e-01,  6.31581860e-04,  2.63646138e-03,  0.00000000e+00,
       -9.99996525e-01])
  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([ 0.10402051, -0.08984584,  0.14124298])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009225934236630251
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79415332,  0.41502472, -0.44393128,  0.36226598,  0.90981014,
        0.20250649,  0.48793838,  0.        , -0.87287808])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10383932, -0.08906571,  0.15007011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045959737984560545
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.54888323e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.54888323e-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([ 0.08166405, -0.06211023,  0.06198046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.33494503e-05, 3.18606323e-05,-1.54341438e-05,-1.55019006e-05,
 -2.23817545e-05,-9.97274756e-06, 8.71109497e-06,-1.20211072e-05,
 -2.74766068e-05,-8.74084450e-06, 2.99372679e-06, 3.39110228e-05,
  2.64417918e-01,-1.75992754e-04, 9.40162460e-02, 3.56438513e-02,
 -4.09015215e-05, 2.31497962e-05,-9.80996858e+00,-1.18224061e-02,
 -2.39701859e-02, 5.68753389e-05]


--- Step 703 ---
qpos:
[-1.35606947e-02, 1.35313511e-02, 1.00550991e-02, 1.47249990e-02,
 -1.90600011e-02,-9.08452707e-03,-1.74668746e-02, 1.63412385e-02,
 -1.21646207e-02,-6.63634063e-03,-1.43203815e-02, 1.51149611e-02,
  1.40361140e+00, 3.24302727e-02, 2.84864472e-01,-3.15692213e-02,
  9.53704628e-02,-7.11534004e-02, 1.04548493e-01, 9.99961641e-01,
  1.10348717e-03, 8.82729644e-06,-8.68905324e-03]

qacc:
[ 7.74934629e+00,-1.44380087e-01, 3.36276569e+00,-1.26937944e+01,
 -2.40655970e+00, 1.37983006e+00,-5.51558771e+00, 9.50157223e+00,
 -2.69280987e+00,-1.99436465e+00, 9.40511897e+00,-2.04810036e+01,
  1.00899329e-01, 2.09967429e+01, 1.52351055e+02,-3.71867577e+02,
 -1.72222791e+00,-7.84240893e-01,-2.29566584e-01, 2.47094103e+01,
 -5.10642302e+01, 3.49848568e+01]

qfrc_actuator:
[ 5.32735722e-04,-5.46371026e-04,-1.85428099e-04,-3.84604468e-05,
 -5.81611464e-04,-6.61481942e-04,-2.26764676e-04,-2.57753831e-05,
 -5.50195041e-04,-4.74978304e-04,-1.94205205e-04,-6.39220413e-05,
  2.10000000e-01,-5.78748206e-03, 9.00000000e-02, 3.54519729e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39997105,  0.3936152 ,  0.07102053,  0.3936152 ,  0.41122944,
       -0.06239707,  0.07102053, -0.06239707,  0.74579267,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019342520763345923
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70896614e-01,  2.39487655e-01, -2.32989533e-03,  2.39486965e-01,
        9.70899409e-01,  5.74705436e-04,  2.39972886e-03,  1.08420217e-19,
       -9.99997121e-01])
  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([ 0.10403089, -0.08984507,  0.14124517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009234147180344048
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7937744 ,  0.41523059, -0.4444162 ,  0.36231015,  0.9097162 ,
        0.2028492 ,  0.48852181,  0.        , -0.87255168])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10385316, -0.08906605,  0.15006539])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.58940337,  9.39191459,  4.89156459,  9.39191459, 14.42239048,
       -7.3594219 ,  4.89156459, -7.3594219 , 24.7196598 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004575834884027741
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.06568557e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.06568557e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09954327, -0.05260665,  0.06198055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.61065768e-05, 2.69358793e-05,-7.31123712e-06,-2.70661206e-05,
 -1.42010404e-05, 1.32677927e-05,-1.13866510e-05, 1.10467931e-05,
 -1.59332848e-05,-2.58871974e-05, 1.24229418e-06,-3.34153312e-05,
  2.64402059e-01,-2.43186950e-04, 9.52326187e-02, 3.54932709e-02,
 -9.96104413e-05, 5.87285166e-05,-9.80992847e+00,-1.18297162e-02,
 -2.39673684e-02, 5.18594601e-05]


--- Step 704 ---
qpos:
[-1.35604390e-02, 1.35310352e-02, 1.00548490e-02, 1.47245999e-02,
 -1.90592393e-02,-9.08417614e-03,-1.74669660e-02, 1.63417254e-02,
 -1.21650497e-02,-6.63608302e-03,-1.43210655e-02, 1.51139716e-02,
  1.40362359e+00, 3.24356779e-02, 2.84900639e-01,-3.15947768e-02,
  9.53665751e-02,-7.11613643e-02, 1.04547243e-01, 9.99961736e-01,
  1.14816223e-03,-7.02361615e-05,-8.67196867e-03]

qacc:
[-1.17619138e+00,-4.33651916e-01, 2.95004742e+00,-8.27869485e+00,
 -1.47193293e+00, 9.49011654e-02,-1.30686969e+00, 4.12159027e+00,
  4.49276245e+00,-2.29436802e-01, 2.11725525e+00,-8.10311514e+00,
 -4.27630252e-01, 1.21703179e+01, 1.32786033e+02,-3.14952579e+02,
 -1.42858880e+00,-5.47532029e-01,-1.62876439e-01, 1.58903392e+01,
 -5.13847643e+01, 4.93773246e+01]

qfrc_actuator:
[ 5.24410922e-04,-5.56376909e-04,-1.92092523e-04,-5.46540784e-05,
 -5.89941356e-04,-6.86718364e-04,-2.32551117e-04,-1.91903636e-05,
 -5.23202147e-04,-4.88866949e-04,-2.10984561e-04,-8.35811325e-05,
  2.10000000e-01,-5.79563018e-03, 9.00000000e-02, 3.54527701e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39990892,  0.39964466,  0.014536  ,  0.39964466,  0.40040096,
       -0.01352783,  0.014536  , -0.01352783,  0.77183547,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019307556543330417
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70906324e-01,  2.39448793e-01, -2.27702286e-03,  2.39448134e-01,
        9.70908995e-01,  5.61566921e-04,  2.34524850e-03,  0.00000000e+00,
       -9.99997250e-01])
  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([ 0.10403157, -0.08985353,  0.14124539])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36502791,  0.34913711,  0.10653006,  0.34913711,  0.66686119,
       -0.98921564,  0.10653006, -0.98921564,  3.60704156,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009263704172260604
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79397878,  0.41465653, -0.44458707,  0.36179829,  0.909978  ,
        0.20258834,  0.48856903,  0.        , -0.87252524])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10385392, -0.08907389,  0.15006254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.5931154 , -10.2306656 ,  -2.74728507, -10.2306656 ,
        15.88353155, -19.70107839,  -2.74728507, -19.70107839,
        83.95832499,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004578622052639758
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.06199317e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.06199317e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09954603, -0.05261201,  0.06198053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.96864170e-06, 2.38733878e-06,-2.94441275e-06,-1.58220003e-05,
 -8.75246544e-06,-1.97344811e-05,-4.07669374e-06, 6.97304092e-06,
  2.65204829e-05,-2.95122020e-05,-2.31180052e-05,-2.13728626e-05,
  2.63884434e-01,-3.82313455e-04, 9.14952789e-02, 3.61797144e-02,
 -1.55939516e-05, 1.33404237e-05,-9.80999874e+00,-1.18200418e-02,
 -2.39622438e-02, 5.24611002e-05]


--- Step 705 ---
qpos:
[-1.35602844e-02, 1.35307615e-02, 1.00547804e-02, 1.47243396e-02,
 -1.90585833e-02,-9.08440277e-03,-1.74666148e-02, 1.63419657e-02,
 -1.21644623e-02,-6.63609188e-03,-1.43216536e-02, 1.51130899e-02,
  1.40363036e+00, 3.24400768e-02, 2.84899452e-01,-3.16143959e-02,
  9.53662728e-02,-7.11669157e-02, 1.04546622e-01, 9.99961729e-01,
  1.17128413e-03,-9.72797791e-05,-8.66946595e-03]

qacc:
[-8.71134815e-01,-1.63678255e-01, 8.13452530e-02, 1.99737495e+00,
 -8.95849109e-01,-2.50470686e+00, 8.86792157e+00,-1.34217053e+01,
  8.88126465e+00,-4.15919765e-01, 4.87395242e-01, 1.45121636e+00,
 -4.80901275e-01,-7.71295390e+00,-7.33197003e+01, 1.76087695e+02,
  8.96357349e-01, 6.03098682e-01, 1.57110344e-01,-1.10021782e+01,
  2.59070962e+01,-7.32019868e+00]

qfrc_actuator:
[ 5.19395012e-04,-5.44529535e-04,-1.78208187e-04,-4.62718167e-05,
 -5.95142092e-04,-7.37408023e-04,-2.18236929e-04,-3.32806155e-05,
 -4.71638745e-04,-4.97215257e-04,-2.02864728e-04,-7.70014854e-05,
  2.10000000e-01,-5.80331325e-03, 9.00000000e-02, 3.55403956e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39920102,  0.39812017,  0.02935619,  0.39812017,  0.40252574,
       -0.04508881,  0.02935619, -0.04508881,  1.0106825 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018903863497496282
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70908945e-01,  2.39436864e-01, -2.41021048e-03,  2.39436126e-01,
        9.70911936e-01,  5.94382680e-04,  2.48241925e-03,  0.00000000e+00,
       -9.99996919e-01])
  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([ 0.10402426, -0.08986758,  0.14124423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36550798, -0.32247452, -0.17206471, -0.32247452,  0.70056757,
       -0.62795083, -0.17206471, -0.62795083,  1.54237997,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009307829803123464
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79462284,  0.41357182, -0.44444672,  0.36094882,  0.9104715 ,
        0.20188511,  0.48815006,  0.        , -0.87275971])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10384371, -0.0890861 ,  0.15006226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.60430072,  9.25496205,  5.17656945,  9.25496205, 16.0331917 ,
       -9.70607669,  5.17656945, -9.70607669, 27.95737061,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000458699945702766
  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([ 0.08166829, -0.06211847,  0.0619805 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.20003292e-06, 1.18831353e-05, 1.34639884e-05, 8.07429314e-06,
 -5.47254945e-06,-6.22990970e-05, 9.96850285e-06,-1.49426213e-05,
  5.23153793e-05,-3.05177551e-05,-1.55882232e-06, 4.09918091e-06,
  2.63614023e-01,-4.42056342e-04, 8.80221483e-02, 3.67602320e-02,
 -1.31565134e-05,-2.94419651e-06,-9.80997972e+00,-1.18178739e-02,
 -2.39664982e-02, 5.61651436e-05]


--- Step 706 ---
qpos:
[-1.35601912e-02, 1.35306782e-02, 1.00551093e-02, 1.47238017e-02,
 -1.90583399e-02,-9.08490759e-03,-1.74658870e-02, 1.63416562e-02,
 -1.21632610e-02,-6.63622460e-03,-1.43219499e-02, 1.51126064e-02,
  1.40363315e+00, 3.24438208e-02, 2.84863560e-01,-3.16285177e-02,
  9.53690491e-02,-7.11708227e-02, 1.04546401e-01, 9.99961500e-01,
  1.17492767e-03,-7.67817840e-05,-8.69553615e-03]

qacc:
[-5.22751756e-01,-1.43087686e+00, 6.64095917e+00,-1.22249142e+01,
 -3.56586608e+00,-2.54427035e+00, 1.08729495e+01,-2.08015823e+01,
  5.36909097e+00,-1.69456666e-01,-1.33344216e+00, 7.87254179e+00,
 -2.43681955e-01,-5.90677518e+00,-6.80582480e+01, 1.63399299e+02,
  7.69634742e-01, 4.11110770e-01, 1.00231934e-01,-9.94614676e+00,
  2.36687189e+01,-1.43137707e+01]

qfrc_actuator:
[ 5.16384271e-04,-5.19584366e-04,-1.52206356e-04,-5.89742968e-05,
 -6.16214018e-04,-7.31879361e-04,-1.92301751e-04,-5.94355990e-05,
 -4.41545625e-04,-4.84308174e-04,-1.80062529e-04,-5.50129548e-05,
  2.10000000e-01,-5.80907895e-03, 9.00000000e-02, 3.55795040e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39903794,  0.39761673,  0.03364836,  0.39761673,  0.40315972,
       -0.04870638,  0.03364836, -0.04870638,  0.97459272,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018809448190454113
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70915604e-01,  2.39409432e-01, -2.45222480e-03,  2.39408669e-01,
        9.70918701e-01,  6.04670347e-04,  2.52567471e-03,  0.00000000e+00,
       -9.99996810e-01])
  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([ 0.10402246, -0.08987551,  0.14124415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009339145893938721
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79491146,  0.41297154, -0.44448878,  0.36044798,  0.91074393,
        0.20155085,  0.48805023,  0.        , -0.87281555])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1038409 , -0.08909348,  0.15006082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045965647356339956
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.54791274e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.54791274e-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([ 0.08167049, -0.0621223 ,  0.06198046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.14615839e-06, 3.47091720e-05, 3.03922332e-05,-1.15704754e-05,
 -2.12474549e-05,-2.79158544e-05, 1.37705378e-05,-2.87717327e-05,
  3.15898476e-05,-4.30701030e-06, 1.64401660e-05, 2.07034116e-05,
  2.63884883e-01,-3.97617387e-04, 8.98898677e-02, 3.65025093e-02,
 -1.15046829e-06,-7.12457798e-07,-9.80999720e+00,-1.18162759e-02,
 -2.39671269e-02, 5.81863369e-05]


--- Step 707 ---
qpos:
[-1.35604797e-02, 1.35309195e-02, 1.00554162e-02, 1.47231273e-02,
 -1.90590408e-02,-9.08537368e-03,-1.74650034e-02, 1.63410094e-02,
 -1.21620526e-02,-6.63650400e-03,-1.43219515e-02, 1.51123924e-02,
  1.40363339e+00, 3.24473184e-02, 2.84796394e-01,-3.16381343e-02,
  9.53744414e-02,-7.11737878e-02, 1.04546378e-01, 9.99960929e-01,
  1.16126629e-03,-1.26124561e-05,-8.76306853e-03]

qacc:
[-3.31537155e+00, 2.16070089e-01, 4.39609566e-01,-3.01783905e+00,
 -8.19473340e+00,-1.06166033e+00, 5.31179611e+00,-1.14567914e+01,
  7.45635504e-02,-4.62905237e-01, 2.31586723e-01, 4.06804229e+00,
 -8.60220399e-02,-3.49802320e+00,-5.99564778e+01, 1.42478275e+02,
  6.54001907e-01, 2.35485211e-01, 4.92325886e-02,-8.84339168e+00,
  2.17352173e+01,-2.07567650e+01]

qfrc_actuator:
[ 4.96824695e-04,-5.04698167e-04,-1.54728021e-04,-6.62139989e-05,
 -6.64212281e-04,-7.10440691e-04,-1.77257809e-04,-7.46748591e-05,
 -4.42091134e-04,-4.94189159e-04,-1.66437769e-04,-4.18654760e-05,
  2.10000000e-01,-5.77813770e-03, 9.00000000e-02, 3.55698142e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39926281,  0.39752551,  0.03720566,  0.39752551,  0.40396881,
       -0.05028138,  0.03720566, -0.05028138,  0.93649643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018939494717521465
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70926072e-01,  2.39367396e-01, -2.41086710e-03,  2.39366659e-01,
        9.70929065e-01,  5.94361629e-04,  2.48305174e-03,  1.08420217e-19,
       -9.99996917e-01])
  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([ 0.10402519, -0.08987913,  0.14124486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009359174359633096
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79493011,  0.4127328 , -0.44467715,  0.36020525,  0.91085215,
        0.20149576,  0.48819904,  0.        , -0.87273232])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10384417, -0.08909741,  0.15005837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045924134171066583
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.04378855e-14, -7.55473568e-15,  1.00000000e+00, -4.56592250e-28,
        1.00000000e+00,  7.55473568e-15, -1.00000000e+00,  0.00000000e+00,
       -6.04378855e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08167189, -0.0621251 ,  0.06198047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.96385807e-05, 4.00736202e-05, 7.99032003e-06,-4.92598721e-06,
 -4.86086492e-05, 7.42336046e-06, 9.97654080e-06,-1.65186063e-05,
  3.65519821e-07,-8.03809718e-06, 1.54618530e-05, 1.39309183e-05,
  2.64084594e-01,-3.34707026e-04, 9.16250375e-02, 3.62179331e-02,
 -2.55538545e-06, 2.14027381e-06,-9.80999869e+00,-1.18163915e-02,
 -2.39662213e-02, 5.79233717e-05]


--- Step 708 ---
qpos:
[-1.35606557e-02, 1.35313144e-02, 1.00560082e-02, 1.47230628e-02,
 -1.90596220e-02,-9.08555188e-03,-1.74646120e-02, 1.63398522e-02,
 -1.21612047e-02,-6.63671171e-03,-1.43218403e-02, 1.51119767e-02,
  1.40363882e+00, 3.24517525e-02, 2.84786935e-01,-3.16572815e-02,
  9.53745374e-02,-7.11790219e-02, 1.04546172e-01, 9.99960930e-01,
  1.18333407e-03,-3.37919000e-05,-8.75999373e-03]

qacc:
[ 9.81323284e-01, 6.60656044e-01,-4.63968770e+00, 1.46317169e+01,
  1.01771670e+00, 7.02709322e-01, 1.98195996e-01,-8.45398929e+00,
 -3.14436475e+00,-6.29147007e-01, 3.24289472e+00,-6.97759387e+00,
 -1.25955896e-01, 1.00713725e+01, 1.14365338e+02,-2.75845551e+02,
 -1.32405844e+00,-5.67277983e-01,-4.54903136e-02, 1.82379562e+01,
 -4.24751696e+01, 3.53540435e+01]

qfrc_actuator:
[ 5.03186002e-04,-4.96057761e-04,-1.38597926e-04,-3.47008903e-05,
 -6.56659099e-04,-6.97414289e-04,-2.04183528e-04,-1.01109982e-04,
 -4.60658746e-04,-4.82165350e-04,-1.58439107e-04,-5.18056349e-05,
  2.10000000e-01,-5.77857682e-03, 9.00000000e-02, 3.55651438e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39976193,  0.39642449,  0.05154825,  0.39642449,  0.41880816,
       -0.14647233,  0.05154825, -0.14647233,  1.5261866 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019224532173907086
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70939990e-01,  2.39312096e-01, -2.29269213e-03,  2.39311429e-01,
        9.70942697e-01,  5.65088918e-04,  2.36130529e-03,  0.00000000e+00,
       -9.99997212e-01])
  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([ 0.10403151, -0.08988006,  0.1412461 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009371227460701657
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79475257,  0.412743  , -0.44498491,  0.36013553,  0.91084753,
        0.20164122,  0.48853941,  0.        , -0.87254183])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10385232, -0.08909913,  0.150055  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.59026389,   9.45559675,   4.76921159,   9.45559675,
        17.13976371, -12.98525513,   4.76921159, -12.98525513,
        36.33526047,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045764813114205637
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99801173e-07, -5.70860576e-07,  1.00000000e+00, -1.14058613e-13,
        1.00000000e+00,  5.70860576e-07, -1.00000000e+00,  0.00000000e+00,
       -1.99801173e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.097358  , -0.05379491,  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:
[ 5.79799465e-06, 3.24939411e-05, 2.52263200e-05, 3.34124384e-05,
  6.16450216e-06, 1.85388556e-05,-2.47248730e-05,-2.60896741e-05,
 -1.85505799e-05, 1.12769320e-05, 8.71118047e-06,-9.48106121e-06,
  2.64212093e-01,-3.24218463e-04, 9.31885317e-02, 3.59879516e-02,
 -2.17970344e-05, 1.26856146e-05,-9.80998366e+00,-1.18189765e-02,
 -2.39643417e-02, 5.56121299e-05]


--- Step 709 ---
qpos:
[-1.35604097e-02, 1.35316548e-02, 1.00572144e-02, 1.47230349e-02,
 -1.90601084e-02,-9.08562849e-03,-1.74647796e-02, 1.63384164e-02,
 -1.21605858e-02,-6.63674217e-03,-1.43219627e-02, 1.51114556e-02,
  1.40364058e+00, 3.24556035e-02, 2.84743929e-01,-3.16712071e-02,
  9.53776076e-02,-7.11827497e-02, 1.04546258e-01, 9.99960680e-01,
  1.18618445e-03,-8.38540720e-06,-8.78808667e-03]

qacc:
[ 3.67801021e+00,-1.72111574e+00, 5.86504940e+00,-6.16004912e+00,
  8.04321892e-01, 1.12096835e+00,-2.62865170e+00,-1.37152147e+00,
 -2.00970454e+00, 6.73462934e-01,-1.60941725e+00, 1.98519803e-02,
 -1.98950707e-01,-5.48137087e+00,-6.55078918e+01, 1.56971341e+02,
  7.43524616e-01, 3.76596952e-01, 7.29733191e-02,-9.81275360e+00,
  2.31894412e+01,-1.56115934e+01]

qfrc_actuator:
[ 5.24758369e-04,-5.08876248e-04,-1.11575023e-04,-3.38858283e-05,
 -6.51966425e-04,-7.07452540e-04,-2.37952899e-04,-1.16201932e-04,
 -4.71922213e-04,-4.74910991e-04,-1.71504633e-04,-5.74824740e-05,
  2.10000000e-01,-5.79892846e-03, 9.00000000e-02, 3.55579662e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39961502,  0.39869349,  0.02712321,  0.39869349,  0.4023336 ,
       -0.03996141,  0.02712321, -0.03996141,  0.98702176,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001914114281543523
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70948124e-01,  2.39278791e-01, -2.32380910e-03,  2.39278106e-01,
        9.70950905e-01,  5.72673892e-04,  2.39333327e-03,  0.00000000e+00,
       -9.99997136e-01])
  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([ 0.10403051, -0.0898875 ,  0.14124613])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36643534, -0.32577857, -0.16775931, -0.32577857,  0.61042269,
       -0.47380887, -0.16775931, -0.47380887,  1.28654389,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009401851411620908
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79501744,  0.41219467, -0.44502002,  0.35967892,  0.9110958 ,
        0.20133435,  0.48844482,  0.        , -0.87259478])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10385044, -0.08910606,  0.15005382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.59659343,   9.19197448,   5.27213405,   9.19197448,
        18.36051382, -13.53640812,   5.27213405, -13.53640812,
        34.1973435 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004581230364295863
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.51463545e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.51463545e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08167462, -0.0621306 ,  0.06198052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.17274385e-05, 1.20054429e-05, 3.80011520e-05, 3.73100386e-06,
  4.88321010e-06,-5.87309745e-06,-3.38821123e-05,-1.56598258e-05,
 -1.17836671e-05, 1.49169523e-05,-1.00002140e-05,-5.07769566e-06,
  2.63953080e-01,-3.91670244e-04, 9.03031810e-02, 3.64572911e-02,
 -6.81454238e-07,-3.91158382e-07,-9.80999785e+00,-1.18158163e-02,
 -2.39645925e-02, 5.72402634e-05]


--- Step 710 ---
qpos:
[-1.35599075e-02, 1.35318927e-02, 1.00585618e-02, 1.47227114e-02,
 -1.90608794e-02,-9.08568691e-03,-1.74651089e-02, 1.63374848e-02,
 -1.21601065e-02,-6.63695242e-03,-1.43220714e-02, 1.51105544e-02,
  1.40364008e+00, 3.24592690e-02, 2.84670675e-01,-3.16808697e-02,
  9.53832107e-02,-7.11856373e-02, 1.04546449e-01, 9.99960064e-01,
  1.17186453e-03, 5.99218711e-05,-8.85963961e-03]

qacc:
[ 2.22820097e+00,-1.14370469e+00, 5.12165440e+00,-1.03800438e+01,
 -2.47592025e+00, 1.51789304e+00,-7.49861855e+00, 1.64629265e+01,
 -1.21574733e+00,-1.05541987e+00, 5.02751493e+00,-1.15000145e+01,
 -4.48753591e-02,-3.14165570e+00,-5.77006269e+01, 1.36798479e+02,
  6.33238175e-01, 2.10052211e-01, 2.61755071e-02,-8.77328446e+00,
  2.13483250e+01,-2.17561316e+01]

qfrc_actuator:
[ 5.37350236e-04,-5.34423425e-04,-1.13964934e-04,-5.11602278e-05,
 -6.66765800e-04,-6.95753158e-04,-2.40059399e-04,-8.90103447e-05,
 -4.78790432e-04,-5.06157808e-04,-1.79154919e-04,-7.83694861e-05,
  2.10000000e-01,-5.79457739e-03, 9.00000000e-02, 3.55560968e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39984031,  0.39868754,  0.03033998,  0.39868754,  0.40299453,
       -0.04144866,  0.03033998, -0.04144866,  0.94450325,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001926885178040917
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70959906e-01,  2.39231465e-01, -2.27328654e-03,  2.39230809e-01,
        9.70962567e-01,  5.60105700e-04,  2.34127104e-03,  0.00000000e+00,
       -9.99997259e-01])
  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([ 0.10403383, -0.08989093,  0.14124689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009421110634501767
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79502594,  0.41198518, -0.44519879,  0.35946258,  0.91119054,
        0.20129193,  0.48859022,  0.        , -0.87251338])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10385438, -0.08910977,  0.15005162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045727869495160167
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.10459286e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.10459286e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08167583, -0.06213316,  0.06198056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31945997e-05,-1.08229376e-05, 4.89748811e-06,-1.53735573e-05,
 -1.46508224e-05, 7.65033259e-07,-8.02978116e-06, 2.54635477e-05,
 -7.19621474e-06,-2.52146517e-05,-5.98312068e-06,-2.06934146e-05,
  2.64136601e-01,-3.59088282e-04, 9.19804647e-02, 3.61943088e-02,
 -3.39253499e-06, 2.63479280e-06,-9.80999799e+00,-1.18160616e-02,
 -2.39634957e-02, 5.68053260e-05]


--- Step 711 ---
qpos:
[-1.35599480e-02, 1.35320449e-02, 1.00596182e-02, 1.47222123e-02,
 -1.90614768e-02,-9.08575278e-03,-1.74651717e-02, 1.63365139e-02,
 -1.21600580e-02,-6.63742646e-03,-1.43222361e-02, 1.51097715e-02,
  1.40364655e+00, 3.24643798e-02, 2.84668297e-01,-3.17006557e-02,
  9.53825165e-02,-7.11912766e-02, 1.04545873e-01, 9.99960128e-01,
  1.19520421e-03, 2.46801171e-05,-8.84948216e-03]

qacc:
[-4.71302348e+00, 3.47803944e-01,-6.46684324e-01,-1.88265902e+00,
  1.51552408e+00,-8.38048172e-01, 3.13530797e+00,-4.23230170e+00,
 -3.75719096e+00, 5.84862353e-02,-1.20137536e+00, 3.51929086e+00,
 -1.32713891e-01, 1.40208718e+01, 1.35686221e+02,-3.22046489e+02,
 -1.57432690e+00,-6.87954844e-01,-1.91802095e-01, 1.92849082e+01,
 -5.15577669e+01, 4.09183790e+01]

qfrc_actuator:
[ 5.09045370e-04,-5.49785326e-04,-1.33775233e-04,-6.12181237e-05,
 -6.57413658e-04,-6.88721077e-04,-2.23342006e-04,-9.03779491e-05,
 -5.00771910e-04,-5.24713925e-04,-1.83709711e-04,-7.25605402e-05,
  2.10000000e-01,-5.79332154e-03, 9.00000000e-02, 3.55917878e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40032705,  0.39931674,  0.02842339,  0.39931674,  0.40545821,
       -0.07208702,  0.02842339, -0.07208702,  1.41306885,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019541492426568264
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70974987e-01,  2.39171410e-01, -2.14737493e-03,  2.39170825e-01,
        9.70977362e-01,  5.28941981e-04,  2.21156024e-03, -1.08420217e-19,
       -9.99997554e-01])
  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([ 0.10404057, -0.0898919 ,  0.14124814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009432424998787297
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.94848311e-01,  4.12007835e-01, -4.45494901e-01,  3.59406070e-01,
        9.11180303e-01,  2.01439154e-01,  4.88920688e-01, -2.77555756e-17,
       -8.72328241e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10386299, -0.08911144,  0.15004847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.59176597,   9.43870735,   4.80586204,   9.43870735,
        16.36352103, -11.33572008,   4.80586204, -11.33572008,
        32.85510678,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004577609245469058
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00, -7.579168e-15,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  7.579168e-15, -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([ 0.0995608 , -0.05263979,  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:
[-2.79513374e-05,-2.10728498e-05,-2.19795634e-05,-1.06528491e-05,
  8.93792276e-06, 6.91537953e-06, 1.67770503e-05,-1.11478320e-06,
 -2.21843987e-05,-3.47976966e-05,-1.12209506e-05, 4.11813603e-06,
  2.64249912e-01,-3.50064327e-04, 9.34926063e-02, 3.60168019e-02,
 -2.45539743e-05, 1.43015334e-05,-9.80998158e+00,-1.18188735e-02,
 -2.39615096e-02, 5.43509565e-05]


--- Step 712 ---
qpos:
[-1.35603278e-02, 1.35322117e-02, 1.00603709e-02, 1.47215847e-02,
 -1.90619573e-02,-9.08599682e-03,-1.74652007e-02, 1.63352271e-02,
 -1.21602730e-02,-6.63811426e-03,-1.43228104e-02, 1.51101186e-02,
  1.40365388e+00, 3.24689661e-02, 2.84716708e-01,-3.17263095e-02,
  9.53774685e-02,-7.11983442e-02, 1.04545301e-01, 9.99961004e-01,
  1.24143948e-03,-9.60989902e-05,-8.74296690e-03]

qacc:
[-2.95098333e+00, 6.09436100e-01,-1.59268400e+00,-1.66213201e-01,
  1.01890224e+00,-9.81753649e-01, 4.48917496e+00,-9.87476887e+00,
 -2.30860707e+00, 3.19253798e+00,-1.65570982e+01, 3.69195618e+01,
 -4.19245045e-01, 1.18979495e+00, 9.29531428e+01,-2.16007699e+02,
 -1.08843038e+00,-3.57036544e-01, 1.01266787e-03, 1.18241425e+01,
 -4.26080910e+01, 4.82319786e+01]

qfrc_actuator:
[ 4.92404322e-04,-5.41259324e-04,-1.45909345e-04,-6.69478090e-05,
 -6.51667557e-04,-7.19976276e-04,-2.31198924e-04,-1.08539127e-04,
 -5.13721758e-04,-5.35499701e-04,-2.04095816e-04,-1.55751274e-05,
  2.10000000e-01,-5.77772695e-03, 9.00000000e-02, 3.56094382e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40001474,  0.36803625, -0.15671986,  0.36803625,  0.72722053,
        0.76840033, -0.15671986,  0.76840033,  2.20450319,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019367066955361666
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70982620e-01,  2.39139893e-01, -2.20525560e-03,  2.39139276e-01,
        9.70985124e-01,  5.43123241e-04,  2.27115281e-03,  0.00000000e+00,
       -9.99997421e-01])
  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([ 0.10403842, -0.08990042,  0.14124776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36696948,  0.34764894,  0.11750241,  0.34764894,  0.61266081,
       -0.72691552,  0.11750241, -0.72691552,  2.51766071,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009463185624813081
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79519066,  0.41138106, -0.44546317,  0.35890235,  0.91146345,
        0.20105591,  0.488734  ,  0.        , -0.87243285])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10385946, -0.08911907,  0.15004782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045710138135197757
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33224517e-06,  3.80641479e-06,  1.00000000e+00, -5.07107773e-12,
        1.00000000e+00, -3.80641479e-06, -1.00000000e+00,  0.00000000e+00,
        1.33224517e-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([ 0.09736738, -0.05380889,  0.06198056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74699189e-05,-8.26173955e-06,-1.95601485e-05,-7.59919061e-06,
  6.01055549e-06,-2.39457376e-05,-4.39376924e-06,-1.73050066e-05,
 -1.35762492e-05,-3.23936483e-05,-2.88123877e-05, 5.51872033e-05,
  2.63901360e-01,-4.06874793e-04, 8.99488977e-02, 3.65406184e-02,
 -2.74716407e-06,-4.57599208e-07,-9.80999535e+00,-1.18155165e-02,
 -2.39623584e-02, 5.63589258e-05]


--- Step 713 ---
qpos:
[-1.35609046e-02, 1.35323228e-02, 1.00612478e-02, 1.47208723e-02,
 -1.90623649e-02,-9.08632565e-03,-1.74653457e-02, 1.63337318e-02,
 -1.21596065e-02,-6.63906499e-03,-1.43233331e-02, 1.51111199e-02,
  1.40365546e+00, 3.24722207e-02, 2.84726142e-01,-3.17449787e-02,
  9.53760351e-02,-7.12028220e-02, 1.04545374e-01, 9.99961770e-01,
  1.26787312e-03,-1.62749054e-04,-8.65017095e-03]

qacc:
[-1.70372268e+00,-5.91985774e-01, 2.36790796e+00,-4.00003044e+00,
  6.30534150e-01,-2.18314394e-01, 1.49432694e+00,-4.85379915e+00,
  7.70091707e+00, 8.39839066e-01,-6.28748639e+00, 1.77509190e+01,
 -2.46402101e-01,-1.03664103e+01,-7.89282082e+01, 1.92136603e+02,
  9.03611634e-01, 6.47440349e-01, 1.61389470e-01,-1.01376438e+01,
  2.69683834e+01,-6.89251980e+00]

qfrc_actuator:
[ 4.82775181e-04,-5.36219209e-04,-1.35556094e-04,-7.00575421e-05,
 -6.48097832e-04,-7.20772249e-04,-2.35921797e-04,-1.18731655e-04,
 -4.67989677e-04,-5.41567792e-04,-1.98099330e-04, 1.77993133e-05,
  2.10000000e-01,-5.82314794e-03, 9.00000000e-02, 3.55628001e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39921217,  0.39918969,  0.00423641,  0.39918969,  0.39929514,
       -0.00781827,  0.00423641, -0.00781827,  1.13591546,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018910296313348369
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70985560e-01,  2.39125891e-01, -2.41865573e-03,  2.39125149e-01,
        9.70988573e-01,  5.95643680e-04,  2.49092090e-03,  0.00000000e+00,
       -9.99996898e-01])
  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([ 0.10403047, -0.08991255,  0.14124666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.3672992 , -0.32927917, -0.16273885, -0.32927917,  0.66591423,
       -0.60420551, -0.16273885, -0.60420551,  1.5898241 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009504727759001953
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.95861594e-01,  4.10410231e-01, -4.45160381e-01,  3.58185526e-01,
        9.11901005e-01,  2.00348913e-01,  4.88167443e-01,  2.77555756e-17,
       -8.72749992e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10384776, -0.08912944,  0.15004994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.61742615,  9.29323919,  5.13472915,  9.29323919, 15.17864891,
       -8.25526193,  5.13472915, -8.25526193, 25.55845253,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004596789794674011
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.50950864e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.50950864e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08168297, -0.06214575,  0.06198046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01481661e-05,-3.93724823e-06, 5.98046218e-06,-4.28685698e-06,
  3.74743294e-06,-1.58159079e-05,-1.08036232e-05,-1.17066660e-05,
  4.53616593e-05,-2.77634162e-05,-2.32980356e-06, 3.20645506e-05,
  2.63858333e-01,-4.25213085e-04, 8.74096611e-02, 3.67874023e-02,
 -6.59865221e-05, 2.96419565e-05,-9.80993818e+00,-1.18202521e-02,
 -2.39701992e-02, 6.09845888e-05]


--- Step 714 ---
qpos:
[-1.35619376e-02, 1.35323306e-02, 1.00619653e-02, 1.47204992e-02,
 -1.90627264e-02,-9.08662310e-03,-1.74653219e-02, 1.63317456e-02,
 -1.21583966e-02,-6.64001180e-03,-1.43238764e-02, 1.51121384e-02,
  1.40365285e+00, 3.24745142e-02, 2.84699664e-01,-3.17572618e-02,
  9.53776896e-02,-7.12055453e-02, 1.04545865e-01, 9.99962311e-01,
  1.27642530e-03,-1.80251692e-04,-8.58571872e-03]

qacc:
[-3.95682535e+00, 1.01544732e+00,-5.23780149e+00, 1.14267658e+01,
  4.05610142e-01,-1.44099915e+00, 7.27043779e+00,-1.60603775e+01,
  4.74254621e+00, 8.88327587e-02,-3.97318679e-01, 7.40256545e-01,
  2.38866757e-02,-8.47764551e+00,-7.25703731e+01, 1.76503991e+02,
  7.71998745e-01, 4.38612931e-01, 1.04570490e-01,-9.15512000e+00,
  2.44774482e+01,-1.42019847e+01]

qfrc_actuator:
[ 4.59594061e-04,-5.50958819e-04,-1.47521976e-04,-5.38348846e-05,
 -6.45836677e-04,-7.03314790e-04,-2.20875287e-04,-1.41876563e-04,
 -4.41345904e-04,-5.26917961e-04,-1.94323394e-04, 1.92782570e-05,
  2.10000000e-01,-5.85090339e-03, 9.00000000e-02, 3.56091046e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39897471,  0.39885275,  0.00986432,  0.39885275,  0.39940429,
       -0.01736922,  0.00986432, -0.01736922,  1.10128006,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001877269681034597
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70992463e-01,  2.39096647e-01, -2.53592657e-03,  2.39095832e-01,
        9.70995774e-01,  6.24443028e-04,  2.61167622e-03,  0.00000000e+00,
       -9.99996590e-01])
  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([ 0.1040282 , -0.08991841,  0.14124671])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009529294930814633
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79616756,  0.40993044, -0.44505534,  0.35781966,  0.91211679,
        0.20002015,  0.4879368 ,  0.        , -0.87287896])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10384369, -0.08913495,  0.15005078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.63500368,  -8.65757743,  -6.17654081,  -8.65757743,
        41.36366157, -43.07196268,  -6.17654081, -43.07196268,
        71.00841719,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004609833677967981
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.25785605e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.25785605e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08168587, -0.06215078,  0.0619804 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34878850e-05,-1.58712370e-05,-1.21828991e-05, 1.61792042e-05,
  2.38147028e-06, 5.89618852e-06, 1.00483627e-05,-2.44235891e-05,
  2.79703062e-05, 1.23520985e-08,-1.14454181e-06, 8.29352612e-07,
  2.64145937e-01,-3.86277157e-04, 8.93585489e-02, 3.64844792e-02,
 -3.44119551e-05, 1.99912275e-05,-9.80997597e+00,-1.18156400e-02,
 -2.39712675e-02, 6.42375455e-05]


--- Step 715 ---
qpos:
[-1.35628960e-02, 1.35322903e-02, 1.00627921e-02, 1.47202978e-02,
 -1.90627126e-02,-9.08699356e-03,-1.74651052e-02, 1.63298541e-02,
 -1.21582552e-02,-6.64087435e-03,-1.43244031e-02, 1.51128080e-02,
  1.40364751e+00, 3.24762300e-02, 2.84640585e-01,-3.17639595e-02,
  9.53819804e-02,-7.12072118e-02, 1.04546574e-01, 9.99962528e-01,
  1.26876357e-03,-1.52765165e-04,-8.56207066e-03]

qacc:
[ 6.51070572e-01,-1.66235774e-02,-7.59986512e-01, 3.59407087e+00,
  3.26474471e+00,-4.46650053e-01, 1.04135836e+00, 3.56498532e-01,
 -9.32788205e+00,-6.34781336e-01, 3.92938103e+00,-1.00894271e+01,
  2.13636126e-01,-6.30837381e+00,-6.52281243e+01, 1.57975065e+02,
  6.59092383e-01, 2.64200695e-01, 5.41297144e-02,-8.30324999e+00,
  2.23980598e+01,-2.04299633e+01]

qfrc_actuator:
[ 4.64124864e-04,-5.41991115e-04,-1.37140321e-04,-4.41556302e-05,
 -6.26610507e-04,-7.10492799e-04,-2.11958146e-04,-1.36921788e-04,
 -4.97180145e-04,-5.17751699e-04,-1.91828104e-04, 1.99538631e-06,
  2.10000000e-01,-5.86789734e-03, 9.00000000e-02, 3.56912269e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39913555,  0.39882939,  0.01563015,  0.39882939,  0.40014388,
       -0.02572913,  0.01563015, -0.02572913,  1.05565728,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018866022296382286
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71003096e-01,  2.39053140e-01, -2.56594603e-03,  2.39052305e-01,
        9.71006486e-01,  6.31713037e-04,  2.64256323e-03,  1.08420217e-19,
       -9.99996508e-01])
  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([ 0.10403057, -0.08991992,  0.1412476 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000953992197284914
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79619841,  0.40981269, -0.44510858,  0.35770999,  0.9121697 ,
        0.19997501,  0.48796685,  0.        , -0.87286216])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10384587, -0.08913702,  0.15005053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004608259964469785
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.02300561e-14,  1.50575140e-14,  1.00000000e+00, -9.06914914e-28,
        1.00000000e+00, -1.50575140e-14, -1.00000000e+00,  0.00000000e+00,
        6.02300561e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08168782, -0.06215453,  0.06198041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.83990809e-06,-1.70101956e-06, 6.17614469e-06, 8.89579501e-06,
  1.93123950e-05,-2.83800526e-06, 1.05317984e-05, 5.08053532e-06,
 -5.49948182e-05, 8.94159986e-06, 2.37160296e-06,-1.73095783e-05,
  2.64355294e-01,-3.55800247e-04, 9.11541291e-02, 3.62472822e-02,
 -1.17277910e-05, 7.21619294e-06,-9.80999650e+00,-1.18126130e-02,
 -2.39707313e-02, 6.52438576e-05]


--- Step 716 ---
qpos:
[-1.35634482e-02, 1.35321985e-02, 1.00640155e-02, 1.47201939e-02,
 -1.90624680e-02,-9.08760853e-03,-1.74647231e-02, 1.63287515e-02,
 -1.21587831e-02,-6.64186310e-03,-1.43245124e-02, 1.51129191e-02,
  1.40364086e+00, 3.24777926e-02, 2.84552765e-01,-3.17663560e-02,
  9.53884995e-02,-7.12084526e-02, 1.04547318e-01, 9.99962319e-01,
  1.24665067e-03,-8.38488510e-05,-8.59060092e-03]

qacc:
[ 3.53410495e+00,-9.83035837e-01, 2.98246032e+00,-1.87741368e+00,
  2.01411449e+00, 8.34150866e-01,-6.78130958e+00, 2.03587335e+01,
 -5.82707127e+00,-2.47110889e+00, 1.09470745e+01,-2.12093242e+01,
  3.27869717e-01,-3.66294002e+00,-5.56047700e+01, 1.32658968e+02,
  5.57042978e-01, 1.06418785e-01, 9.07074556e-03,-7.40639632e+00,
  2.06191178e+01,-2.61151794e+01]

qfrc_actuator:
[ 4.84934556e-04,-5.36565464e-04,-1.13554901e-04,-3.83704775e-05,
 -6.15305397e-04,-7.32360241e-04,-2.06810283e-04,-9.77439474e-05,
 -5.30096168e-04,-5.29710103e-04,-1.72377559e-04,-2.61855270e-05,
  2.10000000e-01,-5.86068077e-03, 9.00000000e-02, 3.57043228e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39957747,  0.39906501,  0.02023043,  0.39906501,  0.40113628,
       -0.03074923,  0.02023043, -0.03074923,  1.00613588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001911975766638454
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71017133e-01,  2.38996644e-01, -2.51608471e-03,  2.38995842e-01,
        9.71020393e-01,  6.19282361e-04,  2.59117597e-03,  0.00000000e+00,
       -9.99996643e-01])
  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([ 0.10403665, -0.08991866,  0.14124907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009540552714567361
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.96027263e-01,  4.09948640e-01, -4.45289467e-01,  3.57775698e-01,
        9.12108608e-01,  2.00136047e-01,  4.88197856e-01, -2.77555756e-17,
       -8.72732980e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10385307, -0.08913684,  0.1500493 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045949377343704884
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.55058535e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.55058535e-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([ 0.08168902, -0.06215725,  0.06198046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.09115089e-05, 6.16814286e-06, 2.43143740e-05, 6.10118530e-06,
  1.18747038e-05,-2.10551274e-05, 6.03389472e-06, 3.95187151e-05,
 -3.44514786e-05,-7.23131096e-06, 2.09925057e-05,-2.80504423e-05,
  2.64492485e-01,-3.20918661e-04, 9.27839860e-02, 3.59810633e-02,
 -2.58060453e-06,-1.05406109e-06,-9.80999958e+00,-1.18119848e-02,
 -2.39691533e-02, 6.42209277e-05]


--- Step 717 ---
qpos:
[-1.35637469e-02, 1.35322971e-02, 1.00648895e-02, 1.47198354e-02,
 -1.90620894e-02,-9.08827981e-03,-1.74643310e-02, 1.63281136e-02,
 -1.21586665e-02,-6.64295265e-03,-1.43243754e-02, 1.51127004e-02,
  1.40363416e+00, 3.24796259e-02, 2.84439997e-01,-3.17658925e-02,
  9.53969046e-02,-7.12097892e-02, 1.04547941e-01, 9.99961587e-01,
  1.21157061e-03, 2.35697370e-05,-8.68081922e-03]

qacc:
[ 2.18319857e+00, 6.99873995e-01,-1.06297540e+00,-2.91639181e+00,
  1.16563164e+00, 8.51844937e-01,-5.11167631e+00, 1.31847908e+01,
  5.63446208e+00,-1.51146145e+00, 6.56991823e+00,-1.25786093e+01,
  3.68879772e-01,-8.55622149e-01,-4.55993742e+01, 1.05875781e+02,
  4.71504327e-01,-2.39260493e-02,-3.03484050e-02,-6.65097021e+00,
  1.91562401e+01,-3.08685683e+01]

qfrc_actuator:
[ 4.97397564e-04,-5.33242495e-04,-1.35636313e-04,-5.26689867e-05,
 -6.08758667e-04,-7.27335387e-04,-2.03973691e-04,-7.42695260e-05,
 -4.95975194e-04,-5.36413931e-04,-1.60913934e-04,-4.28034667e-05,
  2.10000000e-01,-5.83913131e-03, 9.00000000e-02, 3.56928056e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40021099,  0.39949044,  0.02400463,  0.39949044,  0.40219684,
       -0.03304898,  0.02400463, -0.03304898,  0.95021955,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001947688137440523
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71034165e-01,  2.38928704e-01, -2.39248227e-03,  2.38927979e-01,
        9.71037113e-01,  5.88682637e-04,  2.46384226e-03, -1.08420217e-19,
       -9.99996965e-01])
  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([ 0.1040456 , -0.08991602,  0.1412509 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009535685246902839
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.95716926e-01,  4.10239977e-01, -4.45575734e-01,  3.57941785e-01,
        9.11977610e-01,  2.00435819e-01,  4.88581879e-01, -2.77555756e-17,
       -8.72518050e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10386423, -0.08913549,  0.15004712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045723292863197873
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21406722e-13, -7.58792015e-15,  1.00000000e+00, -9.21224515e-28,
        1.00000000e+00,  7.58792015e-15, -1.00000000e+00,  0.00000000e+00,
       -1.21406722e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08168963, -0.06215917,  0.06198056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30562829e-05, 1.20845027e-05,-1.75946504e-05,-1.30735573e-05,
  6.89973195e-06,-3.81408030e-06, 5.95061507e-07, 2.35490324e-05,
  3.31689012e-05,-7.60314509e-06, 1.15938125e-05,-1.67445061e-05,
  2.64558563e-01,-2.93487294e-04, 9.42208008e-02, 3.57544263e-02,
 -1.29298367e-05, 1.98450788e-06,-9.80998540e+00,-1.18142780e-02,
 -2.39669322e-02, 6.13687914e-05]


--- Step 718 ---
qpos:
[-1.35635491e-02, 1.35325862e-02, 1.00652154e-02, 1.47189775e-02,
 -1.90612899e-02,-9.08884623e-03,-1.74642165e-02, 1.63270705e-02,
 -1.21581415e-02,-6.64402355e-03,-1.43244010e-02, 1.51119521e-02,
  1.40363586e+00, 3.24833363e-02, 2.84390573e-01,-3.17774477e-02,
  9.53993331e-02,-7.12140155e-02, 1.04548110e-01, 9.99961237e-01,
  1.22102741e-03, 4.57316992e-05,-8.71957534e-03]

qacc:
[ 4.28363514e+00, 7.47231310e-01,-2.04388446e-01,-7.68898489e+00,
  3.64310850e+00, 7.29164686e-02, 1.63970113e+00,-8.27297220e+00,
  3.55983331e+00,-6.18161792e-01, 4.46423221e+00,-1.33720749e+01,
  2.32105781e-01, 1.55196325e+01, 1.30286380e+02,-3.19319465e+02,
 -1.49412723e+00,-7.22453687e-01,-1.13613970e-01, 2.26367799e+01,
 -4.24021969e+01, 2.57839384e+01]

qfrc_actuator:
[ 5.22595399e-04,-5.31402342e-04,-1.66777751e-04,-7.87046085e-05,
 -5.87309897e-04,-7.24018175e-04,-2.20187121e-04,-9.57137745e-05,
 -4.75935896e-04,-5.39939923e-04,-1.71990995e-04,-7.02414716e-05,
  2.10000000e-01,-5.82709740e-03, 9.00000000e-02, 3.56307359e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40096674,  0.40062357,  0.01658559,  0.40062357,  0.40172862,
       -0.01840297,  0.01658559, -0.01840297,  0.84548885,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019893232729834888
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71053778e-01,  2.38850829e-01, -2.20015199e-03,  2.38850216e-01,
        9.71056271e-01,  5.41171652e-04,  2.26573068e-03, -1.08420217e-19,
       -9.99997433e-01])
  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([ 0.1040567 , -0.08991313,  0.1412529 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009529309323340873
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79531789,  0.41060559, -0.44595123,  0.35814576,  0.91181305,
        0.20081975,  0.48908186,  0.        , -0.87223789])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10387842, -0.08913385,  0.15004397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.54803357,  9.37051024,  4.84298979,  9.37051024, 15.15346987,
       -8.91087735,  4.84298979, -8.91087735, 27.78933927,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045445336291968807
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.09613296e-07,  1.45603805e-06,  1.00000000e+00, -7.42016350e-13,
        1.00000000e+00, -1.45603805e-06, -1.00000000e+00,  1.00974196e-28,
        5.09613296e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09737783, -0.05382361,  0.06198068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.55668701e-05, 4.41968937e-06,-3.12607549e-05,-2.63807654e-05,
  2.16663118e-05, 2.30507122e-06,-1.61177548e-05,-2.11299239e-05,
  2.10251874e-05,-6.08972767e-06,-1.18005306e-05,-2.76899188e-05,
  2.64561216e-01,-2.97256078e-04, 9.54678574e-02, 3.55492768e-02,
 -4.94774430e-05, 2.24288778e-05,-9.80995440e+00,-1.18198132e-02,
 -2.39643178e-02, 5.68521007e-05]


--- Step 719 ---
qpos:
[-1.35630507e-02, 1.35328458e-02, 1.00649280e-02, 1.47181929e-02,
 -1.90609287e-02,-9.08931655e-03,-1.74646335e-02, 1.63264883e-02,
 -1.21573792e-02,-6.64511475e-03,-1.43245578e-02, 1.51108839e-02,
  1.40362908e+00, 3.24819063e-02, 2.84427714e-01,-3.17679147e-02,
  9.53932573e-02,-7.12157730e-02, 1.04548431e-01, 9.99961517e-01,
  1.20182024e-03,-4.29947626e-05,-8.69015152e-03]

qacc:
[ 2.58743311e+00, 1.82134828e+00,-6.86921151e+00, 9.15127417e+00,
 -3.82285065e+00, 2.56744370e+00,-1.09044687e+01, 1.96489194e+01,
  2.06711496e+00,-3.22737015e-01, 2.45570438e+00,-7.76067799e+00,
 -3.50659084e-01,-2.64891379e+01, 6.39713687e+01,-3.85221366e+01,
 -2.12608061e+00, 6.17217475e-01, 3.81418450e-02,-1.38499174e+01,
 -5.55254213e+01, 3.41584360e+01]

qfrc_actuator:
[ 5.37337075e-04,-5.48280851e-04,-2.03016665e-04,-7.59304858e-05,
 -6.10518161e-04,-7.21864199e-04,-2.47547098e-04,-7.24147149e-05,
 -4.64367417e-04,-5.41638345e-04,-1.78529434e-04,-8.60871784e-05,
  2.10000000e-01,-5.80473482e-03, 9.00000000e-02, 3.56053274e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40094546,  0.40003789,  0.02696202,  0.40003789,  0.40327659,
       -0.03458713,  0.02696202, -0.03458713,  0.91411767,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019881645248329705
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71066649e-01,  2.38798929e-01, -2.15295080e-03,  2.38798342e-01,
        9.71069035e-01,  5.29439543e-04,  2.21709346e-03,  0.00000000e+00,
       -9.99997542e-01])
  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([ 0.10405934, -0.08991881,  0.14125334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36762633,  0.34496645,  0.12707189,  0.34496645,  0.55113549,
       -0.49817863,  0.12707189, -0.49817863,  1.72004902,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009549634169607263
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79543771,  0.41025637, -0.44605893,  0.35783337,  0.91197024,
        0.20066282,  0.48911566,  0.        , -0.87221893])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10388124, -0.0891392 ,  0.15004248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.5382963 , -7.28344921,  7.61623637, -7.28344921, 28.1305166 ,
       16.82353814,  7.61623637, 16.82353814, 26.62673941,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004537101753842278
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.25719922e-14,  4.90023241e-06,  1.00000000e+00,  2.57614980e-19,
        1.00000000e+00, -4.90023241e-06, -1.00000000e+00, -4.81482486e-35,
       -5.25719922e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204991, -0.06303305,  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:
[ 1.54705491e-05,-2.19921099e-05,-4.00919960e-05, 1.36686662e-06,
 -2.25605333e-05,-8.13165148e-07,-2.96107811e-05, 2.24261648e-05,
  1.22108854e-05,-8.73597834e-06,-1.02138124e-05,-1.70555970e-05,
  2.64141681e-01,-3.69795033e-04, 9.23005164e-02, 3.61247665e-02,
 -4.32275930e-06, 4.24758915e-06,-9.80999865e+00,-1.18147685e-02,
 -2.39611512e-02, 5.71745136e-05]


--- Step 720 ---
qpos:
[-1.35627240e-02, 1.35329463e-02, 1.00642173e-02, 1.47177969e-02,
 -1.90611926e-02,-9.08986054e-03,-1.74650882e-02, 1.63268680e-02,
 -1.21561384e-02,-6.64603091e-03,-1.43246638e-02, 1.51102864e-02,
  1.40361867e+00, 3.24790078e-02, 2.84439112e-01,-3.17536474e-02,
  9.53902554e-02,-7.12165143e-02, 1.04549312e-01, 9.99961488e-01,
  1.16931677e-03,-8.49762582e-05,-8.69763957e-03]

qacc:
[ -1.49886017,  1.77655685, -8.27430191, 15.78641065, -5.42703203,
   1.99801518,-11.30888544, 28.05164645,  4.17559793,  1.05014826,
  -5.41072538, 13.36412793,  0.51264118,-11.90078884,-52.56720093,
 128.25312271,  0.7684502 ,  0.25406655,  0.13999822, -6.85161543,
  23.29162293,-18.48437289]

qfrc_actuator:
[ 5.28049724e-04,-5.58494077e-04,-2.24277193e-04,-5.62436166e-05,
 -6.42077313e-04,-7.20441339e-04,-2.45724813e-04,-2.29737419e-05,
 -4.40120978e-04,-5.06703484e-04,-1.64558417e-04,-5.94701058e-05,
  2.10000000e-01,-5.80541374e-03, 9.00000000e-02, 3.56091215e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39946713,  0.39824903, -0.03117212,  0.39824903,  0.40449237,
        0.0642015 , -0.03117212,  0.0642015 ,  1.21969317,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001905677173822236
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71062680e-01,  2.38813362e-01, -2.33433596e-03,  2.38812672e-01,
        9.71065486e-01,  5.74081384e-04,  2.40389139e-03,  0.00000000e+00,
       -9.99997111e-01])
  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([ 0.1040515 , -0.08992503,  0.14125123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36754574, -0.16211959, -0.32985923, -0.16211959,  2.42068254,
       -1.00907803, -0.32985923, -1.00907803,  0.86348856,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009538172579125278
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79602272,  0.40992075, -0.44532327,  0.35774439,  0.91212114,
        0.20013487,  0.48822821,  0.        , -0.872716  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1038697 , -0.08914135,  0.15005116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.56561984, 10.55714966, -0.42298174, 10.55714966, 10.61722032,
        1.28789019, -0.42298174,  1.28789019, 42.70991421,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045578936274465187
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21791239e-13, -7.61195244e-15,  1.00000000e+00, -9.27069119e-28,
        1.00000000e+00,  7.61195244e-15, -1.00000000e+00,  0.00000000e+00,
       -1.21791239e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08169231, -0.06216731,  0.06198062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.85160679e-06,-3.07468416e-05,-3.07007939e-05, 1.73818608e-05,
 -3.21854901e-05,-4.20804632e-06,-1.22057709e-06, 4.88180434e-05,
  2.46379421e-05, 2.71895672e-05, 1.03102812e-05, 2.55555852e-05,
  2.64565487e-01,-1.12679181e-04, 8.79724543e-02, 3.50741940e-02,
 -2.21018422e-05, 1.11412501e-05,-9.80998140e+00,-1.18164544e-02,
 -2.39645778e-02, 5.85199600e-05]


--- Step 721 ---
qpos:
[-1.35621660e-02, 1.35326134e-02, 1.00635978e-02, 1.47183300e-02,
 -1.90614878e-02,-9.09042297e-03,-1.74649821e-02, 1.63277877e-02,
 -1.21553056e-02,-6.64676830e-03,-1.43243637e-02, 1.51103315e-02,
  1.40360608e+00, 3.24750602e-02, 2.84426394e-01,-3.17356390e-02,
  9.53899442e-02,-7.12167829e-02, 1.04550518e-01, 9.99961069e-01,
  1.12460242e-03,-8.33429453e-05,-8.75151416e-03]

qacc:
[ 2.01627930e+00, 1.08209986e+00,-8.61913093e+00, 2.48818624e+01,
 -2.53784679e-01,-4.79189720e-01,-6.06359105e-01, 9.07042387e+00,
 -3.55160474e+00, 4.31025628e-01,-3.89535617e+00, 1.42236642e+01,
  7.01884389e-01,-9.59924824e+00,-4.71340961e+01, 1.12786459e+02,
  6.72703965e-01, 1.18146109e-01, 8.11719988e-02,-6.29661893e+00,
  2.17263247e+01,-2.32190521e+01]

qfrc_actuator:
[ 5.40202307e-04,-5.82319420e-04,-2.18742551e-04,-9.00088263e-06,
 -6.42779559e-04,-7.01573191e-04,-2.08921572e-04, 5.96191137e-06,
 -4.61861786e-04,-4.85481125e-04,-1.38411267e-04,-2.57906883e-05,
  2.10000000e-01,-5.80378050e-03, 9.00000000e-02, 3.56206031e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39853564,  0.39814721, -0.0175913 ,  0.39814721,  0.39993638,
        0.03170326, -0.0175913 ,  0.03170326,  1.1160817 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018515172875192753
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71060440e-01,  2.38821507e-01, -2.43101707e-03,  2.38820759e-01,
        9.71063483e-01,  5.97879718e-04,  2.50345844e-03, -1.08420217e-19,
       -9.99996866e-01])
  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([ 0.10404754, -0.0899277 ,  0.14125038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009524399814855567
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79634544,  0.40985424, -0.44480719,  0.35781965,  0.91215103,
        0.19986396,  0.48764643,  0.        , -0.87304121])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10386366, -0.08914105,  0.15005805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045665934965646165
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.07796066e-14, -2.27923525e-14,  1.00000000e+00, -1.38531022e-27,
        1.00000000e+00,  2.27923525e-14, -1.00000000e+00,  0.00000000e+00,
       -6.07796066e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08169321, -0.06217078,  0.06198058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18926326e-05,-4.66316003e-05,-4.00075083e-06, 4.52005496e-05,
 -1.60816339e-06, 1.83532180e-05, 3.74774182e-05, 2.96651167e-05,
 -2.09914464e-05, 3.96183564e-05, 3.39033583e-05, 3.56952096e-05,
  2.64746776e-01,-3.73302466e-05, 8.92596377e-02, 3.48489799e-02,
 -6.55914287e-06, 4.09632947e-06,-9.80999406e+00,-1.18161669e-02,
 -2.39667456e-02, 5.79724594e-05]


--- Step 722 ---
qpos:
[-1.35614664e-02, 1.35318779e-02, 1.00633557e-02, 1.47190556e-02,
 -1.90617894e-02,-9.09045713e-03,-1.74649164e-02, 1.63286723e-02,
 -1.21547392e-02,-6.64737178e-03,-1.43236425e-02, 1.51097483e-02,
  1.40359269e+00, 3.24704928e-02, 2.84391685e-01,-3.17151854e-02,
  9.53919776e-02,-7.12170621e-02, 1.04551843e-01, 9.99960173e-01,
  1.06878173e-03,-4.08262482e-05,-8.86044604e-03]

qacc:
[ 1.24569104e+00,-1.19332650e+00, 2.66571343e+00, 3.63317974e-01,
 -6.64279749e-02, 7.38530139e-01,-1.47163122e+00, 5.38501022e-01,
 -2.31431786e+00,-2.28813176e+00, 1.10764767e+01,-2.27320099e+01,
  8.32720187e-01,-7.06356950e+00,-4.00447624e+01, 9.26043218e+01,
  5.86135355e-01,-2.62984783e-03, 2.97704234e-02,-5.73388186e+00,
  2.03613190e+01,-2.75521837e+01]

qfrc_actuator:
[ 5.47131832e-04,-5.96221447e-04,-1.97476069e-04, 8.21389860e-07,
 -6.43064046e-04,-6.54511009e-04,-2.04971216e-04, 4.87872426e-06,
 -4.74994563e-04,-4.90312647e-04,-1.23086733e-04,-5.92445174e-05,
  2.10000000e-01,-5.83609734e-03, 9.00000000e-02, 3.55825388e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39799485,  0.39792476, -0.0074689 ,  0.39792476,  0.39821383,
        0.01166665, -0.0074689 ,  0.01166665,  1.01956541,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018192262989274232
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71060005e-01,  2.38823095e-01, -2.44861275e-03,  2.38822336e-01,
        9.71063092e-01,  6.02211413e-04,  2.52157947e-03, -1.08420217e-19,
       -9.99996821e-01])
  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([ 0.10404678, -0.08992812,  0.14125048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009509783434908984
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.96467060e-01,  4.09972502e-01, -4.44480337e-01,  3.57998411e-01,
        9.12097883e-01,  1.99786360e-01,  4.87316488e-01,  2.77555756e-17,
       -8.73225423e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10386223, -0.08913924,  0.15006328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004562112601855517
  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([ 0.08169358, -0.0621733 ,  0.0619806 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.27259853e-06,-3.88859347e-05, 1.26972821e-05, 8.56338576e-06,
 -3.09995342e-07, 6.63476904e-05, 1.33880106e-05, 1.57824943e-06,
 -1.36999611e-05, 2.58202388e-05, 2.89109636e-05,-2.98891145e-05,
  2.64855848e-01,-1.73794257e-05, 9.04653805e-02, 3.46238600e-02,
 -1.18235842e-05, 6.11499402e-06,-9.80998996e+00,-1.18181450e-02,
 -2.39680606e-02, 5.56700149e-05]


--- Step 723 ---
qpos:
[-1.35613783e-02, 1.35309816e-02, 1.00630467e-02, 1.47192022e-02,
 -1.90620922e-02,-9.08980644e-03,-1.74654313e-02, 1.63292090e-02,
 -1.21543346e-02,-6.64768158e-03,-1.43227235e-02, 1.51077282e-02,
  1.40358767e+00, 3.24672028e-02, 2.84422778e-01,-3.17063952e-02,
  9.53884529e-02,-7.12201159e-02, 1.04552674e-01, 9.99959725e-01,
  1.05789987e-03,-8.15546939e-05,-8.91198719e-03]

qacc:
[-5.30044707e+00,-1.20767762e+00, 6.45974910e+00,-1.62739350e+01,
 -3.99578822e-02, 1.81086419e+00,-3.67487888e+00,-1.92165453e+00,
 -1.41222327e+00,-3.11949546e+00, 1.77584412e+01,-4.31668751e+01,
  7.74581493e-01, 1.08290608e+01, 1.32785126e+02,-3.22940239e+02,
 -1.38954392e+00,-6.93675247e-01,-1.23322229e-01, 2.28382572e+01,
 -4.13911465e+01, 2.87397718e+01]

qfrc_actuator:
[ 5.15419526e-04,-6.04026860e-04,-2.02598411e-04,-2.91962303e-05,
 -6.43110193e-04,-6.26576997e-04,-2.38108303e-04,-1.38565368e-05,
 -4.82941004e-04,-4.75297880e-04,-1.14433079e-04,-1.31964452e-04,
  2.10000000e-01,-5.90654655e-03, 9.00000000e-02, 3.55322989e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39773376,  0.39686155, -0.02632586,  0.39686155,  0.4004739 ,
        0.0413075 , -0.02632586,  0.0413075 ,  1.0204432 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018034001984184144
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71061355e-01,  2.38818182e-01, -2.39193710e-03,  2.38817457e-01,
        9.71064301e-01,  5.88259777e-04,  2.46321186e-03,  0.00000000e+00,
       -9.99996966e-01])
  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([ 0.10404859, -0.08992742,  0.14125128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009496471683858302
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79644047,  0.4101999 , -0.44431815,  0.35822518,  0.91199564,
        0.19984664,  0.48719329,  0.        , -0.87329417])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10386454, -0.08913678,  0.1500669 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.55948408,  9.32802439,  4.9488044 ,  9.32802439, 15.23860561,
       -8.8196979 ,  4.9488044 , -8.8196979 , 27.18377359,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045532414927204476
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.58035991e-06,  4.51531434e-06,  1.00000000e+00, -7.13582176e-12,
        1.00000000e+00, -4.51531434e-06, -1.00000000e+00, -8.07793567e-28,
        1.58035991e-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([ 0.0973865 , -0.05384299,  0.06198064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.14891911e-05,-2.65861954e-05,-1.13040455e-05,-3.10799063e-05,
 -3.40336378e-08, 6.78792613e-05,-1.77254076e-05,-1.53974263e-05,
 -8.31503195e-06, 3.41204155e-05, 1.65079186e-05,-7.11953495e-05,
  2.64895892e-01,-5.74579759e-05, 9.15648395e-02, 3.44513387e-02,
 -4.25119456e-05, 2.24013450e-05,-9.80996949e+00,-1.18227774e-02,
 -2.39687438e-02, 5.17466828e-05]


--- Step 724 ---
qpos:
[-1.35620150e-02, 1.35298482e-02, 1.00624046e-02, 1.47193621e-02,
 -1.90623933e-02,-9.08897400e-03,-1.74661270e-02, 1.63292095e-02,
 -1.21543730e-02,-6.64795453e-03,-1.43216583e-02, 1.51059254e-02,
  1.40358023e+00, 3.24629486e-02, 2.84426695e-01,-3.16946589e-02,
  9.53878526e-02,-7.12223043e-02, 1.04553765e-01, 9.99958956e-01,
  1.03123525e-03,-7.74041330e-05,-9.00093750e-03]

qacc:
[-6.28932505e+00, 6.57453794e-01,-2.83332179e+00, 3.74676319e+00,
  6.62831181e-03,-3.58370468e-01, 3.89061857e+00,-1.30165032e+01,
 -3.86353810e+00, 9.46377503e-02,-1.17113623e+00, 4.65654887e+00,
  5.60291056e-01,-8.91460481e+00,-4.92432578e+01, 1.13621829e+02,
  7.31138590e-01, 2.16363791e-01, 6.47116576e-02,-8.09240749e+00,
  2.23484713e+01,-1.87283496e+01]

qfrc_actuator:
[ 4.78971150e-04,-6.26007711e-04,-2.23260694e-04,-2.91654836e-05,
 -6.43016057e-04,-6.45993040e-04,-2.57436238e-04,-4.28562861e-05,
 -5.05526252e-04,-4.84093943e-04,-1.09727150e-04,-1.20668369e-04,
  2.10000000e-01,-5.91276119e-03, 9.00000000e-02, 3.54878844e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39693479,  0.39677969, -0.01109533,  0.39677969,  0.39739756,
        0.01654903, -0.01109533,  0.01654903,  0.9887438 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017539638786968879
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71055110e-01,  2.38842710e-01, -2.47631322e-03,  2.38841934e-01,
        9.71058268e-01,  6.09077107e-04,  2.55011805e-03,  0.00000000e+00,
       -9.99996748e-01])
  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([ 0.10404233, -0.08993439,  0.14125086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36736261, -0.33159111, -0.15812216, -0.33159111,  0.60017836,
       -0.48822778, -0.15812216, -0.48822778,  1.39120384,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009513113539762354
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.96872840e-01,  4.09752428e-01, -4.43955655e-01,  3.57949723e-01,
        9.12196770e-01,  1.99421785e-01,  4.86688475e-01,  2.77555756e-17,
       -8.73575599e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10385614, -0.08914086,  0.15007148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.557852  ,   8.92391929,   5.6419769 ,   8.92391929,
        25.74989049, -24.0292592 ,   5.6419769 , -24.0292592 ,
        48.56495016,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000455200241573743
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.52436077e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.52436077e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08169453, -0.06217775,  0.06198065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.73283071e-05,-4.05323204e-05,-2.86228296e-05,-2.10365634e-06,
  9.93967476e-08, 1.42317897e-05,-8.02005738e-06,-2.70033400e-05,
 -2.28042282e-05, 1.06259325e-05, 1.13189389e-05, 1.19435780e-05,
  2.64477136e-01,-1.26877995e-04, 8.82748122e-02, 3.49901271e-02,
 -1.21785793e-05, 3.25201132e-07,-9.80999760e+00,-1.18196540e-02,
 -2.39668623e-02, 5.24985335e-05]


--- Step 725 ---
qpos:
[-1.35634279e-02, 1.35284472e-02, 1.00620527e-02, 1.47198270e-02,
 -1.90626910e-02,-9.08830234e-03,-1.74668874e-02, 1.63288995e-02,
 -1.21546819e-02,-6.64825945e-03,-1.43205276e-02, 1.51049771e-02,
  1.40357894e+00, 3.24593548e-02, 2.84491839e-01,-3.16931422e-02,
  9.53822689e-02,-7.12267330e-02, 1.04554444e-01, 9.99958798e-01,
  1.04092862e-03,-1.56475316e-04,-9.01629731e-03]

qacc:
[-6.71528038e+00,-5.23796189e-01, 8.95049584e-02, 4.89704244e+00,
  2.93163841e-02,-6.70499071e-01, 3.39356902e+00,-8.54592038e+00,
 -2.35710613e+00, 1.53851216e+00,-9.14744651e+00, 2.38486166e+01,
  5.02444342e-01, 7.29856930e+00, 1.21612974e+02,-2.93756421e+02,
 -1.24587174e+00,-5.60066099e-01,-1.02727827e-01, 1.85553230e+01,
 -4.14075677e+01, 3.68379914e+01]

qfrc_actuator:
[ 4.40039028e-04,-6.20848042e-04,-1.99696126e-04,-1.14663293e-05,
 -6.42840250e-04,-6.75837315e-04,-2.68646293e-04,-5.99346116e-05,
 -5.18796169e-04,-4.89284503e-04,-1.07417490e-04,-7.77946915e-05,
  2.10000000e-01,-5.84319927e-03, 9.00000000e-02, 3.54547735e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39653209,  0.38686685, -0.08701574,  0.38686685,  0.46982029,
        0.32583499, -0.08701574,  0.32583499,  1.84517519,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017284407198145296
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71051579e-01,  2.38857022e-01, -2.48074950e-03,  2.38856243e-01,
        9.71054748e-01,  6.10207035e-04,  2.55469581e-03,  0.00000000e+00,
       -9.99996737e-01])
  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([ 0.10403984, -0.08993813,  0.14125134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009524093244497018
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.97067620e-01,  4.09567080e-01, -4.43776990e-01,  3.57842609e-01,
        9.12280005e-01,  1.99233179e-01,  4.86448226e-01,  2.77555756e-17,
       -8.73709404e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10385302, -0.08914258,  0.15007448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.54972459,   9.37178396,   4.84420834,   9.37178396,
        16.77799651, -12.04944434,   4.84420834, -12.04944434,
        33.86102359,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045458217605839094
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83147909e-07,  8.08994102e-07,  1.00000000e+00, -2.29064988e-13,
        1.00000000e+00, -8.08994102e-07, -1.00000000e+00,  5.04870979e-29,
        2.83147909e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09739129, -0.05385128,  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:
[-3.99733455e-05,-2.35032710e-05, 1.16008413e-05, 1.49335294e-05,
  1.63001287e-07,-2.46886407e-05,-1.01893039e-05,-1.72708614e-05,
 -1.39188473e-05, 3.59485128e-06, 6.31300268e-06, 4.39543793e-05,
  2.64598012e-01,-8.98438567e-06, 8.96335644e-02, 3.48097092e-02,
 -2.38725393e-05, 1.12886332e-05,-9.80999229e+00,-1.18220218e-02,
 -2.39678743e-02, 5.10607122e-05]


--- Step 726 ---
qpos:
[-1.35646064e-02, 1.35270926e-02, 1.00618431e-02, 1.47204692e-02,
 -1.90626395e-02,-9.08805872e-03,-1.74676813e-02, 1.63291109e-02,
 -1.21548029e-02,-6.64834435e-03,-1.43191909e-02, 1.51045075e-02,
  1.40357430e+00, 3.24548421e-02, 2.84525885e-01,-3.16864807e-02,
  9.53800969e-02,-7.12295923e-02, 1.04555477e-01, 9.99958453e-01,
  1.03265085e-03,-1.86522696e-04,-9.05493144e-03]

qacc:
[ 2.03528787e+00, 2.49163442e-02,-7.55445381e-01, 3.57057729e+00,
  3.03844935e+00, 5.94992552e-01,-5.15449901e+00, 1.45589915e+01,
  1.64203641e+00, 6.97288553e-01,-4.09092064e+00, 1.18900772e+01,
  2.22961939e-01,-8.28350690e+00,-6.16891114e+01, 1.48774181e+02,
  8.52931022e-01, 3.92328300e-01, 8.82685402e-02,-9.20792942e+00,
  2.44177464e+01,-1.16616358e+01]

qfrc_actuator:
[ 4.53215912e-04,-5.99278620e-04,-1.85590727e-04,-1.21574538e-06,
 -6.24865044e-04,-7.11668722e-04,-2.75029329e-04,-3.43660575e-05,
 -5.08719715e-04,-4.56752431e-04,-8.87705961e-05,-5.22038802e-05,
  2.10000000e-01,-5.78266820e-03, 9.00000000e-02, 3.55291952e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.3956984 ,  0.38942403,  0.07018654,  0.38942403,  0.41599136,
       -0.11259373,  0.07018654, -0.11259373,  1.02041511,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016742101602143248
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71041374e-01,  2.38896906e-01, -2.63012755e-03,  2.38896029e-01,
        9.71044936e-01,  6.47065145e-04,  2.70855390e-03, -1.08420217e-19,
       -9.99996332e-01])
  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([ 0.10403026, -0.08994772,  0.1412508 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35687927, -0.31895066, -0.16010401, -0.31895066,  0.58817699,
       -0.46077896, -0.16010401, -0.46077896,  1.27481851,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008720714304858684
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.97652748e-01,  4.08846095e-01, -4.43390308e-01,  3.57348251e-01,
        9.12603348e-01,  1.98638758e-01,  4.85852160e-01, -2.77555756e-17,
       -8.74041005e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10384035, -0.08914928,  0.15007887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.56592237,   9.13058745,   5.31705636,   9.13058745,
        19.04599934, -14.56220868,   5.31705636, -14.56220868,
        35.57252578,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045581227541598157
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.08925584e-14, -2.28347094e-14,  1.00000000e+00, -1.39046388e-27,
        1.00000000e+00,  2.28347094e-14, -1.00000000e+00,  0.00000000e+00,
       -6.08925584e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08169673, -0.06218311,  0.06198062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20686414e-05, 1.14949967e-05, 1.12123993e-05, 9.94000645e-06,
  1.79576330e-05,-5.24710691e-05,-1.33318843e-05, 2.38225298e-05,
  9.67692113e-06, 3.77361776e-05, 2.16915828e-05, 2.68200426e-05,
  2.64290349e-01, 1.98429543e-05, 8.65724193e-02, 3.53951496e-02,
 -1.45717468e-05,-3.80850847e-06,-9.80998896e+00,-1.18207751e-02,
 -2.39694003e-02, 5.33829268e-05]


--- Step 727 ---
qpos:
[-1.35645829e-02, 1.35260263e-02, 1.00611329e-02, 1.47212425e-02,
 -1.90620281e-02,-9.08829899e-03,-1.74682218e-02, 1.63296144e-02,
 -1.21551476e-02,-6.64814357e-03,-1.43176854e-02, 1.51046870e-02,
  1.40356756e+00, 3.24498189e-02, 2.84530301e-01,-3.16751943e-02,
  9.53809201e-02,-7.12314755e-02, 1.04556656e-01, 9.99957817e-01,
  1.00808000e-03,-1.70976574e-04,-9.12795852e-03]

qacc:
[ 1.04001468e+01, 2.03004748e+00,-7.27384272e+00, 1.01686934e+01,
  4.87784032e+00,-7.55498642e-01, 5.15978786e-01, 4.50906563e+00,
 -1.95077123e+00, 1.24568842e+00,-6.62869943e+00, 1.73787552e+01,
  3.51816245e-01,-5.95846535e+00,-5.79256976e+01, 1.38807310e+02,
  7.48793983e-01, 2.44061215e-01, 3.66693791e-02,-8.35568581e+00,
  2.27042525e+01,-1.72190948e+01]

qfrc_actuator:
[ 5.14710747e-04,-5.85822979e-04,-2.12634256e-04, 4.57133047e-06,
 -5.96557395e-04,-7.33008179e-04,-2.60768861e-04,-1.94223190e-05,
 -5.20490706e-04,-4.37331237e-04,-7.82406843e-05,-1.91960622e-05,
  2.10000000e-01,-5.70848785e-03, 9.00000000e-02, 3.56213546e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39535942,  0.38768815,  0.07750467,  0.38768815,  0.41776694,
       -0.11208523,  0.07750467, -0.11208523,  0.95602394,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001651590019986411
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71034031e-01,  2.38926057e-01, -2.69246260e-03,  2.38925138e-01,
        9.71037764e-01,  6.62486563e-04,  2.77276816e-03, -1.08420217e-19,
       -9.99996156e-01])
  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([ 0.10402543, -0.08995238,  0.14125135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008737353906237558
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79792275,  0.4085046 , -0.44321922,  0.35711079,  0.91275626,
        0.19836302,  0.48558332,  0.        , -0.87419039])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10383426, -0.08915236,  0.1500815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004557612244888848
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.61242239e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.61242239e-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([ 0.08169779, -0.06218563,  0.06198062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.18961487e-05, 2.26683430e-05,-2.29322519e-05, 6.86304098e-06,
  2.88059367e-05,-5.24096229e-05, 2.60316329e-06, 1.26966646e-05,
 -1.14941586e-05, 4.61599020e-05, 2.19244896e-05, 3.58971966e-05,
  2.64457874e-01, 1.40676634e-04, 8.81273460e-02, 3.52300917e-02,
 -6.78077381e-06, 2.23740005e-07,-9.80999868e+00,-1.18211244e-02,
 -2.39708998e-02, 5.38037199e-05]


--- Step 728 ---
qpos:
[-1.35641661e-02, 1.35250178e-02, 1.00602000e-02, 1.47217445e-02,
 -1.90614268e-02,-9.08871583e-03,-1.74681362e-02, 1.63298816e-02,
 -1.21556308e-02,-6.64788398e-03,-1.43161919e-02, 1.51049576e-02,
  1.40356001e+00, 3.24447052e-02, 2.84507351e-01,-3.16602900e-02,
  9.53843460e-02,-7.12329336e-02, 1.04557803e-01, 9.99956780e-01,
  9.68944173e-04,-1.12911491e-04,-9.24593311e-03]

qacc:
[ 3.40189111e+00, 1.34047874e-01, 7.66450690e-01,-5.13440637e+00,
 -6.56051273e-02,-2.46831300e+00, 9.46121437e+00,-1.44237378e+01,
 -1.21108444e+00, 3.01137134e-01,-1.34107732e+00, 2.88749804e+00,
  4.50796686e-01,-3.42075623e+00,-5.14996613e+01, 1.21253195e+02,
  6.50667593e-01, 1.06238410e-01,-8.02653506e-03,-7.47987329e+00,
  2.11694202e+01,-2.24948247e+01]

qfrc_actuator:
[ 5.33124385e-04,-5.95248658e-04,-2.28276012e-04,-1.00970153e-05,
 -5.97905941e-04,-7.09920152e-04,-2.16643154e-04,-2.85853988e-05,
 -5.27281294e-04,-4.61435511e-04,-9.03789568e-05,-1.76053617e-05,
  2.10000000e-01,-5.71492199e-03, 9.00000000e-02, 3.56516082e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39538386,  0.38704452,  0.08077707,  0.38704452,  0.41744491,
       -0.10570586,  0.08077707, -0.10570586,  0.90187503,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016532321843405518
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71029558e-01,  2.38944449e-01, -2.67369205e-03,  2.38943543e-01,
        9.71033239e-01,  6.57921733e-04,  2.75345059e-03,  0.00000000e+00,
       -9.99996209e-01])
  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([ 0.10402461, -0.08995359,  0.14125272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008752190639531448
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.97943356e-01,  4.08445804e-01, -4.43236308e-01,  3.57058324e-01,
        9.12782573e-01,  1.98336401e-01,  4.85588049e-01,  2.77555756e-17,
       -8.74187764e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10383369, -0.08915287,  0.15008242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004545902367626073
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.63203138e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.63203138e-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([ 0.08169831, -0.06218739,  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:
[ 2.02524215e-05,-1.17549853e-06,-1.35506887e-05,-1.43596986e-05,
 -5.24117808e-07,-5.14968183e-06, 3.40520447e-05,-1.10743309e-05,
 -7.13132568e-06, 7.78157761e-06, 1.34196001e-06, 5.02693846e-06,
  2.64562486e-01, 1.59896899e-04, 8.96088659e-02, 3.50290983e-02,
 -1.66586786e-05, 8.82380678e-06,-9.80999252e+00,-1.18233229e-02,
 -2.39712390e-02, 5.21852339e-05]


--- Step 729 ---
qpos:
[-1.35638749e-02, 1.35239235e-02, 1.00594379e-02, 1.47217130e-02,
 -1.90611907e-02,-9.08927493e-03,-1.74671941e-02, 1.63289795e-02,
 -1.21558475e-02,-6.64747240e-03,-1.43151598e-02, 1.51056107e-02,
  1.40355994e+00, 3.24409208e-02, 2.84544970e-01,-3.16563075e-02,
  9.53824246e-02,-7.12369087e-02, 1.04558475e-01, 9.99956291e-01,
  9.70797071e-04,-1.38056789e-04,-9.29813820e-03]

qacc:
[-1.08358526e+00,-1.68832956e+00, 8.11193908e+00,-1.75623427e+01,
 -3.14256175e+00,-4.98024091e+00, 2.24342468e+01,-4.39508035e+01,
  2.31026501e+00, 2.27307280e+00,-9.43697679e+00, 1.66937943e+01,
  4.44212661e-01, 1.14887637e+01, 1.22810050e+02,-2.99246918e+02,
 -1.33681259e+00,-6.29219633e-01,-1.18721308e-01, 2.08816015e+01,
 -4.13820083e+01, 3.29238627e+01]

qfrc_actuator:
[ 5.26017181e-04,-6.00535323e-04,-2.19401553e-04,-3.66887617e-05,
 -6.16702132e-04,-7.13547284e-04,-1.72824984e-04,-8.73062246e-05,
 -5.13326564e-04,-4.58284557e-04,-1.16004683e-04, 9.38890138e-07,
  2.10000000e-01,-5.76994056e-03, 9.00000000e-02, 3.56083700e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39567798,  0.38162776,  0.10450508,  0.38162776,  0.44693669,
       -0.18718469,  0.10450508, -0.18718469,  1.07923206,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016728567555749952
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71027836e-01,  2.38952487e-01, -2.57901999e-03,  2.38951644e-01,
        9.71031260e-01,  6.34648200e-04,  2.65595980e-03,  0.00000000e+00,
       -9.99996473e-01])
  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([ 0.10402704, -0.0899527 ,  0.14125464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008766692528938084
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79777703,  0.40857849, -0.44341338,  0.3571231 ,  0.91272319,
        0.19849301,  0.48581365,  0.        , -0.87406241])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10383767, -0.08915183,  0.15008174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.52374418,  9.35682952,  4.81652705,  9.35682952, 15.66153886,
       -9.98094031,  4.81652705, -9.98094031, 29.91322461,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000452594856443363
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61164405e-07,  4.60469834e-07,  1.00000000e+00, -7.42113470e-14,
        1.00000000e+00, -4.60469834e-07, -1.00000000e+00,  0.00000000e+00,
        1.61164405e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09740108, -0.05386666,  0.06198076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.47611797e-06,-9.37057853e-06, 6.45817486e-06,-2.73925190e-05,
 -1.88004638e-05, 3.01333262e-08, 4.65589447e-05,-5.79799960e-05,
  1.37254881e-05, 8.00763634e-06,-2.36750324e-05, 1.90229622e-05,
  2.64602891e-01, 1.09002513e-04, 9.09769778e-02, 3.48049430e-02,
 -4.83878029e-05, 2.78251131e-05,-9.80997036e+00,-1.18279282e-02,
 -2.39707733e-02, 4.87104331e-05]


--- Step 730 ---
qpos:
[-1.35643597e-02, 1.35225988e-02, 1.00593899e-02, 1.47216889e-02,
 -1.90611816e-02,-9.08980565e-03,-1.74660509e-02, 1.63274044e-02,
 -1.21562407e-02,-6.64698514e-03,-1.43144261e-02, 1.51064797e-02,
  1.40355758e+00, 3.24367273e-02, 2.84551276e-01,-3.16482735e-02,
  9.53835562e-02,-7.12397568e-02, 1.04559271e-01, 9.99955524e-01,
  9.55105903e-04,-1.17276679e-04,-9.38214083e-03]

qacc:
[-6.70012642e+00,-2.27213178e+00, 7.65030607e+00,-8.51681093e+00,
 -1.96544079e+00,-1.90533519e+00, 9.69708870e+00,-2.16961119e+01,
 -1.55136347e+00, 1.38099843e+00,-5.68548248e+00, 9.83799626e+00,
  1.92408239e-01,-5.06440813e+00,-5.86646544e+01, 1.37814311e+02,
  7.63252212e-01, 2.81714434e-01, 3.08184054e-02,-8.98721962e+00,
  2.28646830e+01,-1.59204488e+01]

qfrc_actuator:
[ 4.86206592e-04,-6.03218140e-04,-1.78369346e-04,-3.45583744e-05,
 -6.27855161e-04,-7.15414576e-04,-1.65177408e-04,-1.21476304e-04,
 -5.22779649e-04,-4.56649820e-04,-1.31516099e-04, 1.15746395e-05,
  2.10000000e-01,-5.78448290e-03, 9.00000000e-02, 3.55873870e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39546342,  0.38894421,  0.07151026,  0.38894421,  0.41328049,
       -0.096907  ,  0.07151026, -0.096907  ,  0.92254047,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016585665419045374
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71019661e-01,  2.38985178e-01, -2.62718474e-03,  2.38984303e-01,
        9.71023215e-01,  6.46594440e-04,  2.70558386e-03,  0.00000000e+00,
       -9.99996340e-01])
  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([ 0.10402195, -0.08995881,  0.1412553 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35826139, -0.32078749, -0.15951995, -0.32078749,  0.59071611,
       -0.46745603, -0.15951995, -0.46745603,  1.29829454,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000879683159747364
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.98052759e-01,  4.08097032e-01, -4.43360584e-01,  3.56741381e-01,
        9.12938559e-01,  1.98188735e-01,  4.85641207e-01,  2.77555756e-17,
       -8.74158234e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10383152, -0.08915672,  0.1500825 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.52280445,   9.04238122,   5.38189143,   9.04238122,
        21.76901739, -18.89531701,   5.38189143, -18.89531701,
        42.26975844,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045252264048294133
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.30007074e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.30007074e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08169954, -0.06219097,  0.06198076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.99511597e-05,-7.77977556e-06, 3.89391091e-05, 1.41844327e-06,
 -1.16825348e-05, 5.26673401e-06, 1.13807967e-05,-3.36857856e-05,
 -9.08543305e-06, 2.04769237e-06,-1.61150289e-05, 1.05293731e-05,
  2.64229271e-01, 2.87707377e-05, 8.79486236e-02, 3.53300646e-02,
 -7.90568154e-06, 6.48193028e-07,-9.81000056e+00,-1.18235290e-02,
 -2.39687351e-02, 4.96525192e-05]


--- Step 731 ---
qpos:
[-1.35646274e-02, 1.35210117e-02, 1.00598711e-02, 1.47220525e-02,
 -1.90613063e-02,-9.09028819e-03,-1.74651610e-02, 1.63264974e-02,
 -1.21567444e-02,-6.64671256e-03,-1.43135060e-02, 1.51078186e-02,
  1.40356067e+00, 3.24332825e-02, 2.84614720e-01,-3.16497254e-02,
  9.53798072e-02,-7.12447100e-02, 1.04559688e-01, 9.99955441e-01,
  9.73226380e-04,-1.79934461e-04,-9.38812404e-03]

qacc:
[ 1.90323424e+00,-1.03196259e+00, 1.53321681e+00, 4.52939973e+00,
 -1.16924717e+00, 2.14781366e+00,-1.03833111e+01, 2.23117173e+01,
 -9.54817603e-01, 1.64657943e-01,-2.97956539e+00, 1.09688560e+01,
  1.97610241e-01, 8.19600894e+00, 1.13359093e+02,-2.73619849e+02,
 -1.22015524e+00,-5.26258743e-01,-9.47318372e-02, 1.73007318e+01,
 -4.15211796e+01, 3.90490463e+01]

qfrc_actuator:
[ 4.98484949e-04,-6.21912347e-04,-1.54159190e-04,-1.55223900e-05,
 -6.34414429e-04,-7.16339682e-04,-1.78919438e-04,-8.76866142e-05,
 -5.28188314e-04,-4.73661908e-04,-1.23184790e-04, 3.52315929e-05,
  2.10000000e-01,-5.79128545e-03, 9.00000000e-02, 3.55869055e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39560768,  0.3700839 ,  0.13979752,  0.3700839 ,  0.58688391,
       -0.50636273,  0.13979752, -0.50636273,  1.73609423,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016681899291342384
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71014898e-01,  2.39004893e-01, -2.59415553e-03,  2.39004040e-01,
        9.71018363e-01,  6.38521258e-04,  2.67158236e-03, -1.08420217e-19,
       -9.99996431e-01])
  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([ 0.10402105, -0.08996121,  0.14125672])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008823063184434755
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.98071778e-01,  4.07922649e-01, -4.43486809e-01,  3.56567003e-01,
        9.13016491e-01,  1.98143534e-01,  4.85738005e-01,  2.77555756e-17,
       -8.74104451e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1038311 , -0.08915877,  0.15008167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.51077094,   9.398934  ,   4.70492779,   9.398934  ,
        17.50649199, -13.97520288,   4.70492779, -13.97520288,
        38.42873597,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045159582141420765
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.23907967e-07,  1.21116536e-06,  1.00000000e+00, -5.13422646e-13,
        1.00000000e+00, -1.21116536e-06, -1.00000000e+00,  0.00000000e+00,
        4.23907967e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09740628, -0.05387444,  0.0619808 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11704461e-05,-1.49409985e-05, 2.74541247e-05, 2.00800487e-05,
 -6.88346805e-06, 2.92285614e-06,-1.24175393e-05, 3.37540820e-05,
 -5.69609918e-06,-1.87358804e-05, 7.13712770e-06, 2.33928291e-05,
  2.64342915e-01, 4.25806598e-05, 8.95142550e-02, 3.51270072e-02,
 -2.03784937e-05, 1.19263433e-05,-9.80999326e+00,-1.18257847e-02,
 -2.39688334e-02, 4.83567412e-05]


--- Step 732 ---
qpos:
[-1.35633661e-02, 1.35195043e-02, 1.00602979e-02, 1.47219473e-02,
 -1.90611635e-02,-9.09090997e-03,-1.74643563e-02, 1.63260148e-02,
 -1.21569646e-02,-6.64670991e-03,-1.43121799e-02, 1.51097676e-02,
  1.40356032e+00, 3.24291459e-02, 2.84642903e-01,-3.16462906e-02,
  9.53794185e-02,-7.12480101e-02, 1.04560358e-01, 9.99955167e-01,
  9.72623409e-04,-1.93583420e-04,-9.41701939e-03]

qacc:
[ 1.32511280e+01,-7.33853415e-01, 4.70379237e+00,-1.27401683e+01,
  2.32151735e+00, 9.23465704e-01,-5.36058667e+00, 1.29568075e+01,
  2.49173910e+00,-2.39924597e-01,-2.24709205e+00, 1.23673181e+01,
  4.91008644e-02,-6.76366931e+00,-6.70469979e+01, 1.58627609e+02,
  8.40077427e-01, 4.13299678e-01, 6.34317754e-02,-9.59332633e+00,
  2.44042645e+01,-1.14786192e+01]

qfrc_actuator:
[ 5.76839292e-04,-6.14583933e-04,-1.57895797e-04,-3.99840408e-05,
 -6.20467290e-04,-7.34483272e-04,-1.87368726e-04,-6.74507871e-05,
 -5.13413107e-04,-4.83849394e-04,-1.00913224e-04, 6.63609318e-05,
  2.10000000e-01,-5.74118044e-03, 9.00000000e-02, 3.55573835e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39530154,  0.38986465,  0.06533655,  0.38986465,  0.41105547,
       -0.09400406,  0.06533655, -0.09400406,  0.95622592,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001647693200546902
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71004333e-01,  2.39046552e-01, -2.70769408e-03,  2.39045622e-01,
        9.71008108e-01,  6.66590658e-04,  2.78853911e-03,  0.00000000e+00,
       -9.99996112e-01])
  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([ 0.10401336, -0.08996916,  0.14125706])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35938279, -0.31959534, -0.16436182, -0.31959534,  0.62748238,
       -0.52130952, -0.16436182, -0.52130952,  1.37304943,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008861880941796479
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79847861,  0.40724475, -0.44337752,  0.35603792,  0.91331906,
        0.19769999,  0.48545743,  0.        , -0.87426031])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382144, -0.08916547,  0.15008263])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.52154857,   9.14294426,   5.20668365,   9.14294426,
        17.80420882, -12.78836226,   5.20668365, -12.78836226,
        32.9779318 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004524260932025556
  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([ 0.08170209, -0.06219612,  0.06198077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.87203700e-05, 5.51403535e-06,-2.74502704e-06,-2.37611710e-05,
  1.37581846e-05,-1.76254540e-05,-8.20543469e-06, 2.05888595e-05,
  1.45806700e-05,-1.81737538e-05, 2.00948125e-05, 3.10295747e-05,
  2.64070785e-01, 5.65223780e-05, 8.66574984e-02, 3.55718103e-02,
 -8.04669321e-06,-3.00752400e-06,-9.80999208e+00,-1.18239116e-02,
 -2.39703784e-02, 5.06765700e-05]


--- Step 733 ---
qpos:
[-1.35628983e-02, 1.35180765e-02, 1.00606659e-02, 1.47215503e-02,
 -1.90608544e-02,-9.09174849e-03,-1.74633111e-02, 1.63254209e-02,
 -1.21566617e-02,-6.64676396e-03,-1.43108920e-02, 1.51113872e-02,
  1.40355796e+00, 3.24247556e-02, 2.84638705e-01,-3.16389567e-02,
  9.53819171e-02,-7.12503582e-02, 1.04561095e-01, 9.99954576e-01,
  9.55587772e-04,-1.62030844e-04,-9.48193907e-03]

qacc:
[-6.88211857e+00,-3.17858435e-01, 2.54100716e+00,-7.58071447e+00,
  1.45514528e+00,-1.19062707e+00, 4.29566848e+00,-6.44499634e+00,
  4.56602753e+00,-6.55345419e-01, 3.60367191e+00,-9.18653264e+00,
  1.86138496e-01,-4.16174333e+00,-5.97755859e+01, 1.39428863e+02,
  7.21825551e-01, 2.37969470e-01, 1.66989291e-02,-8.43212809e+00,
  2.25048308e+01,-1.80332448e+01]

qfrc_actuator:
[ 5.33666863e-04,-6.09631802e-04,-1.60275842e-04,-5.43377135e-05,
 -6.12316536e-04,-7.45037179e-04,-1.74956336e-04,-7.31236530e-05,
 -4.86877309e-04,-4.89800988e-04,-1.06076953e-04, 4.83875310e-05,
  2.10000000e-01,-5.70904762e-03, 9.00000000e-02, 3.55353645e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39540846,  0.38930768,  0.06919092,  0.38930768,  0.41182339,
       -0.09235978,  0.06919092, -0.09235978,  0.91507743,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016548839449796913
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70997731e-01,  2.39073059e-01, -2.73455743e-03,  2.39072111e-01,
        9.71001582e-01,  6.73283157e-04,  2.81622346e-03, -1.08420217e-19,
       -9.99996034e-01])
  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([ 0.10401058, -0.08997235,  0.14125832])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008893348654609039
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.98581852e-01,  4.06950662e-01, -4.43461593e-01,  3.55775755e-01,
        9.13450140e-01,  1.97566327e-01,  4.85479802e-01, -2.77555756e-17,
       -8.74247883e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10381839, -0.0891685 ,  0.150082  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004521443538078873
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.67331699e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.67331699e-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([ 0.08170331, -0.06219864,  0.06198078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.08494145e-05, 6.42780718e-06,-2.42035148e-06,-1.46811174e-05,
  8.55445341e-06,-2.12229766e-05, 8.47125193e-06,-6.31229370e-06,
  2.69250168e-05,-1.06226306e-05,-5.36836797e-06,-1.74536860e-05,
  2.64242467e-01, 1.23827304e-04, 8.84205220e-02, 3.53054701e-02,
 -2.52660841e-06, 2.69718007e-07,-9.81000006e+00,-1.18239249e-02,
 -2.39710066e-02, 5.10792003e-05]


--- Step 734 ---
qpos:
[-1.35636396e-02, 1.35167556e-02, 1.00606612e-02, 1.47216933e-02,
 -1.90607944e-02,-9.09275595e-03,-1.74621500e-02, 1.63251114e-02,
 -1.21560435e-02,-6.64669132e-03,-1.43097214e-02, 1.51120704e-02,
  1.40355495e+00, 3.24205474e-02, 2.84605279e-01,-3.16289612e-02,
  9.53868913e-02,-7.12523511e-02, 1.04561737e-01, 9.99953543e-01,
  9.24103286e-04,-8.85131152e-05,-9.59424441e-03]

qacc:
[-1.04945161e+01, 2.31578610e+00,-1.02960519e+01, 2.01206165e+01,
 -2.15564102e+00, 4.28838104e-02,-1.67087105e+00, 6.52614153e+00,
  2.74649897e+00,-1.43792697e+00, 9.31527430e+00,-2.54207076e+01,
  2.63568122e-01,-1.41419975e+00,-5.13348604e+01, 1.16740619e+02,
  6.18893096e-01, 8.88096084e-02,-2.39155301e-02,-7.42668092e+00,
  2.08904458e+01,-2.37127267e+01]

qfrc_actuator:
[ 4.72547118e-04,-6.06137114e-04,-1.79568355e-04,-2.71108008e-05,
 -6.25402133e-04,-7.50904066e-04,-1.68071368e-04,-5.84702797e-05,
 -4.71390862e-04,-4.75563673e-04,-1.09667467e-04, 1.64804110e-06,
  2.10000000e-01,-5.70561226e-03, 9.00000000e-02, 3.54991274e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39582044,  0.3894462 ,  0.07074939,  0.3894462 ,  0.41157147,
       -0.08670295,  0.07074939, -0.08670295,  0.87308443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016822705746363537
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70994880e-01,  2.39085246e-01, -2.68114068e-03,  2.39084335e-01,
        9.70998581e-01,  6.60166957e-04,  2.76121997e-03,  0.00000000e+00,
       -9.99996188e-01])
  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([ 0.10401177, -0.08997244,  0.1412602 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000891957096039089
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79845847,  0.40692572, -0.44370658,  0.35569466,  0.91346125,
        0.19766095,  0.4857421 ,  0.        , -0.87410218])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382073, -0.08916916,  0.15007992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045083632462073614
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.15646391e-14, -1.53911598e-14,  1.00000000e+00, -9.47551197e-28,
        1.00000000e+00,  1.53911598e-14, -1.00000000e+00,  0.00000000e+00,
       -6.15646391e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08170397, -0.06220042,  0.06198083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.22465993e-05, 5.92467838e-06,-1.87758216e-05, 2.71332695e-05,
 -1.28272409e-05,-1.62636968e-05, 3.32243173e-06, 1.39131687e-05,
  1.62381151e-05, 6.43729905e-06,-7.05613948e-06,-4.77224944e-05,
  2.64342390e-01, 1.39888599e-04, 9.00395349e-02, 3.50742572e-02,
 -1.41778142e-05, 8.52857698e-06,-9.80999217e+00,-1.18259105e-02,
 -2.39704647e-02, 4.94393308e-05]


--- Step 735 ---
qpos:
[-1.35644177e-02, 1.35156528e-02, 1.00603576e-02, 1.47221419e-02,
 -1.90608910e-02,-9.09389581e-03,-1.74614918e-02, 1.63253637e-02,
 -1.21552444e-02,-6.64668780e-03,-1.43082104e-02, 1.51111454e-02,
  1.40356091e+00, 3.24183412e-02, 2.84643091e-01,-3.16311320e-02,
  9.53854748e-02,-7.12573212e-02, 1.04561387e-01, 9.99953191e-01,
  9.35605311e-04,-1.16488228e-04,-9.62947113e-03]

qacc:
[-3.32350285e-01, 1.75437677e+00,-7.12614463e+00, 1.27317972e+01,
 -1.37377597e+00, 2.38855324e+00,-1.11389681e+01, 2.17606906e+01,
  1.58922806e+00,-4.35565203e+00, 2.21834962e+01,-5.05064682e+01,
  1.89156003e-01, 1.68501835e+01, 1.42430877e+02,-3.44810466e+02,
 -1.59765796e+00,-7.44296639e-01,-2.47716293e-01, 2.19822282e+01,
 -5.05022077e+01, 3.85857823e+01]

qfrc_actuator:
[ 4.72402482e-04,-5.85823519e-04,-1.90918473e-04,-1.11558345e-05,
 -6.33128092e-04,-7.71672481e-04,-1.99979563e-04,-3.19725128e-05,
 -4.62535517e-04,-4.84878985e-04,-9.44670221e-05,-7.93649024e-05,
  2.10000000e-01,-5.73748229e-03, 9.00000000e-02, 3.54895425e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39645914,  0.38722416,  0.08507235,  0.38722416,  0.42473909,
       -0.12872196,  0.08507235, -0.12872196,  0.98236338,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001723771641454662
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70995500e-01,  2.39084131e-01, -2.55284674e-03,  2.39083304e-01,
        9.70998856e-01,  6.28574524e-04,  2.62909346e-03,  0.00000000e+00,
       -9.99996544e-01])
  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([ 0.10401613, -0.08997085,  0.14126248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008943412675789306
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79817238,  0.40707223, -0.44408677,  0.35572065,  0.91339597,
        0.19791569,  0.48619305,  0.        , -0.87385143])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382743, -0.08916851,  0.15007648])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.49727072,  9.33835458,  4.79456216,  9.33835458, 15.18637657,
       -9.13295764,  4.79456216, -9.13295764, 28.28550538,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004505514309825834
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.54008919e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.54008919e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09960513, -0.05273118,  0.06198085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89048489e-06, 2.09119652e-05,-1.14901341e-05, 1.60912501e-05,
 -8.07800757e-06,-2.85872191e-05,-3.43769592e-05, 2.61869806e-05,
  9.30707575e-06,-9.23635722e-06, 1.40002695e-05,-8.19124627e-05,
  2.64375886e-01, 9.82831207e-05, 9.15007585e-02, 3.49315568e-02,
 -4.78814228e-05, 2.83371383e-05,-9.80996821e+00,-1.18304835e-02,
 -2.39691398e-02, 4.59615732e-05]


--- Step 736 ---
qpos:
[-1.35648465e-02, 1.35147677e-02, 1.00599129e-02, 1.47224217e-02,
 -1.90610792e-02,-9.09498390e-03,-1.74615723e-02, 1.63255795e-02,
 -1.21546903e-02,-6.64686275e-03,-1.43067763e-02, 1.51096454e-02,
  1.40356908e+00, 3.24158818e-02, 2.84734739e-01,-3.16403195e-02,
  9.53785246e-02,-7.12645245e-02, 1.04560235e-01, 9.99953745e-01,
  9.76066600e-04,-2.47061928e-04,-9.56528802e-03]

qacc:
[ 3.02030959e+00, 3.28550050e-01,-5.16147427e-02,-2.79314161e+00,
 -8.17950654e-01, 2.05818084e+00,-7.08273482e+00, 7.59024901e+00,
 -2.13787632e+00,-1.20005337e+00, 6.37164290e+00,-1.60763267e+01,
 -1.60941102e-01, 2.53116547e+00, 1.00947940e+02,-2.37414469e+02,
 -1.38342902e+00,-5.58313083e-01,-2.00795630e-01, 1.49783054e+01,
 -5.11109042e+01, 4.97532523e+01]

qfrc_actuator:
[ 4.90401704e-04,-5.73325072e-04,-1.97427664e-04,-1.96982757e-05,
 -6.37630970e-04,-7.65845513e-04,-2.36838659e-04,-3.42645198e-05,
 -4.75403060e-04,-5.08180733e-04,-1.03908010e-04,-1.08885156e-04,
  2.10000000e-01,-5.79242834e-03, 9.00000000e-02, 3.55274650e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39641624,  0.37144045, -0.13848401,  0.37144045,  0.42872978,
        0.08667108, -0.13848401,  0.08667108,  0.62888455,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017210187629950775
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70988741e-01,  2.39111048e-01, -2.60205187e-03,  2.39110190e-01,
        9.70992228e-01,  6.40766560e-04,  2.67978650e-03, -1.08420217e-19,
       -9.99996409e-01])
  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([ 0.10401145, -0.08997747,  0.141263  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36131998,  0.34419199,  0.10992724,  0.34419199,  0.44021395,
       -0.24702404,  0.10992724, -0.24702404,  1.13477427,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008982977720987206
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.98418658e-01,  4.06509889e-01, -4.44159156e-01,  3.55241467e-01,
        9.13646381e-01,  1.97620319e-01,  4.86139020e-01, -2.77555756e-17,
       -8.73881487e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382191, -0.08917459,  0.15007505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.49326297, -10.22565404,  -2.35469047, -10.22565404,
        15.17025296, -20.31064475,  -2.35469047, -20.31064475,
        98.69578   ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045024044404885777
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.16461182e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.16461182e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09960745, -0.05273538,  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:
[ 1.79943014e-05, 2.25324864e-05,-3.04005202e-06,-7.72908946e-06,
 -4.71201257e-06,-1.61367235e-05,-4.60909588e-05,-4.19643004e-06,
 -1.26171135e-05,-2.91120559e-05,-1.24698406e-05,-3.10280474e-05,
  2.63926589e-01,-5.60070393e-05, 8.79388894e-02, 3.55778095e-02,
 -3.71043076e-06,-1.05978240e-06,-9.81000034e+00,-1.18251160e-02,
 -2.39676786e-02, 4.74202880e-05]


--- Step 737 ---
qpos:
[-1.35647107e-02, 1.35140708e-02, 1.00594100e-02, 1.47222497e-02,
 -1.90613194e-02,-9.09567595e-03,-1.74620377e-02, 1.63256967e-02,
 -1.21549843e-02,-6.64738851e-03,-1.43057234e-02, 1.51088832e-02,
  1.40357243e+00, 3.24123792e-02, 2.84788303e-01,-3.16444782e-02,
  9.53753342e-02,-7.12693352e-02, 1.04559787e-01, 9.99954195e-01,
  9.98149180e-04,-3.22838371e-04,-9.51350652e-03]

qacc:
[  4.88962309, -0.52885571,  4.13738673,-11.98470591, -0.47164156,
   1.39633434, -3.80175994,  2.41792606, -7.40917988,  2.13420172,
 -11.37265586, 24.98211375, -0.16951454, -8.60261465,-71.66923331,
 168.700751  ,  0.9399409 ,  0.59816544,  0.17611241, -9.45248695,
  27.30339764, -6.22548212]

qfrc_actuator:
[ 5.18915781e-04,-5.65602586e-04,-2.01070679e-04,-4.25870419e-05,
 -6.40202575e-04,-7.08687263e-04,-2.40726058e-04,-3.57040899e-05,
 -5.18703530e-04,-5.39737362e-04,-1.27852689e-04,-7.23944975e-05,
  2.10000000e-01,-5.77100238e-03, 9.00000000e-02, 3.55048456e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39567212,  0.3931137 ,  0.04492268,  0.3931137 ,  0.40419612,
       -0.07459263,  0.04492268, -0.07459263,  1.04842437,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016724684644612927
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70977969e-01,  2.39152114e-01, -2.83731566e-03,  2.39151093e-01,
        9.70982114e-01,  6.98828568e-04,  2.92210909e-03,  0.00000000e+00,
       -9.99995731e-01])
  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([ 0.10399943, -0.08999026,  0.14126218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36193469, -0.3392951 , -0.12599822, -0.3392951 ,  0.50829657,
       -0.39413151, -0.12599822, -0.39413151,  1.42327418,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009024257042798203
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.99136619e-01,  4.05420214e-01, -4.43863847e-01,  3.54420034e-01,
        9.14130434e-01,  1.96855251e-01,  4.85558549e-01,  2.77555756e-17,
       -8.74204150e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10380594, -0.08918536,  0.15007716])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.53795783,  9.21786551,  5.10681022,  9.21786551, 15.49355193,
       -8.94491824,  5.10681022, -8.94491824, 26.68366322,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004536842969648791
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.17672569e-14,  9.17672569e-14,  1.00000000e+00,  8.42122944e-27,
        1.00000000e+00, -9.17672569e-14, -1.00000000e+00,  0.00000000e+00,
       -9.17672569e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08171002, -0.0622111 ,  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:
[ 2.90779576e-05, 1.93822768e-05, 3.72580452e-07,-2.21787890e-05,
 -2.67086914e-06, 3.84397758e-05,-1.30410427e-05,-3.80707778e-06,
 -4.36773004e-05,-5.17665519e-05,-3.25746786e-05, 3.42071065e-05,
  2.63815783e-01,-2.01085245e-05, 8.52473244e-02, 3.59060727e-02,
 -5.01574138e-05, 1.17033746e-05,-9.80994538e+00,-1.18284070e-02,
 -2.39747952e-02, 5.20090407e-05]


--- Step 738 ---
qpos:
[-1.35642334e-02, 1.35136660e-02, 1.00588051e-02, 1.47217944e-02,
 -1.90615882e-02,-9.09597698e-03,-1.74623233e-02, 1.63254104e-02,
 -1.21557950e-02,-6.64833741e-03,-1.43046345e-02, 1.51081993e-02,
  1.40357241e+00, 3.24082246e-02, 2.84806369e-01,-3.16442896e-02,
  9.53753839e-02,-7.12725584e-02, 1.04559803e-01, 9.99954419e-01,
  1.00380199e-03,-3.48627410e-04,-9.48841624e-03]

qacc:
[ 2.95202907e+00, 8.20752946e-02, 1.45423279e+00,-6.40032322e+00,
 -2.48673972e-01,-8.15322539e-01, 5.36185742e+00,-1.29221029e+01,
 -4.50178579e+00,-4.89284108e-01, 6.17650192e-01, 9.75709949e-01,
  2.92026097e-02,-6.45685077e+00,-6.57616847e+01, 1.53630851e+02,
  8.10013451e-01, 3.96855903e-01, 1.16004978e-01,-8.45648399e+00,
  2.49010471e+01,-1.33683706e+01]

qfrc_actuator:
[ 5.35631111e-04,-5.43050562e-04,-2.03020441e-04,-5.59804425e-05,
 -6.41618127e-04,-6.74353119e-04,-2.24888803e-04,-5.43081908e-05,
 -5.44057297e-04,-5.58250548e-04,-1.24659391e-04,-6.83904685e-05,
  2.10000000e-01,-5.73836717e-03, 9.00000000e-02, 3.54721676e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39547199,  0.39211433,  0.05142423,  0.39211433,  0.40602659,
       -0.08047977,  0.05142423, -0.08047977,  1.00913732,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016591400045432549
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70971355e-01,  2.39177298e-01, -2.97442717e-03,  2.39176175e-01,
        9.70975911e-01,  7.32680847e-04,  3.06333776e-03,  0.00000000e+00,
       -9.99995308e-01])
  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([ 0.10399318, -0.08999681,  0.14126257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009056872621602758
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.99480990e-01,  4.04815380e-01, -4.43795736e-01,  3.53940018e-01,
        9.14398441e-01,  1.96473803e-01,  4.85341746e-01, -2.77555756e-17,
       -8.74324533e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10379776, -0.08919138,  0.15007755])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.56625502,  -8.55806182,  -6.19720283,  -8.55806182,
        44.13771461, -46.36069442,  -6.19720283, -46.36069442,
        74.58831463,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004558374662173917
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.08891933e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.08891933e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08171288, -0.06221587,  0.06198062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75930646e-05, 3.25197864e-05, 1.32843493e-06,-1.29833349e-05,
 -1.44800858e-06, 5.29805358e-05, 2.20418107e-05,-1.74815984e-05,
 -2.66144549e-05,-5.27276223e-05,-1.03235097e-05, 1.32676058e-06,
  2.64056407e-01, 6.57430552e-05, 8.71516483e-02, 3.56219783e-02,
 -2.06818756e-05, 7.98391321e-06,-9.80997973e+00,-1.18251444e-02,
 -2.39768747e-02, 5.52441736e-05]


--- Step 739 ---
qpos:
[-1.35635586e-02, 1.35135207e-02, 1.00581724e-02, 1.47211808e-02,
 -1.90622162e-02,-9.09611320e-03,-1.74625827e-02, 1.63245977e-02,
 -1.21562138e-02,-6.64945639e-03,-1.43036322e-02, 1.51075444e-02,
  1.40357032e+00, 3.24038125e-02, 2.84791749e-01,-3.16405754e-02,
  9.53782288e-02,-7.12748591e-02, 1.04560070e-01, 9.99954305e-01,
  9.94641520e-04,-3.28454770e-04,-9.50211152e-03]

qacc:
[ 1.70608870e+00, 9.13992496e-02, 8.33801759e-01,-3.71237654e+00,
 -3.12127373e+00,-9.32429587e-01, 5.87419841e+00,-1.51597681e+01,
  3.42209904e+00, 6.99548847e-02,-7.09535018e-01, 1.48718136e+00,
  1.60167063e-01,-4.12282639e+00,-5.90932741e+01, 1.36392010e+02,
  6.98817069e-01, 2.30662317e-01, 6.29854315e-02,-7.63094166e+00,
  2.28899896e+01,-1.94139839e+01]

qfrc_actuator:
[ 5.45264495e-04,-5.29532768e-04,-2.03887099e-04,-6.36643075e-05,
 -6.60095483e-04,-6.89372093e-04,-2.33132698e-04,-8.28666685e-05,
 -5.23129994e-04,-5.50972375e-04,-1.23200446e-04,-6.57614958e-05,
  2.10000000e-01,-5.71673299e-03, 9.00000000e-02, 3.54853822e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39566562,  0.39162904,  0.05637355,  0.39162904,  0.40743428,
       -0.08175731,  0.05637355, -0.08175731,  0.96363651,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001672037488311489
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70968799e-01,  2.39187080e-01, -3.02191711e-03,  2.39185921e-01,
        9.70973502e-01,  7.44411177e-04,  3.11225497e-03, -1.08420217e-19,
       -9.99995157e-01])
  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([ 0.10399171, -0.089999  ,  0.14126384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009081851460250445
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.99540798e-01,  4.04568002e-01, -4.43913555e-01,  3.53707843e-01,
        9.14507918e-01,  1.96382357e-01,  4.85412479e-01,  2.77555756e-17,
       -8.74285266e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10379602, -0.08919407,  0.15007644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045643540860160897
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.08094269e-14,  1.67225924e-13,  1.00000000e+00,  1.01689126e-26,
        1.00000000e+00, -1.67225924e-13, -1.00000000e+00,  0.00000000e+00,
       -6.08094269e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08171483, -0.06221941,  0.0619806 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01752987e-05, 3.14080726e-05, 5.55785133e-06,-6.49908438e-06,
 -1.84857898e-05, 1.84205157e-05, 4.81287819e-06,-2.58649637e-05,
  2.01701881e-05,-2.42606039e-05,-1.06475300e-05, 4.10855475e-08,
  2.64225257e-01, 1.20336468e-04, 8.89265133e-02, 3.54178250e-02,
 -3.24135085e-06, 1.80304340e-06,-9.80999744e+00,-1.18231737e-02,
 -2.39772488e-02, 5.62940342e-05]


--- Step 740 ---
qpos:
[-1.35634628e-02, 1.35135833e-02, 1.00575498e-02, 1.47204839e-02,
 -1.90630605e-02,-9.09610368e-03,-1.74635066e-02, 1.63241913e-02,
 -1.21560334e-02,-6.65043280e-03,-1.43030840e-02, 1.51072562e-02,
  1.40356738e+00, 3.23995278e-02, 2.84747410e-01,-3.16343095e-02,
  9.53834858e-02,-7.12767880e-02, 1.04560406e-01, 9.99953748e-01,
  9.72002197e-04,-2.65710202e-04,-9.56490255e-03]

qacc:
[-5.02182056e+00, 8.47899331e-02, 4.65574289e-01,-2.09649278e+00,
 -1.90101212e+00, 2.88832808e+00,-1.17289279e+01, 1.97096001e+01,
  5.21322076e+00, 2.20156934e+00,-9.14265490e+00, 1.61295208e+01,
  2.42262345e-01,-1.72388913e+00,-5.17313790e+01, 1.17066711e+02,
  6.03013083e-01, 9.29090760e-02, 1.68362947e-02,-6.94922428e+00,
  2.11964634e+01,-2.45678212e+01]

qfrc_actuator:
[ 5.15150918e-04,-5.21519615e-04,-2.04137341e-04,-6.79342762e-05,
 -6.70715169e-04,-6.98427875e-04,-2.73496246e-04,-6.38556059e-05,
 -4.92888701e-04,-5.28303206e-04,-1.40426727e-04,-4.61869102e-05,
  2.10000000e-01,-5.73733846e-03, 9.00000000e-02, 3.55074626e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39615115,  0.39175663,  0.05884281,  0.39175663,  0.40789226,
       -0.07816851,  0.05884281, -0.07816851,  0.91657214,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017039008311344083
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70970096e-01,  2.39182256e-01, -2.98692255e-03,  2.39181124e-01,
        9.70974690e-01,  7.35774969e-04,  3.07621051e-03,  1.08420217e-19,
       -9.99995268e-01])
  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([ 0.10399413, -0.08999839,  0.14126574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009101583164128544
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.99388231e-01,  4.04572189e-01, -4.44184421e-01,  3.53644726e-01,
        9.14506065e-01,  1.96504616e-01,  4.85709650e-01,  2.77555756e-17,
       -8.74120207e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10379955, -0.0891946 ,  0.15007399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045577285212149155
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.08978255e-14, -6.08978255e-14,  1.00000000e+00, -3.70854515e-27,
        1.00000000e+00,  6.08978255e-14, -1.00000000e+00,  0.00000000e+00,
       -6.08978255e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08171603, -0.06222199,  0.06198063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.97951351e-05, 2.64243087e-05, 6.68811797e-06,-2.86040495e-06,
 -1.11348193e-05, 1.14702583e-06,-3.68527982e-05, 1.94657607e-05,
  3.08412155e-05, 6.92989998e-06,-2.35433025e-05, 1.81675621e-05,
  2.64328306e-01, 1.12320777e-04, 9.05606959e-02, 3.52635955e-02,
 -1.46967254e-06, 4.58640674e-07,-9.80999836e+00,-1.18233491e-02,
 -2.39764335e-02, 5.53681957e-05]


--- Step 741 ---
qpos:
[-1.35644180e-02, 1.35138035e-02, 1.00569524e-02, 1.47197467e-02,
 -1.90640256e-02,-9.09592211e-03,-1.74649254e-02, 1.63236558e-02,
 -1.21558360e-02,-6.65134083e-03,-1.43024963e-02, 1.51075248e-02,
  1.40356471e+00, 3.23957450e-02, 2.84676470e-01,-3.16266636e-02,
  9.53908205e-02,-7.12788108e-02, 1.04560649e-01, 9.99952640e-01,
  9.37031462e-04,-1.63269036e-04,-9.68573009e-03]

qacc:
[-9.11399269e+00, 7.26931132e-02, 2.43603152e-01,-1.12955366e+00,
 -1.06674653e+00, 1.34617255e+00,-3.92148912e+00, 2.34761492e+00,
  1.48382385e-01, 1.12624134e+00,-6.23646640e+00, 1.57619838e+01,
  2.82368857e-01, 7.26505319e-01,-4.35436128e+01, 9.51840171e+01,
  5.19433919e-01,-2.34604019e-02,-2.30352544e-02,-6.36271065e+00,
  1.97601278e+01,-2.90372010e+01]

qfrc_actuator:
[ 4.61886513e-04,-5.16861572e-04,-2.04044479e-04,-7.01674371e-05,
 -6.76619477e-04,-6.86199972e-04,-2.96946127e-04,-7.02827851e-05,
 -4.92928177e-04,-5.14396683e-04,-1.32956743e-04,-1.67942264e-05,
  2.10000000e-01,-5.80132213e-03, 9.00000000e-02, 3.54989208e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39685366,  0.39248525,  0.05872098,  0.39248525,  0.40745318,
       -0.07084617,  0.05872098, -0.07084617,  0.87038247,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017488555369752073
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70974976e-01,  2.39163810e-01, -2.87544999e-03,  2.39162762e-01,
        9.70979233e-01,  7.08257758e-04,  2.96139185e-03,  0.00000000e+00,
       -9.99995615e-01])
  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([ 0.10399968, -0.08999626,  0.14126804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009118874164036446
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.99082509e-01,  4.04739637e-01, -4.44581792e-01,  3.53684446e-01,
        9.14431969e-01,  1.96777758e-01,  4.86183562e-01,  2.77555756e-17,
       -8.73856707e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10380736, -0.08919393,  0.15007031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045410361554222567
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.11216794e-14, -7.64020993e-14,  1.00000000e+00,  4.66982462e-27,
        1.00000000e+00,  7.64020993e-14, -1.00000000e+00,  0.00000000e+00,
        6.11216794e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08171666, -0.06222381,  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:
[-5.41080300e-05, 2.06793029e-05, 6.27544107e-06,-9.24260375e-07,
 -6.21241598e-06, 6.11820464e-06,-2.70687316e-05,-7.27210888e-06,
  8.76030866e-07, 1.37040236e-05, 6.62714263e-06, 2.92269837e-05,
  2.64371070e-01, 4.11043586e-05, 9.20464341e-02, 3.51274201e-02,
 -2.02109257e-05, 1.02156117e-05,-9.80998264e+00,-1.18262177e-02,
 -2.39747898e-02, 5.26377826e-05]


--- Step 742 ---
qpos:
[-1.35653150e-02, 1.35140646e-02, 1.00566954e-02, 1.47189816e-02,
 -1.90650535e-02,-9.09609082e-03,-1.74658635e-02, 1.63230469e-02,
 -1.21556398e-02,-6.65227572e-03,-1.43017585e-02, 1.51078024e-02,
  1.40356323e+00, 3.23928363e-02, 2.84581846e-01,-3.16188117e-02,
  9.53999619e-02,-7.12812942e-02, 1.04560661e-01, 9.99950876e-01,
  8.90577811e-04,-2.34541815e-05,-9.87177248e-03]

qacc:
[ 5.15368622e-01,-9.56266688e-01, 3.60368474e+00,-4.65821607e+00,
 -5.25005281e-01,-1.95552935e+00, 6.61274256e+00,-8.39489981e+00,
 -4.84981521e-03,-4.36600253e-01, 1.46713251e+00,-1.53120029e+00,
  2.43627875e-01, 3.32103307e+00,-3.56468693e+01, 7.38906502e+01,
  4.51670571e-01,-1.15147316e-01,-5.76869476e-02,-5.92719875e+00,
  1.85997416e+01,-3.26256268e+01]

qfrc_actuator:
[ 4.66445892e-04,-5.14249356e-04,-1.86012292e-04,-7.11883135e-05,
 -6.79703601e-04,-7.14544341e-04,-2.74646300e-04,-7.38474004e-05,
 -4.93040973e-04,-5.23483219e-04,-1.28733433e-04,-1.73527841e-05,
  2.10000000e-01,-5.80299511e-03, 9.00000000e-02, 3.54899093e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39771305,  0.39337903,  0.05855433,  0.39337903,  0.4070963 ,
       -0.06303843,  0.05855433, -0.06303843,  0.82121709,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018021381172517617
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70983129e-01,  2.39132836e-01, -2.69256771e-03,  2.39131916e-01,
        9.70986862e-01,  6.63120561e-04,  2.77302178e-03,  0.00000000e+00,
       -9.99996155e-01])
  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([ 0.10400769, -0.08999369,  0.14127055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009136534646363123
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79867284,  0.40499548, -0.44508467,  0.3537704 ,  0.91431869,
        0.19714929,  0.4867938 ,  0.        , -0.87351691])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10381858, -0.08919287,  0.15006544])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004516449850034479
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.07545216e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.07545216e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08171683, -0.06222501,  0.0619808 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00667386e-06, 1.54486298e-05, 2.30576479e-05, 6.86192680e-08,
 -3.24819755e-06,-3.07929447e-05, 1.99890026e-05,-4.37825197e-06,
 -5.90073409e-08, 1.19347163e-06, 8.87960965e-06, 8.26362272e-07,
  2.64358261e-01, 1.29397682e-05, 9.33761299e-02, 3.50493403e-02,
 -6.48512755e-05, 3.65190045e-05,-9.80995064e+00,-1.18321271e-02,
 -2.39725744e-02, 4.82456462e-05]


--- Step 743 ---
qpos:
[-1.35658061e-02, 1.35144016e-02, 1.00566825e-02, 1.47178671e-02,
 -1.90657651e-02,-9.09673235e-03,-1.74664496e-02, 1.63227704e-02,
 -1.21547564e-02,-6.65300256e-03,-1.43013208e-02, 1.51077272e-02,
  1.40357307e+00, 3.23929421e-02, 2.84562386e-01,-3.16263710e-02,
  9.54020608e-02,-7.12870445e-02, 1.04559711e-01, 9.99949687e-01,
  8.97293031e-04, 1.47664000e-05,-9.99092931e-03]

qacc:
[ 3.52413774e+00,-1.30839049e+00, 6.27428665e+00,-1.27561097e+01,
  2.76532696e+00,-9.29571347e-01, 9.95472018e-01, 4.55114335e+00,
  5.98592034e+00, 3.75711629e-01, 5.28871891e-01,-6.28708750e+00,
  9.14042943e-02, 2.36482894e+01, 1.58139903e+02,-3.91148511e+02,
 -1.76060301e+00,-8.16719681e-01,-2.40656159e-01, 2.70851163e+01,
 -5.05024160e+01, 3.34885890e+01]

qfrc_actuator:
[ 4.87257944e-04,-5.12810958e-04,-1.75294497e-04,-8.92307440e-05,
 -6.63352560e-04,-7.49025946e-04,-2.61179641e-04,-5.79460144e-05,
 -4.57681177e-04,-5.10792429e-04,-1.44337347e-04,-3.55570244e-05,
  2.10000000e-01,-5.78560725e-03, 9.00000000e-02, 3.54457328e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.3986813 ,  0.39338395,  0.06477538,  0.39338395,  0.40459001,
       -0.03588383,  0.06477538, -0.03588383,  0.61660554,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018601059067501862
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70994247e-01,  2.39090375e-01, -2.44238166e-03,  2.39089619e-01,
        9.70997318e-01,  6.01391925e-04,  2.51533306e-03,  0.00000000e+00,
       -9.99996837e-01])
  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([ 0.10401761, -0.08999149,  0.1412731 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009156868070334063
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.98197405e-01,  4.05280743e-01, -4.45677487e-01,  3.53857767e-01,
        9.14192277e-01,  1.97578242e-01,  4.87509574e-01,  2.77555756e-17,
       -8.73117641e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10383253, -0.08919206,  0.15005942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.5344769 ,  9.34867285,  4.85566879,  9.34867285, 13.92781665,
       -6.53323457,  4.85566879, -6.53323457, 23.11298571,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004534179844660688
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.65176299e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.65176299e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09962248, -0.05276632,  0.06198073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.08985176e-05, 1.48772652e-05, 1.67615540e-05,-1.65795033e-05,
  1.62646736e-05,-4.77235512e-05, 9.42931715e-06, 1.51907784e-05,
  3.53827258e-05, 1.52227664e-05,-1.42371504e-05,-1.78301964e-05,
  2.64299121e-01,-1.52436828e-05, 9.45599970e-02, 3.49947808e-02,
 -1.40416927e-04, 8.36980349e-05,-9.80990275e+00,-1.18412679e-02,
 -2.39699622e-02, 4.23000363e-05]


--- Step 744 ---
qpos:
[-1.35667337e-02, 1.35148057e-02, 1.00568177e-02, 1.47165531e-02,
 -1.90662748e-02,-9.09752525e-03,-1.74672320e-02, 1.63223381e-02,
 -1.21534555e-02,-6.65361956e-03,-1.43011151e-02, 1.51084784e-02,
  1.40358905e+00, 3.23944640e-02, 2.84612537e-01,-3.16454470e-02,
  9.53983345e-02,-7.12950774e-02, 1.04558088e-01, 9.99949422e-01,
  9.38390465e-04,-4.93312085e-05,-1.00135227e-02]

qacc:
[-3.78036737e+00,-7.29109916e-01, 3.58344190e+00,-7.33684190e+00,
  1.74957878e+00, 2.47359893e-02, 2.72905913e-01,-2.53555029e+00,
  3.63538959e+00, 2.48732821e+00,-1.21603494e+01, 2.67684310e+01,
 -4.90683918e-01, 1.46211058e+01, 1.38052270e+02,-3.32994425e+02,
 -1.45632304e+00,-5.70654126e-01,-1.68205787e-01, 1.77002413e+01,
 -5.09414499e+01, 4.83300421e+01]

qfrc_actuator:
[ 4.64192877e-04,-5.12128312e-04,-1.69005016e-04,-9.94007150e-05,
 -6.53447053e-04,-7.51421974e-04,-2.70829056e-04,-6.62465669e-05,
 -4.37231033e-04,-5.03012050e-04,-1.53694649e-04, 7.02010307e-06,
  2.10000000e-01,-5.81253088e-03, 9.00000000e-02, 3.54314974e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39882967,  0.3986906 ,  0.01053126,  0.3986906 ,  0.39905191,
       -0.00841365,  0.01053126, -0.00841365,  0.71735219,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000186880737260221
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70997610e-01,  2.39077492e-01, -2.36526350e-03,  2.39076782e-01,
        9.71000491e-01,  5.82369700e-04,  2.43590351e-03,  1.08420217e-19,
       -9.99997033e-01])
  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([ 0.10401766, -0.08999911,  0.14127361])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36428702,  0.3410552 ,  0.12800932,  0.3410552 ,  0.49544432,
       -0.34944235,  0.12800932, -0.34944235,  1.29530615,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009200175682224081
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.98318069e-01,  4.04734653e-01, -4.45957534e-01,  3.53340891e-01,
        9.14434175e-01,  1.97383773e-01,  4.87686862e-01, -2.77555756e-17,
       -8.73018628e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10383323, -0.08919939,  0.15005513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.54774303, -10.12635651,  -2.95157361, -10.12635651,
        15.9553469 , -18.55258652,  -2.95157361, -18.55258652,
        74.19857148,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045443122341966985
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.10776157e-14, -1.67963443e-13,  1.00000000e+00,  1.02588066e-26,
        1.00000000e+00,  1.67963443e-13, -1.00000000e+00,  0.00000000e+00,
        6.10776157e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09962559, -0.05277285,  0.06198068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24667175e-05, 1.17799760e-05, 1.08584676e-05,-9.27504285e-06,
  1.03869911e-05,-2.64527635e-05,-1.78119407e-05,-9.72275527e-06,
  2.14915021e-05, 1.25703357e-05,-8.59510568e-06, 4.23864128e-05,
  2.63733240e-01,-1.93308762e-04, 9.08016261e-02, 3.57510736e-02,
 -3.64767263e-05, 2.77921520e-05,-9.80999325e+00,-1.18296563e-02,
 -2.39623183e-02, 4.24258441e-05]


--- Step 745 ---
qpos:
[-1.35675859e-02, 1.35154756e-02, 1.00566478e-02, 1.47154787e-02,
 -1.90666609e-02,-9.09853651e-03,-1.74678749e-02, 1.63224857e-02,
 -1.21522638e-02,-6.65405472e-03,-1.43013205e-02, 1.51093916e-02,
  1.40359823e+00, 3.23928203e-02, 2.84686269e-01,-3.16677078e-02,
  9.53890453e-02,-7.13050688e-02, 1.04555764e-01, 9.99950153e-01,
  1.00587345e-03,-2.17888626e-04,-9.93137723e-03]

qacc:
[   0.63949786,   1.69669639,  -6.5538379 ,  10.9963635 ,   1.08178783,
    0.51293089,  -4.6999176 ,  14.67795371,  -0.96914018,   1.7239284 ,
   -6.47886407,   9.80182347,  -0.60761176, -16.27447352,  44.39533204,
 -105.01082772,  -1.39072221,  -0.48963221,  -0.17519227,  13.7172305 ,
  -52.04598935,  52.4201753 ]

qfrc_actuator:
[ 4.68739380e-04,-4.94167998e-04,-1.83126929e-04,-8.71047401e-05,
 -6.47421018e-04,-7.52451613e-04,-2.58435309e-04,-3.54553488e-05,
 -4.43484419e-04,-4.98162936e-04,-1.77004753e-04, 1.40174045e-05,
  2.10000000e-01,-5.79463818e-03, 9.00000000e-02, 3.55085070e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.3983429 ,  0.35923332, -0.17212927,  0.35923332,  0.35946608,
       -0.08113581, -0.17212927, -0.08113581,  0.22901267,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001840082453567537
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70994121e-01,  2.39090591e-01, -2.47122259e-03,  2.39089817e-01,
        9.70997265e-01,  6.08494062e-04,  2.54503558e-03, -1.08420217e-19,
       -9.99996761e-01])
  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([ 0.1040096 , -0.09001275,  0.14127269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36495511,  0.35122059,  0.09917825,  0.35122059,  0.37614131,
       -0.03961378,  0.09917825, -0.03961378,  0.50523966,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009257231813965885
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7988895 ,  0.40364054, -0.44592588,  0.35245159,  0.91491766,
        0.1967322 ,  0.48739455,  0.        , -0.87318186])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382286, -0.08921156,  0.15005331])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.54194756, -10.16951013,  -2.77735885, -10.16951013,
        16.53411526, -21.94077658,  -2.77735885, -21.94077658,
        90.87976545,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004539891448648095
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05685454e-14, -3.05685454e-14,  1.00000000e+00,  9.34435971e-28,
        1.00000000e+00,  3.05685454e-14, -1.00000000e+00,  0.00000000e+00,
        3.05685454e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09962825, -0.05277747,  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:
[ 3.88941271e-06, 2.64202409e-05,-1.06600165e-05, 1.29988554e-05,
  6.35598303e-06,-1.98955625e-05, 4.40478004e-06, 2.88527672e-05,
 -5.61666711e-06, 1.18814190e-05,-2.03214237e-05, 8.05960193e-06,
  2.63426230e-01,-2.45279278e-04, 8.73211671e-02, 3.64039254e-02,
 -6.16084663e-06,-6.58452969e-06,-9.80999226e+00,-1.18247730e-02,
 -2.39646433e-02, 4.57194402e-05]


--- Step 746 ---
qpos:
[-1.35680328e-02, 1.35164335e-02, 1.00560000e-02, 1.47145692e-02,
 -1.90669708e-02,-9.09967898e-03,-1.74684167e-02, 1.63233374e-02,
 -1.21515006e-02,-6.65437171e-03,-1.43017755e-02, 1.51100335e-02,
  1.40360243e+00, 3.23901222e-02, 2.84725573e-01,-3.16851720e-02,
  9.53837375e-02,-7.13121676e-02, 1.04554474e-01, 9.99950828e-01,
  1.05363248e-03,-3.28957669e-04,-9.85514247e-03]

qacc:
[  3.49430399,  2.04960219, -7.46358599, 10.88269325,  0.666831  ,
   0.99148263, -6.76220099, 18.88552951, -3.75078638,  0.30256935,
   0.30588298, -4.70281683, -0.32956545, -8.0864087 ,-65.54564062,
 155.15844736,  0.99535348,  0.72317148,  0.25858116,-10.14757174,
  28.64183248, -2.98227245]

qfrc_actuator:
[ 4.89515587e-04,-4.83819245e-04,-2.09101700e-04,-7.94411957e-05,
 -6.43725141e-04,-7.52533868e-04,-2.50825572e-04, 3.65068992e-07,
 -4.65400239e-04,-4.95188500e-04,-1.90662060e-04, 7.32547101e-10,
  2.10000000e-01,-5.76359307e-03, 9.00000000e-02, 3.56187860e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39675097,  0.39539553,  0.0327675 ,  0.39539553,  0.40166397,
       -0.05928377,  0.0327675 , -0.05928377,  1.11211035,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017423652578326887
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70993336e-01,  2.39090524e-01, -2.76813935e-03,  2.39089552e-01,
        9.70997282e-01,  6.81604263e-04,  2.85082090e-03,  0.00000000e+00,
       -9.99995936e-01])
  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([ 0.10399524, -0.09003383,  0.14127056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.3638658 , -0.35782343, -0.0660357 , -0.35782343,  0.43495089,
       -0.38518422, -0.0660357 , -0.38518422,  2.451039  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009166112167818516
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.80002315,  0.401992  , -0.4453823 ,  0.3512317 ,  0.91564318,
        0.19553482,  0.48641469,  0.        , -0.87372807])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10380263, -0.08922884,  0.15005757])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.57896985,  9.26936715,  5.09837578,  9.26936715, 15.34237875,
       -8.66036321,  5.09837578, -8.66036321, 26.32439342,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004567982108611701
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.07611303e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.07611303e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08172544, -0.06223959,  0.06198058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.08776475e-05, 2.35121694e-05,-2.13702767e-05, 8.68148280e-06,
  3.91454097e-06,-9.04533942e-06, 5.04555823e-06, 3.56824052e-05,
 -2.20559763e-05, 5.72266899e-06,-1.34406478e-05,-1.40563498e-05,
  2.63765470e-01,-5.45649236e-05, 8.61422940e-02, 3.66734770e-02,
 -8.26159086e-05, 1.51402792e-05,-9.80990245e+00,-1.18300904e-02,
 -2.39754699e-02, 5.21464036e-05]


--- Step 747 ---
qpos:
[-1.35685722e-02, 1.35173239e-02, 1.00554405e-02, 1.47141107e-02,
 -1.90672333e-02,-9.10068969e-03,-1.74689310e-02, 1.63238919e-02,
 -1.21513507e-02,-6.65468805e-03,-1.43020622e-02, 1.51101432e-02,
  1.40360267e+00, 3.23866167e-02, 2.84731155e-01,-3.16975821e-02,
  9.53819335e-02,-7.13171082e-02, 1.04553942e-01, 9.99951342e-01,
  1.08276453e-03,-3.87497984e-04,-9.79755333e-03]

qacc:
[-7.97912400e-01, 5.94526441e-01,-4.15076578e+00, 1.18624135e+01,
  4.10559517e-01,-5.14671605e-01, 3.34102930e+00,-8.62274096e+00,
 -5.34784202e+00,-1.55425800e+00, 7.80858871e+00,-1.73095477e+01,
 -1.11680031e-01,-7.03034673e+00,-6.52762431e+01, 1.55741482e+02,
  8.75937917e-01, 5.39530590e-01, 1.89298230e-01,-9.57485601e+00,
  2.61614383e+01,-9.34775439e+00]

qfrc_actuator:
[ 4.84164234e-04,-4.95918570e-04,-2.06388082e-04,-5.68255909e-05,
 -6.41429315e-04,-7.34294887e-04,-2.46103713e-04,-1.44110118e-05,
 -4.96350496e-04,-4.93347951e-04,-1.80772044e-04,-2.62558878e-05,
  2.10000000e-01,-5.74325412e-03, 9.00000000e-02, 3.56890610e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39589659,  0.3935835 ,  0.04273339,  0.3935835 ,  0.40365225,
       -0.07143128,  0.04273339, -0.07143128,  1.05379372,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016872789660928782
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70995665e-01,  2.39078742e-01, -2.96222050e-03,  2.39077629e-01,
        9.71000183e-01,  7.29355115e-04,  3.05068995e-03, -1.08420217e-19,
       -9.99995347e-01])
  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([ 0.10398701, -0.09004737,  0.14126983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009192038169063855
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.00728769e-01,  4.00910189e-01, -4.45089270e-01,  3.50413971e-01,
        9.16117362e-01,  1.94779436e-01,  4.85843068e-01, -2.77555756e-17,
       -8.74046059e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10379077, -0.08924045,  0.15006   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.62590039,  -8.65655005,  -6.16229668,  -8.65655005,
        39.02311868, -39.89128634,  -6.16229668, -39.89128634,
        66.6635978 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046030879130282837
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.01488654e-14,  4.52232982e-14,  1.00000000e+00,  1.36343113e-27,
        1.00000000e+00, -4.52232982e-14, -1.00000000e+00,  0.00000000e+00,
       -3.01488654e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08172909, -0.06224539,  0.06198043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.76562226e-06,-2.96783276e-06, 5.24325631e-06, 2.30526863e-05,
  2.44966814e-06, 1.57647108e-05, 4.71330163e-06,-1.42941137e-05,
 -3.15634974e-05, 1.62807515e-06, 8.92267791e-06,-2.67508128e-05,
  2.64014600e-01, 1.92022025e-05, 8.78637460e-02, 3.65039178e-02,
 -4.48714752e-05, 1.46715546e-05,-9.80995101e+00,-1.18253118e-02,
 -2.39786678e-02, 5.76855486e-05]


--- Step 748 ---
qpos:
[-1.35688271e-02, 1.35181283e-02, 1.00549470e-02, 1.47139309e-02,
 -1.90674654e-02,-9.10161257e-03,-1.74691011e-02, 1.63242485e-02,
 -1.21512281e-02,-6.65473252e-03,-1.43025966e-02, 1.51092404e-02,
  1.40360014e+00, 3.23826281e-02, 2.84705020e-01,-3.17053550e-02,
  9.53831715e-02,-7.13205933e-02, 1.04553917e-01, 9.99951583e-01,
  1.09480215e-03,-3.97895553e-04,-9.77109284e-03]

qacc:
[ 2.47082543e+00, 2.70688593e-01,-2.31459051e+00, 7.10326251e+00,
  2.73084382e-01,-1.25339975e+00, 5.47282549e+00,-9.51330064e+00,
 -2.51713419e-01,-1.03214976e+00, 8.47750941e+00,-2.58062428e+01,
  5.98151773e-02,-5.28419210e+00,-6.10349467e+01, 1.45242527e+02,
  7.60507941e-01, 3.63879175e-01, 1.26978319e-01,-8.78852077e+00,
  2.39695552e+01,-1.55876515e+01]

qfrc_actuator:
[ 4.98977330e-04,-5.03493770e-04,-2.04589050e-04,-4.33434303e-05,
 -6.39975305e-04,-7.23026258e-04,-2.25328680e-04,-2.33202250e-05,
 -4.96860064e-04,-4.74364834e-04,-1.92576911e-04,-7.72396745e-05,
  2.10000000e-01,-5.72916412e-03, 9.00000000e-02, 3.57154051e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39556145,  0.39237997,  0.05006815,  0.39237997,  0.40542446,
       -0.07729562,  0.05006815, -0.07729562,  1.00132086,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016651123898343828
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71001281e-01,  2.39054663e-01, -3.06268157e-03,  2.39053474e-01,
        9.71006111e-01,  7.54009991e-04,  3.15413212e-03,  0.00000000e+00,
       -9.99995026e-01])
  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([ 0.10398401, -0.09005516,  0.14127017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009211182504476889
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.01090080e-01,  4.00280319e-01, -4.45006011e-01,  3.49916118e-01,
        9.16392747e-01,  1.94378610e-01,  4.85606213e-01,  2.77555756e-17,
       -8.74177674e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10378601, -0.08924762,  0.15006079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.64796434,  -8.61120815,  -6.26308539,  -8.61120815,
        46.52812552, -49.33216094,  -6.26308539, -49.33216094,
        78.47547744,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046194025621924817
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50211933e-14,  3.00423867e-14,  1.00000000e+00, -4.51272499e-28,
        1.00000000e+00, -3.00423867e-14, -1.00000000e+00,  0.00000000e+00,
        1.50211933e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08173165, -0.06224974,  0.06198036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46488101e-05,-7.14385146e-06, 2.63619281e-06, 1.39864282e-05,
  1.57197731e-06, 2.04555988e-05, 2.41202177e-05,-8.34826614e-06,
 -1.39769830e-06, 2.05750790e-05,-1.12950466e-05,-5.11248070e-05,
  2.64212613e-01, 7.37132279e-05, 8.95497966e-02, 3.62775411e-02,
 -1.76385173e-05, 7.98891284e-06,-9.80998308e+00,-1.18214368e-02,
 -2.39797298e-02, 6.08431243e-05]


--- Step 749 ---
qpos:
[-1.35689029e-02, 1.35188129e-02, 1.00548255e-02, 1.47132065e-02,
 -1.90676775e-02,-9.10242277e-03,-1.74690391e-02, 1.63248452e-02,
 -1.21507678e-02,-6.65444130e-03,-1.43033821e-02, 1.51084163e-02,
  1.40359606e+00, 3.23785168e-02, 2.84649871e-01,-3.17093329e-02,
  9.53870299e-02,-7.13232534e-02, 1.04554180e-01, 9.99951442e-01,
  1.09133741e-03,-3.63941193e-04,-9.78719995e-03]

qacc:
[ 1.56535329e+00,-2.32284581e+00, 1.03462087e+01,-2.02716937e+01,
  1.78586456e-01,-5.72398011e-03,-7.77854027e-01, 4.47993040e+00,
  2.93393262e+00, 1.30113499e+00,-4.33746200e+00, 5.86286162e+00,
  1.81906331e-01,-3.14379218e+00,-5.44651178e+01, 1.28112084e+02,
  6.55117146e-01, 2.06250648e-01, 7.17437302e-02,-7.97574811e+00,
  2.20757757e+01,-2.13058325e+01]

qfrc_actuator:
[ 5.07796361e-04,-5.08309066e-04,-1.85599263e-04,-7.08545999e-05,
 -6.39028310e-04,-7.15948635e-04,-2.13002175e-04,-1.09370003e-05,
 -4.79445800e-04,-4.45367671e-04,-1.99297444e-04,-7.13561398e-05,
  2.10000000e-01,-5.73657748e-03, 9.00000000e-02, 3.57137856e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39559911,  0.39177945,  0.05484084,  0.39177945,  0.40646611,
       -0.07763311,  0.05484084, -0.07763311,  0.95020504,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016676199938966678
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71010124e-01,  2.39018553e-01, -3.07741207e-03,  2.39017353e-01,
        9.71015001e-01,  7.57515157e-04,  3.16927346e-03,  0.00000000e+00,
       -9.99994978e-01])
  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([ 0.10398535, -0.09005888,  0.1412713 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009223960805069852
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.80118596,  0.39999008, -0.44509435,  0.3496559 ,  0.91651947,
        0.19424937,  0.48563546,  0.        , -0.87416143])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10378715, -0.0892516 ,  0.15006018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046203680690110743
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  7.5090272e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -7.5090272e-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([ 0.08173333, -0.06225295,  0.06198036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.21536442e-06,-7.64995127e-06, 1.83254208e-05,-2.74539048e-05,
  1.03350786e-06, 2.31496634e-05, 1.92366892e-05, 1.39324419e-05,
  1.73938644e-05, 3.59748096e-05,-5.63165608e-06, 5.37945629e-06,
  2.64351126e-01, 8.98869151e-05, 9.11354910e-02, 3.60440101e-02,
 -2.44691987e-06, 1.31736066e-06,-9.80999837e+00,-1.18193170e-02,
 -2.39792633e-02, 6.18283276e-05]


--- Step 750 ---
qpos:
[-1.35688724e-02, 1.35191265e-02, 1.00550858e-02, 1.47118448e-02,
 -1.90682211e-02,-9.10295127e-03,-1.74688870e-02, 1.63255735e-02,
 -1.21497574e-02,-6.65407886e-03,-1.43038776e-02, 1.51076649e-02,
  1.40359164e+00, 3.23746800e-02, 2.84568895e-01,-3.17107468e-02,
  9.53931308e-02,-7.13256527e-02, 1.04554534e-01, 9.99950808e-01,
  1.07398467e-03,-2.88875646e-04,-9.85621405e-03]

qacc:
[ 9.38730743e-01,-2.87246947e+00, 1.22176144e+01,-2.35821368e+01,
 -2.87925483e+00, 3.96804362e-01,-1.42084366e+00, 3.33747153e+00,
  4.81042751e+00,-5.75832167e-01, 1.86634368e+00,-1.10552358e+00,
  2.37599152e-01,-5.81628308e-01,-4.59963459e+01, 1.05395102e+02,
  5.60596011e-01, 6.51870336e-02, 2.27817097e-02,-7.15420206e+00,
  2.04576731e+01,-2.64745325e+01]

qfrc_actuator:
[ 5.13010670e-04,-5.46905575e-04,-1.74379986e-04,-1.04497469e-04,
 -6.56139853e-04,-6.93692951e-04,-2.05770300e-04,-3.88978100e-06,
 -4.51631308e-04,-4.46039903e-04,-1.85112274e-04,-6.75434996e-05,
  2.10000000e-01,-5.72155470e-03, 9.00000000e-02, 3.56588703e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39590713,  0.39165142,  0.05789321,  0.39165142,  0.4068955 ,
       -0.07433705,  0.05789321, -0.07433705,  0.89880217,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016879706950943924
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71021992e-01,  2.38971152e-01, -3.01309889e-03,  2.38970002e-01,
        9.71026667e-01,  7.41528260e-04,  3.10300324e-03,  1.08420217e-19,
       -9.99995186e-01])
  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([ 0.1039902 , -0.09005999,  0.14127299])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009232617886246753
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.80108418,  0.39993805, -0.44532426,  0.34955734,  0.91654217,
        0.19431961,  0.48587427,  0.        , -0.87402871])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1037931, -0.0892535,  0.1500583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004608955102846507
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50552430e-14,  7.52762150e-15,  1.00000000e+00, -1.13330171e-28,
        1.00000000e+00, -7.52762150e-15, -1.00000000e+00,  0.00000000e+00,
        1.50552430e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08173431, -0.06225525,  0.06198041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.45605573e-06,-4.02576170e-05, 1.09471396e-05,-3.38711409e-05,
 -1.70476811e-05, 3.97793969e-05, 1.48677522e-05, 8.97649526e-06,
  2.83256881e-05, 1.85016147e-05, 2.11030529e-05, 5.26256448e-06,
  2.64428695e-01, 1.09914536e-04, 9.25859239e-02, 3.57992870e-02,
 -3.39256334e-06, 1.18971420e-06,-9.80999682e+00,-1.18196163e-02,
 -2.39777477e-02, 6.08399757e-05]


--- Step 751 ---
qpos:
[-1.35680900e-02, 1.35189570e-02, 1.00552526e-02, 1.47108294e-02,
 -1.90693099e-02,-9.10331128e-03,-1.74685347e-02, 1.63253516e-02,
 -1.21484210e-02,-6.65411073e-03,-1.43039376e-02, 1.51066700e-02,
  1.40358790e+00, 3.23714885e-02, 2.84465009e-01,-3.17107865e-02,
  9.54011677e-02,-7.13282280e-02, 1.04554810e-01, 9.99949575e-01,
  1.04388485e-03,-1.75331523e-04,-9.98636235e-03]

qacc:
[ 6.52406638e+00, 3.23355524e-01,-3.56365761e+00, 1.00873807e+01,
 -4.73202195e+00,-2.28245225e+00, 1.24904695e+01,-2.93993724e+01,
  2.86564912e+00,-2.24484098e+00, 8.26687964e+00,-1.28778206e+01,
  2.41192958e-01, 1.91510447e+00,-3.80531980e+01, 8.39349240e+01,
  4.84024176e-01,-4.39802556e-02,-1.92572554e-02,-6.57136274e+00,
  1.91426089e+01,-3.05873640e+01]

qfrc_actuator:
[ 5.51568597e-04,-5.87718852e-04,-1.85734200e-04,-8.82508604e-05,
 -6.83743162e-04,-6.98049794e-04,-2.01546131e-04,-5.32896559e-05,
 -4.35676895e-04,-4.99888848e-04,-1.76576985e-04,-8.27516477e-05,
  2.10000000e-01,-5.72892362e-03, 9.00000000e-02, 3.56249482e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39640997,  0.39197719,  0.05911636,  0.39197719,  0.40662212,
       -0.06771276,  0.05911636, -0.06771276,  0.8453865 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001720616151105379
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71036602e-01,  2.38913480e-01, -2.87532787e-03,  2.38912433e-01,
        9.71040859e-01,  7.07441486e-04,  2.96107815e-03,  1.08420217e-19,
       -9.99995616e-01])
  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([ 0.1039978 , -0.09005979,  0.14127502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009240223676633337
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.8008425 ,  0.4000333 , -0.44567325,  0.34955096,  0.9165006 ,
        0.19452703,  0.48627709,  0.        , -0.87380466])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10380289, -0.08925432,  0.1500552 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004587719325194542
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02498623e-14,  7.56246559e-15,  1.00000000e+00, -2.28763543e-28,
        1.00000000e+00, -7.56246559e-15, -1.00000000e+00,  0.00000000e+00,
        3.02498623e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08173474, -0.06225682,  0.0619805 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.86908401e-05,-6.25140795e-05,-1.94940747e-05, 1.42405998e-05,
 -2.80654719e-05, 2.13571150e-05, 1.45898970e-05,-4.70041214e-05,
  1.67653875e-05,-3.89455200e-05, 1.51258442e-05,-1.35859060e-05,
  2.64446249e-01, 8.71827928e-05, 9.38768935e-02, 3.56370794e-02,
 -2.59836963e-05, 1.38344465e-05,-9.80997863e+00,-1.18227986e-02,
 -2.39755266e-02, 5.80606011e-05]


--- Step 752 ---
qpos:
[-1.35675411e-02, 1.35185293e-02, 1.00554333e-02, 1.47106709e-02,
 -1.90707210e-02,-9.10365141e-03,-1.74683110e-02, 1.63242371e-02,
 -1.21472482e-02,-6.65449064e-03,-1.43041088e-02, 1.51051884e-02,
  1.40358567e+00, 3.23692722e-02, 2.84340791e-01,-3.17105552e-02,
  9.54108952e-02,-7.13313054e-02, 1.04554868e-01, 9.99947639e-01,
  1.00173296e-03,-2.54417979e-05,-1.01840679e-02]

qacc:
[-2.01908973e+00, 1.38875407e+00,-9.05746712e+00, 2.40476168e+01,
 -2.80260616e+00,-1.44621010e+00, 8.97408265e+00,-2.42451869e+01,
 -1.42623308e+00,-1.14778850e+00, 5.48483559e+00,-1.34789706e+01,
  2.11526058e-01, 4.21016643e+00,-3.08703221e+01, 6.44098486e+01,
  4.22649517e-01,-1.25538968e-01,-5.46524010e-02,-6.21276502e+00,
  1.80763846e+01,-3.37983418e+01]

qfrc_actuator:
[ 5.38433975e-04,-5.76343927e-04,-1.74804785e-04,-4.27993207e-05,
 -6.99542410e-04,-7.18373627e-04,-2.17025251e-04,-1.00023329e-04,
 -4.44587030e-04,-5.31948887e-04,-1.89445803e-04,-1.09085104e-04,
  2.10000000e-01,-5.78571348e-03, 9.00000000e-02, 3.56037863e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39705065,  0.39275634,  0.05823815,  0.39275634,  0.40576292,
       -0.0587553 ,  0.05823815, -0.0587553 ,  0.7932946 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017612301054919702
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71053672e-01,  2.38846486e-01, -2.66869393e-03,  2.38845584e-01,
        9.71057339e-01,  6.56406314e-04,  2.74823517e-03,  0.00000000e+00,
       -9.99996224e-01])
  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([ 0.10400753, -0.09005927,  0.14127721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009249384769983197
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.00505783e-01,  4.00205283e-01, -4.46123551e-01,  3.49582849e-01,
        9.16425519e-01,  1.94823254e-01,  4.86808302e-01, -2.77555756e-17,
       -8.73508831e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10381572, -0.08925483,  0.15005092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004558852263065252
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52207036e-14,  2.28310554e-14,  1.00000000e+00, -3.47504727e-28,
        1.00000000e+00, -2.28310554e-14, -1.00000000e+00,  0.00000000e+00,
        1.52207036e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08173474, -0.06225783,  0.06198062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20340199e-05,-2.70155269e-05,-3.90319945e-06, 4.23716730e-05,
 -1.65890735e-05,-7.35186853e-06,-1.08831376e-05,-4.62247831e-05,
 -8.43956231e-06,-5.13384156e-05,-1.95362334e-05,-2.77468219e-05,
  2.64413024e-01,-3.96478351e-06, 9.50220091e-02, 3.55471084e-02,
 -7.58474346e-05, 4.44187280e-05,-9.80994419e+00,-1.18291380e-02,
 -2.39728329e-02, 5.36268978e-05]


--- Step 753 ---
qpos:
[-1.35674986e-02, 1.35183229e-02, 1.00555107e-02, 1.47110033e-02,
 -1.90723105e-02,-9.10390549e-03,-1.74686457e-02, 1.63236292e-02,
 -1.21468807e-02,-6.65501676e-03,-1.43048243e-02, 1.51037528e-02,
  1.40359497e+00, 3.23701243e-02, 2.84294353e-01,-3.17251633e-02,
  9.54135068e-02,-7.13375592e-02, 1.04553967e-01, 9.99946299e-01,
  1.01239155e-03, 2.19245194e-05,-1.03138101e-02]

qacc:
[-4.39575436e+00, 1.60128438e+00,-7.34299164e+00, 1.58274311e+01,
 -1.56787333e+00, 2.71953121e+00,-1.16667221e+01, 2.12614573e+01,
 -7.04357935e+00, 1.43551550e+00,-5.56893447e+00, 7.31514196e+00,
  8.71608367e-02, 2.41226924e+01, 1.60281734e+02,-3.93013363e+02,
 -1.77899484e+00,-7.94096386e-01,-2.39861559e-01, 2.69264733e+01,
 -5.09560598e+01, 3.40336176e+01]

qfrc_actuator:
[ 5.12721135e-04,-5.33687642e-04,-1.68327704e-04,-1.59790495e-05,
 -7.08264193e-04,-7.12691169e-04,-2.44077763e-04,-7.38241960e-05,
 -4.85809300e-04,-5.33071480e-04,-2.14784438e-04,-1.06247961e-04,
  2.10000000e-01,-5.81948594e-03, 9.00000000e-02, 3.56263393e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39778359,  0.29045613, -0.27178488,  0.29045613,  2.10299283,
        1.82235479, -0.27178488,  1.82235479,  2.34533169,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018064332086830152
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71072945e-01,  2.38771000e-01, -2.39699974e-03,  2.38770272e-01,
        9.71075903e-01,  5.89381347e-04,  2.46839586e-03,  1.08420217e-19,
       -9.99996954e-01])
  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([ 0.1040189 , -0.09005918,  0.14127943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009262065384748235
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.00108363e-01,  4.00401029e-01, -4.46660523e-01,  3.49612817e-01,
        9.16340011e-01,  1.95171368e-01,  4.87439725e-01, -2.77555756e-17,
       -8.73156638e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10383096, -0.08925559,  0.15004549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.55565377,  9.36787576,  4.86464083,  9.36787576, 13.79185845,
       -6.23198389,  4.86464083, -6.23198389, 22.55663245,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045503324204052703
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.52492022e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.52492022e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09964498, -0.05281012,  0.06198066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.60572158e-05, 2.85331620e-05, 1.87572029e-06, 2.63513343e-05,
 -9.18738234e-06,-2.61197697e-06,-3.14940732e-05, 2.46117059e-05,
 -4.14609358e-05,-3.50991797e-05,-3.93221076e-05,-5.80730363e-07,
  2.64338097e-01,-8.89901395e-05, 9.60380812e-02, 3.55560060e-02,
 -1.57799508e-04, 9.67680470e-05,-9.80989384e+00,-1.18387639e-02,
 -2.39698404e-02, 4.76331221e-05]


--- Step 754 ---
qpos:
[-1.35674199e-02, 1.35185239e-02, 1.00552915e-02, 1.47112980e-02,
 -1.90739921e-02,-9.10422628e-03,-1.74690287e-02, 1.63240145e-02,
 -1.21473544e-02,-6.65594039e-03,-1.43055312e-02, 1.51030467e-02,
  1.40361035e+00, 3.23723419e-02, 2.84319297e-01,-3.17505947e-02,
  9.54102404e-02,-7.13459850e-02, 1.04552410e-01, 9.99945928e-01,
  1.05660046e-03,-3.40885219e-05,-1.03452608e-02]

qacc:
[ 2.96899201e-01, 1.28966950e+00,-3.65847755e+00, 3.18030424e+00,
 -7.98762559e-01, 2.09190944e+00,-1.17788769e+01, 2.90947107e+01,
 -7.33527231e+00, 9.66830143e-01,-7.26542971e+00, 2.01450095e+01,
 -4.84682107e-01, 1.43705935e+01, 1.38568116e+02,-3.31005788e+02,
 -1.46949666e+00,-5.42998516e-01,-1.63878876e-01, 1.73058061e+01,
 -5.14641437e+01, 4.92007795e+01]

qfrc_actuator:
[ 5.15332806e-04,-5.08144156e-04,-1.82163112e-04,-1.80670950e-05,
 -7.12754386e-04,-7.09231689e-04,-2.42087607e-04,-2.26603040e-05,
 -5.27959148e-04,-5.51199500e-04,-2.11622287e-04,-6.84936738e-05,
  2.10000000e-01,-5.82417878e-03, 9.00000000e-02, 3.56546180e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39772942,  0.36301258, -0.16251325,  0.36301258,  1.04529065,
        1.44648438, -0.16251325,  1.44648438,  3.62880156,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000180313568974586
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71083775e-01,  2.38727898e-01, -2.30040593e-03,  2.38727228e-01,
        9.71086500e-01,  5.65522301e-04,  2.36889909e-03,  0.00000000e+00,
       -9.99997194e-01])
  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([ 0.10402025, -0.09006871,  0.14127959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.3670943 ,  0.34366744,  0.12903843,  0.34366744,  0.50541784,
       -0.36839643,  0.12903843, -0.36839643,  1.34824279,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009478530532750081
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.00300943e-01,  3.99773296e-01, -4.46877737e-01,  3.49044341e-01,
        9.16614047e-01,  1.94901863e-01,  4.87530972e-01,  2.77555756e-17,
       -8.73105693e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10383285, -0.08926437,  0.15004186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.5674185 , -10.12784916,  -3.01612418, -10.12784916,
        16.01250727, -18.28407404,  -3.01612418, -18.28407404,
        71.96354578,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045592555255979245
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04387147e-14, -4.56580720e-14,  1.00000000e+00,  1.38977303e-27,
        1.00000000e+00,  4.56580720e-14, -1.00000000e+00,  0.00000000e+00,
        3.04387147e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09964824, -0.05281685,  0.06198062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.87481393e-06, 4.30050596e-05,-6.79804466e-06,-2.86536096e-07,
 -4.74083540e-06,-3.39710777e-06,-1.55827174e-06, 5.04450553e-05,
 -4.33173623e-05,-4.59277615e-05,-8.95272355e-06, 3.48796345e-05,
  2.63761972e-01,-2.48099175e-04, 9.21488464e-02, 3.63261906e-02,
 -4.38132928e-05, 3.50565381e-05,-9.80999096e+00,-1.18259183e-02,
 -2.39616272e-02, 4.77445123e-05]


--- Step 755 ---
qpos:
[-1.35673108e-02, 1.35189984e-02, 1.00552402e-02, 1.47112050e-02,
 -1.90750243e-02,-9.10486096e-03,-1.74692438e-02, 1.63246814e-02,
 -1.21472945e-02,-6.65723052e-03,-1.43059052e-02, 1.51024261e-02,
  1.40361888e+00, 3.23713314e-02, 2.84370209e-01,-3.17789620e-02,
  9.54013425e-02,-7.13563064e-02, 1.04550151e-01, 9.99946592e-01,
  1.12692241e-03,-1.95292501e-04,-1.02715827e-02]

qacc:
[   0.26376116,  -0.90728674,   5.39518845, -12.57439508,   5.64824458,
   -0.31526289,  -0.68579778,   5.54245736,   4.67357864,  -1.24737907,
    3.36779964,  -2.13216248,  -0.6293703 , -16.49787353,  47.17129433,
 -109.59941971,  -1.40786642,  -0.47388683,  -0.17548625,  13.6011794 ,
  -52.4019949 ,  52.62202854]

qfrc_actuator:
[ 5.16846669e-04,-4.93142958e-04,-1.72446013e-04,-3.71677622e-05,
 -6.79215407e-04,-7.42492921e-04,-2.40711398e-04,-1.04646947e-05,
 -4.99296975e-04,-5.61468360e-04,-1.91694746e-04,-6.37490103e-05,
  2.10000000e-01,-5.79319545e-03, 9.00000000e-02, 3.56527465e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39707525,  0.35471184, -0.17846084,  0.35471184,  0.35431734,
       -0.08498637, -0.17846084, -0.08498637,  0.22815487,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017627685939338824
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71087276e-01,  2.38712784e-01, -2.38938143e-03,  2.38712062e-01,
        9.71090216e-01,  5.87356236e-04,  2.46051437e-03, -1.08420217e-19,
       -9.99996973e-01])
  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([ 0.10401341, -0.09008404,  0.14127831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36736356,  0.3545554 ,  0.09615848,  0.3545554 ,  0.3786406 ,
       -0.04158067,  0.09615848, -0.04158067,  0.52067974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009513240883169824
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.8009378 ,  0.39861127, -0.44677476,  0.34811458,  0.91711998,
        0.19418338,  0.48714974,  0.        , -0.87331846])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1038236 , -0.08927779,  0.15004081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.56003426, -10.16931092,  -2.84595132, -10.16931092,
        16.64306551, -21.7362243 ,  -2.84595132, -21.7362243 ,
        88.22911524,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004553659039335106
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.21904496e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.21904496e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09965102, -0.05282163,  0.06198064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57784120e-06, 3.76317703e-05, 1.77523919e-05,-1.74987690e-05,
  3.34145822e-05,-3.32616252e-05, 2.24811807e-06, 1.29818346e-05,
  2.74476986e-05,-3.63004640e-05, 1.05540842e-05, 3.14889619e-06,
  2.63457392e-01,-2.84981602e-04, 8.85797991e-02, 3.68654724e-02,
 -4.21127687e-06,-5.93484447e-06,-9.80999520e+00,-1.18198960e-02,
 -2.39636751e-02, 5.09957872e-05]


--- Step 756 ---
qpos:
[-1.35671846e-02, 1.35195646e-02, 1.00554111e-02, 1.47105582e-02,
 -1.90753014e-02,-9.10561853e-03,-1.74694519e-02, 1.63247858e-02,
 -1.21468913e-02,-6.65851305e-03,-1.43059172e-02, 1.51018165e-02,
  1.40362230e+00, 3.23691543e-02, 2.84388189e-01,-3.18023509e-02,
  9.53963531e-02,-7.13637137e-02, 1.04548942e-01, 9.99947191e-01,
  1.17652708e-03,-2.99833641e-04,-1.02049708e-02]

qacc:
[  0.15367907, -1.64107526,  8.36475556,-18.37221921,  6.55891528,
  -1.35214243,  6.93910411,-16.57300618,  3.00856699, -0.98493619,
   3.4706041 , -3.85627119, -0.30213976, -8.75330385,-63.88775062,
 152.55602517,  0.97714134,  0.72851376,  0.26262834,-10.64975428,
  28.21951893, -3.56310675]

qfrc_actuator:
[ 5.17693129e-04,-5.02248698e-04,-1.66696011e-04,-6.61109639e-05,
 -6.41316063e-04,-7.44254827e-04,-2.39900353e-04,-3.90882979e-05,
 -4.82443698e-04,-5.31388448e-04,-1.62035720e-04,-6.07053480e-05,
  2.10000000e-01,-5.75451177e-03, 9.00000000e-02, 3.57534952e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39539464,  0.3953608 ,  0.00517335,  0.3953608 ,  0.39550389,
       -0.0083489 ,  0.00517335, -0.0083489 ,  1.03343907,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016539564546167663
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71092922e-01,  2.38686829e-01, -2.67091867e-03,  2.38685927e-01,
        9.71096595e-01,  6.56487843e-04,  2.75041503e-03,  0.00000000e+00,
       -9.99996218e-01])
  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([ 0.10400014, -0.09010667,  0.14127585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36748928, -0.35963772, -0.07555845, -0.35963772,  0.46015351,
       -0.44105661, -0.07555845, -0.44105661,  2.46679901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009530306567758912
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.80213088,  0.39689901, -0.44615829,  0.34685482,  0.91786229,
        0.19292631,  0.48608413,  0.        , -0.87391202])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10380437, -0.08929625,  0.15004589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.61625039,  9.30417492,  5.11244574,  9.30417492, 15.4520964 ,
       -8.80078917,  5.11244574, -8.80078917, 26.6328667 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004595914547481719
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50979611e-14,  4.52938833e-14,  1.00000000e+00, -6.83845288e-28,
        1.00000000e+00, -4.52938833e-14, -1.00000000e+00,  0.00000000e+00,
        1.50979611e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08174274, -0.06227168,  0.06198046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.88726807e-07, 1.48535301e-05, 1.51036357e-05,-2.70570942e-05,
  3.88733744e-05,-1.92918916e-05,-5.32231318e-06,-2.97175683e-05,
  1.76786495e-05, 1.21076207e-05, 2.35699296e-05, 1.91377033e-06,
  2.63800460e-01,-8.39939616e-05, 8.72815260e-02, 3.71130256e-02,
 -7.28472632e-05, 1.00253404e-05,-9.80990988e+00,-1.18242153e-02,
 -2.39742495e-02, 5.73823086e-05]


--- Step 757 ---
qpos:
[-1.35673944e-02, 1.35202280e-02, 1.00553902e-02, 1.47095982e-02,
 -1.90754662e-02,-9.10614804e-03,-1.74698264e-02, 1.63245130e-02,
 -1.21469779e-02,-6.65958378e-03,-1.43059883e-02, 1.51019408e-02,
  1.40362164e+00, 3.23660678e-02, 2.84373936e-01,-3.18204586e-02,
  9.53948044e-02,-7.13689382e-02, 1.04548503e-01, 9.99947616e-01,
  1.20661518e-03,-3.52550201e-04,-1.01579617e-02]

qacc:
[-2.92046282e+00, 2.55377324e-02, 1.42758067e+00,-6.62372359e+00,
  9.65487599e-01,-1.23823821e-02, 2.07120066e+00,-8.49920468e+00,
 -4.28046082e+00, 1.96436237e+00,-9.68303633e+00, 2.23109699e+01,
 -9.70429191e-02,-7.60938910e+00,-6.37672781e+01, 1.53644937e+02,
  8.60157130e-01, 5.45681760e-01, 1.92125161e-01,-1.00250355e+01,
  2.57997812e+01,-9.82932704e+00]

qfrc_actuator:
[ 5.00387597e-04,-5.07993661e-04,-1.81200349e-04,-8.28858829e-05,
 -6.36671374e-04,-7.09429943e-04,-2.39334645e-04,-5.59666934e-05,
 -5.08204305e-04,-5.12832052e-04,-1.62205338e-04,-2.31365300e-05,
  2.10000000e-01,-5.67647288e-03, 9.00000000e-02, 3.58203130e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39442061,  0.39399104,  0.01840319,  0.39399104,  0.39568311,
       -0.02702861,  0.01840319, -0.02702861,  0.97307196,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015870693469548672
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71101348e-01,  2.38650456e-01, -2.85164932e-03,  2.38649427e-01,
        9.71105535e-01,  7.00796551e-04,  2.93649786e-03, -1.08420217e-19,
       -9.99995688e-01])
  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([ 0.10399285, -0.09012175,  0.14127477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009545688630239917
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.02897499e-01,  3.95758244e-01, -4.45792573e-01,  3.46002795e-01,
        9.18354731e-01,  1.92111044e-01,  4.85425248e-01,  2.77555756e-17,
       -8.74278176e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10379329, -0.08930889,  0.15004909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.65972306,  -8.6777897 ,  -6.1907723 ,  -8.6777897 ,
        39.69384776, -40.69799632,  -6.1907723 , -40.69799632,
        67.70731522,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046280484497469854
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.49793945e-14,  5.24759603e-14,  1.00000000e+00, -2.36033692e-27,
        1.00000000e+00, -5.24759603e-14, -1.00000000e+00,  0.00000000e+00,
        4.49793945e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08174626, -0.06227731,  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:
[-1.72952633e-05, 4.51929614e-06,-1.05129019e-05,-1.61426596e-05,
  5.78848038e-06, 2.16877360e-05,-5.10140670e-06,-1.84686324e-05,
 -2.52031559e-05, 3.02732943e-05, 5.29688558e-06, 3.89392493e-05,
  2.64055418e-01, 5.26270736e-05, 8.89280539e-02, 3.69309004e-02,
 -3.75943188e-05, 1.03819439e-05,-9.80995617e+00,-1.18196126e-02,
 -2.39772033e-02, 6.28570619e-05]


--- Step 758 ---
qpos:
[-1.35678104e-02, 1.35209559e-02, 1.00554400e-02, 1.47091214e-02,
 -1.90752284e-02,-9.10630599e-03,-1.74705434e-02, 1.63233424e-02,
 -1.21473716e-02,-6.66050272e-03,-1.43062864e-02, 1.51021884e-02,
  1.40361816e+00, 3.23624326e-02, 2.84329733e-01,-3.18338609e-02,
  9.53962287e-02,-7.13727142e-02, 1.04548576e-01, 9.99947747e-01,
  1.21903985e-03,-3.57781602e-04,-1.01433907e-02]

qacc:
[-1.78665307e+00, 8.86254917e-01,-5.07061744e+00, 1.32674298e+01,
  3.47758099e+00,-4.05918401e-01, 5.93897982e+00,-2.11902383e+01,
 -2.69006221e+00, 1.09389297e+00,-4.12121269e+00, 6.49777672e+00,
  6.03759916e-02,-5.58324318e+00,-5.86281860e+01, 1.40611938e+02,
  7.43237554e-01, 3.62151596e-01, 1.28250127e-01,-9.07797255e+00,
  2.36320017e+01,-1.62452755e+01]

qfrc_actuator:
[ 4.90289774e-04,-4.94011717e-04,-1.72026819e-04,-5.68736616e-05,
 -6.16133368e-04,-6.88460047e-04,-2.56498327e-04,-1.01263513e-04,
 -5.23332150e-04,-5.19149644e-04,-1.79995796e-04,-1.88379961e-05,
  2.10000000e-01,-5.59236408e-03, 9.00000000e-02, 3.57934674e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39393664,  0.39289817,  0.02858494,  0.39289817,  0.39671767,
       -0.03822516,  0.02858494, -0.03822516,  0.91933894,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015526477453974634
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71112704e-01,  2.38603165e-01, -2.94050394e-03,  2.38602071e-01,
        9.71117156e-01,  7.22480848e-04,  3.02796004e-03,  1.08420217e-19,
       -9.99995416e-01])
  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([ 0.10399067, -0.09013103,  0.14127475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009555563686509595
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.03324118e-01,  3.95073208e-01, -4.45631599e-01,  3.45476472e-01,
        9.18649639e-01,  1.91647716e-01,  4.85094185e-01, -2.77555756e-17,
       -8.74461910e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10378916, -0.08931701,  0.15005075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.67830149,  -8.62880168,  -6.29046137,  -8.62880168,
        47.35184104, -50.3061192 ,  -6.29046137, -50.3061192 ,
        79.68461121,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046416402339668345
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.98984564e-14,  7.47461410e-15,  1.00000000e+00, -2.23479424e-28,
        1.00000000e+00, -7.47461410e-15, -1.00000000e+00,  0.00000000e+00,
        2.98984564e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0817487 , -0.06228153,  0.06198027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06155485e-05, 1.36492345e-05, 8.25726535e-06, 2.55290824e-05,
  2.07374712e-05, 3.12604822e-05,-1.39498443e-05,-4.49032941e-05,
 -1.58016401e-05, 1.33717768e-05,-9.53419594e-06, 6.53837887e-06,
  2.64259638e-01, 1.81830473e-04, 9.05396073e-02, 3.66399536e-02,
 -1.30045502e-05, 5.13461549e-06,-9.80998602e+00,-1.18160264e-02,
 -2.39780824e-02, 6.59161550e-05]


--- Step 759 ---
qpos:
[-1.35683448e-02, 1.35216339e-02, 1.00556533e-02, 1.47089679e-02,
 -1.90750907e-02,-9.10622327e-03,-1.74714868e-02, 1.63223376e-02,
 -1.21479429e-02,-6.66147916e-03,-1.43066365e-02, 1.51014654e-02,
  1.40361309e+00, 3.23586066e-02, 2.84258221e-01,-3.18433725e-02,
  9.54002143e-02,-7.13756636e-02, 1.04548939e-01, 9.99947470e-01,
  1.21541790e-03,-3.19220632e-04,-1.01724586e-02]

qacc:
[-1.02038687e+00, 1.44971182e-01,-1.97389229e+00, 7.34093173e+00,
 -8.79248332e-01, 1.29288018e+00,-4.84566439e+00, 7.89655138e+00,
 -1.55177230e+00,-1.92596137e+00, 1.08614181e+01,-2.75444261e+01,
  1.87798698e-01,-3.47235067e+00,-5.22348340e+01, 1.23964274e+02,
  6.40327823e-01, 2.06645878e-01, 7.25015984e-02,-8.25254906e+00,
  2.17869856e+01,-2.18441863e+01]

qfrc_actuator:
[ 4.84521242e-04,-5.03704964e-04,-1.66585062e-04,-4.13655527e-05,
 -6.21899816e-04,-6.76037867e-04,-2.66304099e-04,-9.19294929e-05,
 -5.32067142e-04,-5.40416321e-04,-1.90414639e-04,-6.96898464e-05,
  2.10000000e-01,-5.59337339e-03, 9.00000000e-02, 3.57798978e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.3937976 ,  0.39222109,  0.0352018 ,  0.39222109,  0.39760028,
       -0.04236971,  0.0352018 , -0.04236971,  0.86588412,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015426027470056823
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71126885e-01,  2.38545384e-01, -2.94513600e-03,  2.38544287e-01,
        9.71131350e-01,  7.23433135e-04,  3.03268553e-03,  0.00000000e+00,
       -9.99995401e-01])
  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([ 0.10399268, -0.09013625,  0.14127554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009560011429093884
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.80349001,  0.39472654, -0.44563973,  0.34518861,  0.91879865,
        0.19145199,  0.48502436,  0.        , -0.87450064])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10379076, -0.08932193,  0.15005105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004640121291444241
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49541218e-14,  1.49541218e-14,  1.00000000e+00, -2.23625759e-28,
        1.00000000e+00, -1.49541218e-14, -1.00000000e+00,  0.00000000e+00,
        1.49541218e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175028, -0.06228462,  0.06198027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.09715759e-06, 7.52838230e-07, 1.01676363e-05, 1.68770070e-05,
 -5.13922347e-06, 2.50959528e-05,-6.62474185e-06, 9.31556609e-06,
 -9.14657386e-06,-1.54664429e-05,-8.59854386e-06,-5.04797859e-05,
  2.64400824e-01, 2.07302130e-04, 9.20368808e-02, 3.63910563e-02,
 -8.66499979e-07, 4.56269477e-07,-9.80999910e+00,-1.18142627e-02,
 -2.39774950e-02, 6.67850579e-05]


--- Step 760 ---
qpos:
[-1.35692894e-02, 1.35219450e-02, 1.00561071e-02, 1.47090376e-02,
 -1.90753675e-02,-9.10599469e-03,-1.74725555e-02, 1.63221480e-02,
 -1.21482689e-02,-6.66261351e-03,-1.43070859e-02, 1.51005008e-02,
  1.40360754e+00, 3.23549541e-02, 2.84162172e-01,-3.18499598e-02,
  9.54064096e-02,-7.13783044e-02, 1.04549397e-01, 9.99946674e-01,
  1.19712260e-03,-2.39947643e-04,-1.02546770e-02]

qacc:
[-3.54204435e+00,-6.90730706e-01, 8.28814778e-01, 2.90655584e+00,
 -3.60524273e+00, 2.22734497e+00,-1.10929112e+01, 2.52838924e+01,
  2.14133949e+00,-4.32544487e-01, 2.25185967e+00,-6.14859718e+00,
  2.54224970e-01,-1.17138192e+00,-4.51870098e+01, 1.05315270e+02,
  5.52445726e-01, 7.71314022e-02, 2.37379646e-02,-7.55152916e+00,
  2.02479258e+01,-2.65988802e+01]

qfrc_actuator:
[ 4.63592309e-04,-5.45267520e-04,-1.63503438e-04,-3.21932615e-05,
 -6.43107415e-04,-6.68762047e-04,-2.71674431e-04,-5.05213518e-05,
 -5.19220401e-04,-5.52751248e-04,-1.96494733e-04,-8.15766430e-05,
  2.10000000e-01,-5.59233403e-03, 9.00000000e-02, 3.57732263e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39390383,  0.39184555,  0.0402156 ,  0.39184555,  0.39830574,
       -0.04289054,  0.0402156 , -0.04289054,  0.81181292,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015502842287392444
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71143689e-01,  2.38477854e-01, -2.87202989e-03,  2.38476812e-01,
        9.71147936e-01,  7.05263843e-04,  2.95735571e-03,  0.00000000e+00,
       -9.99995627e-01])
  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([ 0.10399807, -0.09013885,  0.14127688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009560567811188063
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.80346111,  0.39461805, -0.44578789,  0.34506382,  0.91884525,
        0.19145329,  0.48516101,  0.        , -0.87442484])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10379703, -0.08932473,  0.15005012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000462644983292175
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99966244e-14,  7.49915611e-15,  1.00000000e+00, -2.24949369e-28,
        1.00000000e+00, -7.49915611e-15, -1.00000000e+00,  0.00000000e+00,
        2.99966244e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175118, -0.06228683,  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:
[-2.11322940e-05,-3.82984691e-05, 5.08082005e-06, 9.88641853e-06,
 -2.13366355e-05, 2.03334306e-05,-6.81816944e-07, 4.24355131e-05,
  1.26229007e-05,-2.49019591e-05,-1.20722290e-05,-1.38274913e-05,
  2.64480983e-01, 2.16398400e-04, 9.34020004e-02, 3.61897730e-02,
 -5.68185287e-06, 3.04862460e-06,-9.80999531e+00,-1.18149813e-02,
 -2.39759231e-02, 6.56645630e-05]


--- Step 761 ---
qpos:
[-1.35701332e-02, 1.35220950e-02, 1.00562511e-02, 1.47095744e-02,
 -1.90755516e-02,-9.10560276e-03,-1.74736264e-02, 1.63214093e-02,
 -1.21484375e-02,-6.66379666e-03,-1.43077255e-02, 1.51004294e-02,
  1.40360247e+00, 3.23518368e-02, 2.84044191e-01,-3.18545899e-02,
  9.54145286e-02,-7.13810463e-02, 1.04549780e-01, 9.99945256e-01,
  1.16518745e-03,-1.22459077e-04,-1.03977060e-02]

qacc:
[ 8.67081460e-01, 1.61341915e+00,-8.03692296e+00, 1.67396920e+01,
  8.02300757e-01,-9.10001749e-01, 5.87462720e+00,-1.54949785e+01,
  1.36853167e+00, 2.30279798e+00,-1.20804550e+01, 2.78842071e+01,
  2.50802039e-01, 1.25540838e+00,-3.83753098e+01, 8.71482865e+01,
  4.80909884e-01,-2.52605966e-02,-1.86021163e-02,-7.02242715e+00,
  1.90003600e+01,-3.04281105e+01]

qfrc_actuator:
[ 4.69411531e-04,-5.52356692e-04,-1.79732884e-04,-9.09902909e-06,
 -6.37719887e-04,-6.64575500e-04,-2.74393936e-04,-7.93476627e-05,
 -5.11529214e-04,-5.41851094e-04,-1.99903506e-04,-3.49201327e-05,
  2.10000000e-01,-5.55484830e-03, 9.00000000e-02, 3.57878563e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.3941844 ,  0.39165516,  0.04458224,  0.39165516,  0.39889194,
       -0.04135574,  0.04458224, -0.04135574,  0.75749474,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015703731332417122
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71162861e-01,  2.38401477e-01, -2.72656729e-03,  2.38400537e-01,
        9.71166688e-01,  6.69316274e-04,  2.80751732e-03,  0.00000000e+00,
       -9.99996059e-01])
  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([ 0.10400613, -0.09014003,  0.14127857])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009559270471084943
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.03291093e-01,  3.94664034e-01, -4.46053495e-01,  3.45038425e-01,
        9.18825500e-01,  1.91593803e-01,  4.85460509e-01,  2.77555756e-17,
       -8.74258597e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10380706, -0.08932635,  0.15004802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046031718641553754
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50741578e-14,  1.50741578e-14,  1.00000000e+00, -2.27230233e-28,
        1.00000000e+00, -1.50741578e-14, -1.00000000e+00,  0.00000000e+00,
        1.50741578e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175154, -0.06228832,  0.06198043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.17913095e-06,-2.70045518e-05,-2.31601069e-05, 2.18243867e-05,
  4.78317474e-06, 1.72371735e-05, 2.86900040e-06,-2.71511880e-05,
  8.09358236e-06,-6.09074732e-06,-1.05128977e-05, 4.49032469e-05,
  2.64505237e-01, 2.43239706e-04, 9.46284919e-02, 3.60580846e-02,
 -3.27956204e-05, 1.87750026e-05,-9.80997484e+00,-1.18186085e-02,
 -2.39737086e-02, 6.27205112e-05]


--- Step 762 ---
qpos:
[-1.35702118e-02, 1.35225036e-02, 1.00557340e-02, 1.47100088e-02,
 -1.90756698e-02,-9.10509442e-03,-1.74741523e-02, 1.63202989e-02,
 -1.21492013e-02,-6.66487378e-03,-1.43087442e-02, 1.51005649e-02,
  1.40359878e+00, 3.23496273e-02, 2.83907054e-01,-3.18584662e-02,
  9.54243192e-02,-7.13842494e-02, 1.04549943e-01, 9.99943101e-01,
  1.12060943e-03, 3.11356978e-05,-1.06083492e-02]

qacc:
[ 6.60913074e+00, 1.96646722e+00,-6.10508351e+00, 5.22218234e+00,
  5.85732183e-01,-2.13404395e+00, 9.40006266e+00,-1.67869586e+01,
 -5.20945714e+00, 1.63568556e+00,-6.48545014e+00, 1.05774049e+01,
  2.00605305e-01, 3.87511327e+00,-3.05968175e+01, 6.59685624e+01,
  4.17920021e-01,-1.15302473e-01,-5.52684633e-02,-6.51251224e+00,
  1.79469517e+01,-3.38293339e+01]

qfrc_actuator:
[ 5.08685388e-04,-5.21068247e-04,-2.07095009e-04,-1.34901629e-05,
 -6.34469414e-04,-6.44565720e-04,-2.40090784e-04,-9.60184070e-05,
 -5.42446701e-04,-5.34808456e-04,-2.19331402e-04,-2.51861310e-05,
  2.10000000e-01,-5.51367850e-03, 9.00000000e-02, 3.57440541e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39458746,  0.39176264,  0.0471307 ,  0.39176264,  0.39910861,
       -0.03758098,  0.0471307 , -0.03758098,  0.70697034,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015987472578930779
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71184133e-01,  2.38317151e-01, -2.51312448e-03,  2.38316353e-01,
        9.71187384e-01,  6.16689092e-04,  2.58768237e-03, -1.08420217e-19,
       -9.99996652e-01])
  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([ 0.10401628, -0.09014072,  0.14128046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009558012742111273
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.80302182,  0.39479822, -0.44641945,  0.34506169,  0.91876785,
        0.19182822,  0.48588928,  0.        , -0.87402037])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1038201 , -0.08932749,  0.15004478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045724720367983085
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.07014661e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.07014661e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175147, -0.06228926,  0.06198056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.94055494e-05, 1.23714338e-05,-3.50277632e-05,-5.92318229e-06,
  3.39520955e-06, 2.90862227e-05, 3.72793619e-05,-1.63610176e-05,
 -3.06387676e-05, 3.40271278e-06,-2.04236209e-05, 9.98352351e-06,
  2.64481797e-01, 2.55249520e-04, 9.57245682e-02, 3.59163143e-02,
 -8.74033750e-05, 5.23623295e-05,-9.80993800e+00,-1.18253882e-02,
 -2.39710872e-02, 5.80799862e-05]


--- Step 763 ---
qpos:
[-1.35694742e-02, 1.35229163e-02, 1.00552183e-02, 1.47103735e-02,
 -1.90760932e-02,-9.10447062e-03,-1.74739717e-02, 1.63189855e-02,
 -1.21499839e-02,-6.66593799e-03,-1.43096731e-02, 1.51004502e-02,
  1.40360669e+00, 3.23504613e-02, 2.83849285e-01,-3.18766960e-02,
  9.54269534e-02,-7.13905750e-02, 1.04549145e-01, 9.99941577e-01,
  1.12920867e-03, 8.18094261e-05,-1.07499006e-02]

qacc:
[ 7.07558274e+00,-1.55694921e-01, 8.33065841e-01,-2.01730590e+00,
 -2.62928519e+00,-2.23348756e+00, 9.05174786e+00,-1.37898223e+01,
 -1.60652041e-01,-7.48777884e-01, 3.75181022e+00,-8.23669254e+00,
  1.17739553e-01, 2.39965377e+01, 1.61155726e+02,-3.92668174e+02,
 -1.78913717e+00,-7.80608446e-01,-2.40237903e-01, 2.71316007e+01,
 -5.11368319e+01, 3.46058146e+01]

qfrc_actuator:
[ 5.49574600e-04,-5.20366379e-04,-2.05156039e-04,-1.62370950e-05,
 -6.50263908e-04,-6.32833042e-04,-2.01872843e-04,-1.05353759e-04,
 -5.42581857e-04,-5.30215642e-04,-2.12600520e-04,-3.72767582e-05,
  2.10000000e-01,-5.59515322e-03, 9.00000000e-02, 3.57188711e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39507157,  0.38201304, -0.10073521,  0.38201304,  0.62484182,
        0.8713461 , -0.10073521,  0.8713461 ,  3.69943333,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016321074249814343
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71207215e-01,  2.38225835e-01, -2.23531926e-03,  2.38225204e-01,
        9.71209788e-01,  5.48296367e-04,  2.30158231e-03,  0.00000000e+00,
       -9.99997351e-01])
  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([ 0.10402801, -0.09014173,  0.14128239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000955875099926998
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.02688609e-01,  3.94962454e-01, -4.46873199e-01,  3.45088503e-01,
        9.18697262e-01,  1.92117842e-01,  4.86420519e-01,  2.77555756e-17,
       -8.73724830e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10383551, -0.08932879,  0.15004041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.56803728,  9.38210732,  4.86410055,  9.38210732, 13.73461421,
       -6.10784342,  4.86410055, -6.10784342, 22.34913472,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045597238643676347
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.52177941e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.52177941e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09966924, -0.05285685,  0.06198061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.20218951e-05, 1.48086633e-07,-2.54515087e-08,-3.54548743e-06,
 -1.56972198e-05, 3.50021428e-05, 4.82531385e-05,-7.11720227e-06,
 -9.60464747e-07, 2.72616505e-06, 5.27569529e-06,-1.24538908e-05,
  2.64413518e-01, 1.25614210e-04, 9.66818451e-02, 3.58533202e-02,
 -1.74659729e-04, 1.08058148e-04,-9.80988515e+00,-1.18354791e-02,
 -2.39682180e-02, 5.18551807e-05]


--- Step 764 ---
qpos:
[-1.35689413e-02, 1.35229253e-02, 1.00551710e-02, 1.47110679e-02,
 -1.90770478e-02,-9.10377240e-03,-1.74735684e-02, 1.63179548e-02,
 -1.21504164e-02,-6.66698620e-03,-1.43105409e-02, 1.51005383e-02,
  1.40362087e+00, 3.23526756e-02, 2.83864808e-01,-3.19053338e-02,
  9.54236632e-02,-7.13990454e-02, 1.04547683e-01, 9.99941070e-01,
  1.17187230e-03, 2.88183900e-05,-1.07927301e-02]

qacc:
[-1.75315976e+00,-1.16088845e+00, 1.97936617e+00, 3.26697348e+00,
 -4.60596608e+00, 6.68682868e-02,-1.27365097e+00, 5.73823213e+00,
  3.05718421e+00, 2.62078619e-01,-1.77050890e+00, 5.18264252e+00,
 -4.43522893e-01, 1.44732159e+01, 1.40135734e+02,-3.32389499e+02,
 -1.48108021e+00,-5.36235983e-01,-1.65917222e-01, 1.75837775e+01,
 -5.15905627e+01, 4.94233720e+01]

qfrc_actuator:
[ 5.37818092e-04,-5.55618099e-04,-1.86034591e-04,-2.36762871e-07,
 -6.77140809e-04,-6.43864860e-04,-1.97190843e-04,-9.25552109e-05,
 -5.24586083e-04,-5.27042024e-04,-2.08244364e-04,-2.65824940e-05,
  2.10000000e-01,-5.68170305e-03, 9.00000000e-02, 3.57019126e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39486329,  0.36793467, -0.14332166,  0.36793467,  0.84691748,
        1.16051134, -0.14332166,  1.16051134,  3.37412243,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016178479554368477
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71221423e-01,  2.38168841e-01, -2.13333261e-03,  2.38168266e-01,
        9.71223766e-01,  5.23147573e-04,  2.19654079e-03, -1.08420217e-19,
       -9.99997588e-01])
  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([ 0.10402966, -0.09015224,  0.14128228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36785552,  0.3447335 ,  0.12836081,  0.3447335 ,  0.50565928,
       -0.37009405,  0.12836081, -0.37009405,  1.3618023 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009583923330552761
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.02933646e-01,  3.94305602e-01, -4.47013033e-01,  3.44513972e-01,
        9.18979375e-01,  1.91799455e-01,  4.86423357e-01,  2.77555756e-17,
       -8.73723250e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10383751, -0.08933801,  0.15003773])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.57987769, -10.11657009,  -3.09658222, -10.11657009,
        16.06038065, -17.90486684,  -3.09658222, -17.90486684,
        69.07528563,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004568666497968138
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.51880071e-14,  1.51880071e-14,  1.00000000e+00, -2.30675559e-28,
        1.00000000e+00, -1.51880071e-14, -1.00000000e+00,  0.00000000e+00,
        1.51880071e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09967267, -0.05286393,  0.06198058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05541967e-05,-3.53372982e-05, 1.90158689e-05, 1.59334517e-05,
 -2.73401652e-05, 1.82130262e-05, 1.76151902e-05, 1.58313334e-05,
  1.80191928e-05, 5.28648077e-06, 5.14941468e-06, 1.07534657e-05,
  2.63834382e-01,-1.14348490e-04, 9.27131710e-02, 3.65539579e-02,
 -5.25455996e-05, 4.10065893e-05,-9.80998869e+00,-1.18218258e-02,
 -2.39592901e-02, 5.18376571e-05]


--- Step 765 ---
qpos:
[-1.35688979e-02, 1.35225962e-02, 1.00553983e-02, 1.47116085e-02,
 -1.90776281e-02,-9.10306812e-03,-1.74730575e-02, 1.63174483e-02,
 -1.21509740e-02,-6.66784440e-03,-1.43114268e-02, 1.51007367e-02,
  1.40362853e+00, 3.23517473e-02, 2.83908995e-01,-3.19369182e-02,
  9.54146908e-02,-7.14094201e-02, 1.04545498e-01, 9.99941644e-01,
  1.24148608e-03,-1.29416169e-04,-1.07308643e-02]

qacc:
[  -4.2296211 ,  -1.52325134,   5.44594526,  -8.31232111,   3.25319555,
    0.77941034,  -4.99193918,  13.89974479,  -1.09501342,   0.53073653,
   -1.98995531,   3.78364513,  -0.6206547 , -15.86458392,  51.19974221,
 -117.88330294,  -1.42054463,  -0.4760449 ,  -0.18072925,  14.04007159,
  -52.41189883,  52.41252459]

qfrc_actuator:
[ 5.12921223e-04,-5.76530544e-04,-1.74823860e-04,-8.86468325e-06,
 -6.57061169e-04,-6.50807892e-04,-1.94676564e-04,-6.68807514e-05,
 -5.31578264e-04,-5.06975530e-04,-2.05320156e-04,-2.03228621e-05,
  2.10000000e-01,-5.62883104e-03, 9.00000000e-02, 3.56206744e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39414466,  0.35093878, -0.17942126,  0.35093878,  0.3493252 ,
       -0.08766458, -0.17942126, -0.08766458,  0.22267725,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015675453128314974
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71227797e-01,  2.38142080e-01, -2.21731994e-03,  2.38141460e-01,
        9.71230328e-01,  5.43678639e-04,  2.28300113e-03, -1.08420217e-19,
       -9.99997394e-01])
  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([ 0.10402303, -0.09016848,  0.14128075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.3681153 ,  0.35619772,  0.09290886,  0.35619772,  0.3793782 ,
       -0.04318016,  0.09290886, -0.04318016,  0.53366115,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000962651817639714
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.80361371,  0.3931138 , -0.44684062,  0.34357274,  0.91948983,
        0.19103987,  0.48596581,  0.        , -0.87397782])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382828, -0.08935185,  0.1500375 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.57229062, -10.15861365,  -2.92846336, -10.15861365,
        16.73319983, -21.37171913,  -2.92846336, -21.37171913,
        84.70913682,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045629403964055765
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04141334e-14,  1.52070667e-14,  1.00000000e+00, -4.62509756e-28,
        1.00000000e+00, -1.52070667e-14, -1.00000000e+00,  0.00000000e+00,
        3.04141334e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09967559, -0.05286898,  0.0619806 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.52163474e-05,-3.60853881e-05, 6.79895050e-06,-9.17477585e-06,
  1.92696133e-05, 7.58366933e-06, 9.00631054e-06, 2.73758783e-05,
 -6.42698111e-06, 2.45732874e-05, 5.02885337e-06, 6.87421310e-06,
  2.63520326e-01,-1.30294673e-04, 8.90485842e-02, 3.69931078e-02,
 -4.83490286e-06,-5.55275519e-06,-9.80999783e+00,-1.18150531e-02,
 -2.39608169e-02, 5.49769804e-05]


--- Step 766 ---
qpos:
[-1.35688087e-02, 1.35223844e-02, 1.00552939e-02, 1.47120251e-02,
 -1.90776190e-02,-9.10251444e-03,-1.74723987e-02, 1.63169258e-02,
 -1.21512653e-02,-6.66834250e-03,-1.43123612e-02, 1.51009883e-02,
  1.40363159e+00, 3.23498796e-02, 2.83923115e-01,-3.19633614e-02,
  9.54096094e-02,-7.14169746e-02, 1.04544347e-01, 9.99942139e-01,
  1.29065799e-03,-2.31278752e-04,-1.06770033e-02]

qacc:
[  0.38446035,  0.82621015, -2.19831322,  0.49640062,  5.12384715,
  -0.65463251,  2.09522059, -2.47692237,  2.31636901,  0.71637552,
  -2.096678  ,  2.84006235, -0.36084238, -7.08804723,-60.12359526,
 145.58535713,  0.9727426 ,  0.70503282,  0.25867175,-10.52326506,
  28.06969024, -4.03630603]

qfrc_actuator:
[ 5.16012102e-04,-5.53238191e-04,-1.86105775e-04,-1.41654492e-05,
 -6.27253205e-04,-6.73011686e-04,-1.93436983e-04,-6.93405693e-05,
 -5.17722911e-04,-4.76953733e-04,-2.03200405e-04,-1.67125895e-05,
  2.10000000e-01,-5.61260353e-03, 9.00000000e-02, 3.56573436e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39256596,  0.38940642,  0.04970593,  0.38940642,  0.40184656,
       -0.07270607,  0.04970593, -0.07270607,  0.96216012,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001450287126764256
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71235682e-01,  2.38107187e-01, -2.49367563e-03,  2.38106402e-01,
        9.71238883e-01,  6.11345055e-04,  2.56752038e-03,  0.00000000e+00,
       -9.99996704e-01])
  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([ 0.10400982, -0.09019198,  0.14127808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36381578, -0.35743961, -0.06781484, -0.35743961,  0.44069542,
       -0.40521847, -0.06781484, -0.40521847,  2.49964811,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009162154297686742
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.80484353,  0.3913649 , -0.44616185,  0.34229008,  0.92023557,
        0.18974716,  0.48483439,  0.        , -0.87460598])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10380898, -0.08937079,  0.15004329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.62622659,  9.31498825,  5.11348075,  9.31498825, 15.59497513,
       -9.05133638,  5.11348075, -9.05133638, 27.11462191,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004603329983500007
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.50736400e-14, -7.53682001e-15,  1.00000000e+00, -1.13607312e-28,
        1.00000000e+00,  7.53682001e-15, -1.00000000e+00,  0.00000000e+00,
       -1.50736400e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175907, -0.06230256,  0.06198043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.35923219e-06, 4.11327110e-06,-1.82155399e-05,-6.78939761e-06,
  3.03335253e-05,-1.49018146e-05, 4.86882491e-06,-1.28989482e-06,
  1.37203638e-05, 4.51180410e-05, 8.06139035e-06, 4.97290892e-06,
  2.63846480e-01, 4.38159378e-05, 8.76154486e-02, 3.71770982e-02,
 -6.52868455e-05, 4.43356693e-06,-9.80991670e+00,-1.18185595e-02,
 -2.39709787e-02, 6.12793499e-05]


--- Step 767 ---
qpos:
[-1.35683385e-02, 1.35223754e-02, 1.00546750e-02, 1.47127215e-02,
 -1.90775978e-02,-9.10221722e-03,-1.74719280e-02, 1.63164158e-02,
 -1.21510429e-02,-6.66849695e-03,-1.43132717e-02, 1.51012781e-02,
  1.40363099e+00, 3.23472873e-02, 2.83907270e-01,-3.19842864e-02,
  9.54079714e-02,-7.14223936e-02, 1.04543952e-01, 9.99942450e-01,
  1.32036596e-03,-2.81450656e-04,-1.06429969e-02]

qacc:
[ 3.28397991e+00, 2.27684808e+00,-8.92199133e+00, 1.44523795e+01,
  1.04639233e-01, 2.12056337e-01,-1.30085412e+00, 2.00600087e+00,
  4.47912485e+00, 4.56957527e-01,-1.14641096e+00, 1.53121864e+00,
 -1.37903327e-01,-6.28030906e+00,-6.11137403e+01, 1.49270758e+02,
  8.60861975e-01, 5.33897227e-01, 1.88814778e-01,-1.00095361e+01,
  2.57271018e+01,-9.95880754e+00]

qfrc_actuator:
[ 5.35556133e-04,-5.39248445e-04,-2.10386760e-04, 3.14538150e-07,
 -6.27478254e-04,-7.04217711e-04,-2.10798105e-04,-7.05979662e-05,
 -4.91700294e-04,-4.58957475e-04,-2.01525730e-04,-1.46790616e-05,
  2.10000000e-01,-5.63706164e-03, 9.00000000e-02, 3.57400956e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39164416,  0.3870408 ,  0.05987126,  0.3870408 ,  0.40385074,
       -0.07891006,  0.05987126, -0.07891006,  0.9017623 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001376779189739304
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71245602e-01,  2.38064812e-01, -2.66960060e-03,  2.38063912e-01,
        9.71249270e-01,  6.54351033e-04,  2.74862559e-03,  0.00000000e+00,
       -9.99996223e-01])
  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([ 0.10400244, -0.09020791,  0.14127682])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009174392870304797
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.80564735,  0.39018144, -0.44574745,  0.34140944,  0.92073799,
        0.18889454,  0.48411976,  0.        , -0.87500175])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10379772, -0.08938399,  0.15004705])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.66812011,  -8.67187834,  -6.2134783 ,  -8.67187834,
        40.64512432, -41.83758612,  -6.2134783 , -41.83758612,
        69.05899864,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046342019805106077
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49732229e-14,  1.49732229e-14,  1.00000000e+00, -2.24197403e-28,
        1.00000000e+00, -1.49732229e-14, -1.00000000e+00,  0.00000000e+00,
        1.49732229e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08176248, -0.06230801,  0.0619803 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.96224779e-05, 1.22331324e-05,-2.59111988e-05, 1.38935481e-05,
  6.16360095e-07,-3.85784152e-05,-1.98853246e-05,-1.75387397e-06,
  2.64592065e-05, 4.51223512e-05, 1.21634856e-05, 4.34298377e-06,
  2.64076150e-01, 6.64846231e-05, 8.91187914e-02, 3.70027743e-02,
 -3.14265162e-05, 5.82638321e-06,-9.80996078e+00,-1.18142964e-02,
 -2.39739628e-02, 6.66542760e-05]


--- Step 768 ---
qpos:
[-1.35679824e-02, 1.35225246e-02, 1.00537709e-02, 1.47132304e-02,
 -1.90779244e-02,-9.10197750e-03,-1.74720118e-02, 1.63155498e-02,
 -1.21505097e-02,-6.66846902e-03,-1.43138412e-02, 1.51022793e-02,
  1.40362782e+00, 3.23442637e-02, 2.83862862e-01,-3.19999378e-02,
  9.54093432e-02,-7.14263339e-02, 1.04544062e-01, 9.99942461e-01,
  1.33201720e-03,-2.84072524e-04,-1.06405037e-02]

qacc:
[-1.00021531e+00, 6.21898283e-01,-1.11851806e+00,-1.79273821e+00,
 -3.03642286e+00, 7.46311682e-01,-1.25795929e+00,-3.98613526e+00,
  2.72016111e+00, 7.47378432e-01,-5.32836338e+00, 1.69728597e+01,
  3.57304978e-02,-4.76975873e+00,-5.82852285e+01, 1.42415817e+02,
  7.52445245e-01, 3.69652244e-01, 1.26076361e-01,-9.28511832e+00,
  2.36567136e+01,-1.57861331e+01]

qfrc_actuator:
[ 5.29113221e-04,-5.30972720e-04,-2.24399061e-04,-9.19665029e-06,
 -6.45381750e-04,-7.05153703e-04,-2.39042802e-04,-8.89084950e-05,
 -4.76483930e-04,-4.48304124e-04,-1.82418453e-04, 2.19075536e-05,
  2.10000000e-01,-5.65026480e-03, 9.00000000e-02, 3.57948059e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39117283,  0.3853037 ,  0.06750736,  0.3853037 ,  0.40522602,
       -0.08020971,  0.06750736, -0.08020971,  0.84897625,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013375060274781512
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71257826e-01,  2.38013974e-01, -2.75382271e-03,  2.38013017e-01,
        9.71261730e-01,  6.74842082e-04,  2.83530446e-03,  0.00000000e+00,
       -9.99995981e-01])
  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([ 0.10400008, -0.09021797,  0.14127666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009183963769649592
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.8061054 ,  0.38945492, -0.44555465,  0.34085363,  0.92104553,
        0.18839834,  0.48374878,  0.        , -0.8752069 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10379335, -0.08939263,  0.15004902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004646696094868022
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.98659252e-14, -2.23994439e-14,  1.00000000e+00,  6.68980117e-28,
        1.00000000e+00,  2.23994439e-14, -1.00000000e+00,  0.00000000e+00,
        2.98659252e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08176482, -0.06231208,  0.06198024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.86629881e-06, 1.03488637e-05,-1.42028153e-05,-9.61500226e-06,
 -1.79135135e-05,-2.66920060e-05,-3.87237216e-05,-2.06860282e-05,
  1.60048545e-05, 3.85869060e-05, 3.00735758e-05, 3.90241895e-05,
  2.64259447e-01, 8.90958563e-05, 9.06169382e-02, 3.67815262e-02,
 -9.12344845e-06, 2.44225864e-06,-9.80998853e+00,-1.18110997e-02,
 -2.39749021e-02, 6.96230244e-05]


--- Step 769 ---
qpos:
[-1.35680507e-02, 1.35226286e-02, 1.00533265e-02, 1.47135956e-02,
 -1.90784631e-02,-9.10190107e-03,-1.74721578e-02, 1.63144505e-02,
 -1.21497977e-02,-6.66857678e-03,-1.43140111e-02, 1.51040934e-02,
  1.40362321e+00, 3.23411358e-02, 2.83792046e-01,-3.20109689e-02,
  9.54133255e-02,-7.14293888e-02, 1.04544454e-01, 9.99942054e-01,
  1.32709359e-03,-2.42741361e-04,-1.06803007e-02]

qacc:
[-3.66495855e+00,-1.63385248e+00, 6.35774465e+00,-9.55992535e+00,
 -1.84156034e+00,-5.18687719e-01, 2.52784725e+00,-6.35365128e+00,
  1.57629326e+00, 3.74600199e-01,-5.03400557e+00, 1.85722313e+01,
  1.66991637e-01,-2.89036869e+00,-5.31057029e+01, 1.28959518e+02,
  6.52611341e-01, 2.21353880e-01, 7.07011884e-02,-8.52651618e+00,
  2.18588446e+01,-2.11730187e+01]

qfrc_actuator:
[ 5.07420800e-04,-5.26161891e-04,-1.96768433e-04,-1.49943533e-05,
 -6.55784532e-04,-7.05776691e-04,-2.37870758e-04,-9.93348051e-05,
 -4.67753798e-04,-4.77537980e-04,-1.70930877e-04, 6.07848269e-05,
  2.10000000e-01,-5.69222368e-03, 9.00000000e-02, 3.58307285e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.3910185 ,  0.38428981,  0.0722275 ,  0.38428981,  0.40550291,
       -0.07706497,  0.0722275 , -0.07706497,  0.80104629,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013243743578866883
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71272378e-01,  2.37954584e-01, -2.75381316e-03,  2.37953627e-01,
        9.71276282e-01,  6.74661243e-04,  2.83525214e-03,  0.00000000e+00,
       -9.99995981e-01])
  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([ 0.10400192, -0.09022375,  0.14127733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009189770607641519
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.06292622e-01,  3.89078936e-01, -4.45544374e-01,  3.40544909e-01,
        9.21204419e-01,  1.88179656e-01,  4.83654186e-01,  2.77555756e-17,
       -8.75259178e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10379473, -0.0893979 ,  0.15004947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004644223466837988
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49409131e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.49409131e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08176632, -0.06231506,  0.06198026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.18530008e-05, 7.23683897e-06, 2.76817377e-05,-6.03339086e-06,
 -1.09312543e-05,-2.44283959e-05,-9.82273925e-06,-1.33112546e-05,
  9.20255874e-06, 2.14738946e-07, 2.45063232e-05, 4.23290131e-05,
  2.64388306e-01, 6.77357925e-05, 9.20448100e-02, 3.65537122e-02,
 -5.21232957e-08, 1.14093100e-07,-9.80999963e+00,-1.18097406e-02,
 -2.39743760e-02, 7.03818507e-05]


--- Step 770 ---
qpos:
[-1.35680338e-02, 1.35227562e-02, 1.00532040e-02, 1.47138887e-02,
 -1.90791224e-02,-9.10220010e-03,-1.74719739e-02, 1.63139251e-02,
 -1.21489863e-02,-6.66896953e-03,-1.43138593e-02, 1.51056943e-02,
  1.40361821e+00, 3.23382530e-02, 2.83697236e-01,-3.20182244e-02,
  9.54195729e-02,-7.14320628e-02, 1.04544934e-01, 9.99941117e-01,
  1.30692803e-03,-1.60473939e-04,-1.07716968e-02]

qacc:
[ 7.48345312e-01,-1.01868988e+00, 3.97907897e+00,-5.75568723e+00,
 -1.02964566e+00,-2.34439752e-01,-2.30406693e+00, 1.19832162e+01,
  8.82812927e-01,-1.71625364e+00, 6.47094700e+00,-1.04649837e+01,
  2.28481937e-01,-6.96121940e-01,-4.69537500e+01, 1.12677292e+02,
  5.66283896e-01, 9.52402477e-02, 2.20117492e-02,-7.84505364e+00,
  2.03512459e+01,-2.58261798e+01]

qfrc_actuator:
[ 5.12440004e-04,-5.23289844e-04,-1.80288121e-04,-1.85328301e-05,
 -6.61683397e-04,-7.23835705e-04,-2.19319234e-04,-6.95056062e-05,
 -4.62907809e-04,-5.12706410e-04,-1.64210114e-04, 4.73924861e-05,
  2.10000000e-01,-5.69833268e-03, 9.00000000e-02, 3.58716749e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39109176,  0.38370471,  0.07565356,  0.38370471,  0.40520265,
       -0.07156853,  0.07565356, -0.07156853,  0.75407773,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013306251700633386
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71289132e-01,  2.37887075e-01, -2.67593481e-03,  2.37886173e-01,
        9.71292819e-01,  6.55384550e-04,  2.75502378e-03,  0.00000000e+00,
       -9.99996205e-01])
  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([ 0.10400716, -0.09022666,  0.14127857])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009192780662166626
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.06273687e-01,  3.88956744e-01, -4.45685307e-01,  3.40410898e-01,
        9.21256018e-01,  1.88169523e-01,  4.83780077e-01,  2.77555756e-17,
       -8.75189601e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10380086, -0.08940087,  0.15004854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000462972470037841
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.49385153e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.49385153e-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([ 0.08176715, -0.06231717,  0.06198032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.39126324e-06, 1.23733646e-05, 2.11773619e-05,-2.38686343e-06,
 -6.21978087e-06,-3.43028706e-05, 1.18418809e-05, 2.81850739e-05,
  5.10870591e-06,-2.81949001e-05, 1.12398008e-05,-1.17135905e-05,
  2.64460692e-01, 6.53592905e-05, 9.33649375e-02, 3.63635663e-02,
 -8.09795008e-06, 4.91141865e-06,-9.80999397e+00,-1.18108276e-02,
 -2.39728545e-02, 6.91183977e-05]


--- Step 771 ---
qpos:
[-1.35683020e-02, 1.35229368e-02, 1.00532891e-02, 1.47141413e-02,
 -1.90798474e-02,-9.10252369e-03,-1.74719579e-02, 1.63134050e-02,
 -1.21488129e-02,-6.66931227e-03,-1.43136983e-02, 1.51064107e-02,
  1.40361368e+00, 3.23359414e-02, 2.83580564e-01,-3.20224379e-02,
  9.54278099e-02,-7.14347361e-02, 1.04545335e-01, 9.99939543e-01,
  1.27238262e-03,-3.97019514e-05,-1.09219486e-02]

qacc:
[-2.46574816e+00,-5.88896421e-01, 2.38067732e+00,-3.46180254e+00,
 -5.75454606e-01, 4.48491797e-01,-1.66664735e+00, 2.04220102e+00,
 -5.56975527e+00,-1.76922800e+00, 1.01578307e+01,-2.55382902e+01,
  2.34088896e-01, 1.45389860e+00,-4.15570447e+01, 9.84299025e+01,
  4.97415274e-01, 1.47831365e-04,-1.96878604e-02,-7.40118807e+00,
  1.91351905e+01,-2.94536009e+01]

qfrc_actuator:
[ 4.97641006e-04,-5.21631814e-04,-1.70544092e-04,-2.07299243e-05,
 -6.64886677e-04,-7.16573604e-04,-2.26212425e-04,-6.94949172e-05,
 -4.95889714e-04,-4.97974106e-04,-1.60431384e-04, 3.33948004e-06,
  2.10000000e-01,-5.70099205e-03, 9.00000000e-02, 3.59678901e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39133097,  0.38353897,  0.07770321,  0.38353897,  0.40433691,
       -0.06419664,  0.07770321, -0.06419664,  0.70820225,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013508200005000283
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71307887e-01,  2.37812134e-01, -2.52546755e-03,  2.37811330e-01,
        9.71311170e-01,  6.18325874e-04,  2.60006024e-03,  0.00000000e+00,
       -9.99996620e-01])
  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([ 0.10401515, -0.09022789,  0.14128019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009194740564038183
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.06101827e-01,  3.89005813e-01, -4.45953273e-01,  3.40388929e-01,
        9.21235300e-01,  1.88310647e-01,  4.84081833e-01, -2.77555756e-17,
       -8.75022730e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10381085, -0.08940244,  0.15004633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046057318283074244
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50657793e-14, -2.25986689e-14,  1.00000000e+00,  3.40466557e-28,
        1.00000000e+00,  2.25986689e-14, -1.00000000e+00,  0.00000000e+00,
        1.50657793e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08176746, -0.06231859,  0.06198042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.46726393e-05, 1.28508678e-05, 1.48254481e-05,-9.80691715e-07,
 -3.38608876e-06,-8.24441233e-06,-1.15364817e-05,-4.99208337e-07,
 -3.28365401e-05, 7.58585783e-07,-1.07570497e-06,-4.51025365e-05,
  2.64480552e-01, 4.85003339e-05, 9.45642371e-02, 3.62709063e-02,
 -3.82137506e-05, 2.24370272e-05,-9.80997164e+00,-1.18147840e-02,
 -2.39706849e-02, 6.59942388e-05]


--- Step 772 ---
qpos:
[-1.35680557e-02, 1.35227719e-02, 1.00539521e-02, 1.47147369e-02,
 -1.90802600e-02,-9.10313703e-03,-1.74718981e-02, 1.63125635e-02,
 -1.21493809e-02,-6.66942951e-03,-1.43136225e-02, 1.51069225e-02,
  1.40361046e+00, 3.23345468e-02, 2.83444455e-01,-3.20246123e-02,
  9.54377888e-02,-7.14377534e-02, 1.04545513e-01, 9.99937218e-01,
  1.22436378e-03, 1.17494705e-04,-1.11376757e-02]

qacc:
[ 4.48400067e+00,-1.37469399e+00, 2.77587486e+00, 2.50639271e+00,
  2.71892508e+00,-1.17179977e+00, 4.97068061e+00,-1.03804494e+01,
 -6.47883532e+00, 1.27238970e-01, 8.64466594e-01,-4.45903048e+00,
  1.91294876e-01, 3.86622475e+00,-3.49035173e+01, 8.04315194e+01,
  4.35452736e-01,-8.59828007e-02,-5.58830367e-02,-6.93603990e+00,
  1.80959863e+01,-3.27626567e+01]

qfrc_actuator:
[ 5.24545183e-04,-5.56246281e-04,-1.47103614e-04,-4.37227802e-06,
 -6.48726576e-04,-7.47577423e-04,-2.30253993e-04,-8.70362344e-05,
 -5.33118092e-04,-4.71275006e-04,-1.58234049e-04,-5.09559525e-06,
  2.10000000e-01,-5.68425306e-03, 9.00000000e-02, 3.60077269e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.3916921 ,  0.38377307,  0.07836412,  0.38377307,  0.40313455,
       -0.05603719,  0.07836412, -0.05603719,  0.66612335,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013807063554060786
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71328433e-01,  2.37730423e-01, -2.30674147e-03,  2.37729753e-01,
        9.71331172e-01,  5.64568134e-04,  2.37482492e-03,  1.08420217e-19,
       -9.99997180e-01])
  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([ 0.10402532, -0.09022833,  0.14128202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009197183565421093
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.80581776,  0.38916354, -0.44632888,  0.34043157,  0.92116868,
        0.18855931,  0.48452459,  0.        , -0.87477764])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382399, -0.08940329,  0.15004292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045744162441065106
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.06756669e-14, -1.51689167e-14,  1.00000000e+00,  9.20384138e-28,
        1.00000000e+00,  1.51689167e-14, -1.00000000e+00,  0.00000000e+00,
        6.06756669e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08176735, -0.06231946,  0.06198055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.64768745e-05,-2.44024053e-05, 2.78911946e-05, 1.74035612e-05,
  1.60729681e-05,-3.79931958e-05,-7.17423535e-06,-1.83017758e-05,
 -3.81577622e-05, 2.49514050e-05, 6.60140053e-07,-9.31669781e-06,
  2.64457412e-01, 3.43153208e-05, 9.56569191e-02, 3.61585376e-02,
 -9.50874675e-05, 5.70469916e-05,-9.80993285e+00,-1.18218495e-02,
 -2.39681176e-02, 6.11250755e-05]


--- Step 773 ---
qpos:
[-1.35671443e-02, 1.35225333e-02, 1.00545562e-02, 1.47155334e-02,
 -1.90804751e-02,-9.10417745e-03,-1.74715907e-02, 1.63125582e-02,
 -1.21497012e-02,-6.66926497e-03,-1.43138921e-02, 1.51080302e-02,
  1.40360377e+00, 3.23296523e-02, 2.83405969e-01,-3.20108938e-02,
  9.54384132e-02,-7.14387362e-02, 1.04545969e-01, 9.99935272e-01,
  1.17250834e-03, 1.57083514e-04,-1.13159813e-02]

qacc:
[ 5.76519591e+00, 4.69924842e-01,-2.68476874e+00, 6.33258461e+00,
  1.72971904e+00, 4.61729876e-01,-6.00261717e+00, 2.04023666e+01,
  2.14665989e+00, 2.56034766e+00,-1.11126380e+01, 2.17805661e+01,
 -4.27062374e-02,-1.62783955e+01, 9.61632167e+01,-1.27141279e+02,
 -2.33860793e+00, 5.08629401e-01, 6.94761197e-02,-1.26567450e+00,
 -5.87987118e+01, 1.87834522e+01]

qfrc_actuator:
[ 5.58033119e-04,-5.58989102e-04,-1.51403904e-04, 4.99833814e-06,
 -6.39052958e-04,-7.65760536e-04,-2.14976521e-04,-4.37737022e-05,
 -5.19277758e-04,-4.55343946e-04,-1.74647583e-04, 2.52666436e-05,
  2.10000000e-01,-5.62094418e-03, 9.00000000e-02, 3.59957699e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39213999,  0.18022237, -0.3482724 ,  0.18022237,  2.96743571,
        1.33265195, -0.3482724 ,  1.33265195,  1.08175447,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014168308421674347
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71350517e-01,  2.37642755e-01, -2.02336028e-03,  2.37642240e-01,
        9.71352624e-01,  4.95017875e-04,  2.08303373e-03, -5.42101086e-20,
       -9.99997830e-01])
  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([ 0.1040372 , -0.09022877,  0.14128391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009201872078074765
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.80545654,  0.38937336, -0.44679767,  0.34049519,  0.92108001,
        0.1888773 ,  0.48508019,  0.        , -0.87446967])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10383966, -0.08940404,  0.15003832])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.58499008, 10.56107483, -0.7111353 , 10.56107483, 10.65169007,
        0.99056191, -0.7111353 ,  0.99056191, 25.29583117,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004572516615473651
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.07008743e-14, -2.54045511e-07,  1.00000000e+00,  1.54207846e-20,
        1.00000000e+00,  2.54045511e-07, -1.00000000e+00,  0.00000000e+00,
        6.07008743e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10211365, -0.0632586 ,  0.06198056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.42380184e-05,-9.88106239e-06,-5.30685804e-06, 9.62725291e-06,
  1.01477023e-05,-4.16743323e-05, 5.91697071e-06, 4.10302445e-05,
  1.27587333e-05, 2.96284630e-05,-1.14925948e-05, 3.12757496e-05,
  2.64392903e-01, 4.90244902e-05, 9.66282097e-02, 3.60445063e-02,
 -1.83571112e-04, 1.12831086e-04,-9.80987788e+00,-1.18321924e-02,
 -2.39653260e-02, 5.46177209e-05]


--- Step 774 ---
qpos:
[-1.35665283e-02, 1.35227188e-02, 1.00543415e-02, 1.47160794e-02,
 -1.90809170e-02,-9.10513736e-03,-1.74710525e-02, 1.63133516e-02,
 -1.21495087e-02,-6.66893479e-03,-1.43145567e-02, 1.51088210e-02,
  1.40360565e+00, 3.23262244e-02, 2.83449554e-01,-3.20073309e-02,
  9.54326919e-02,-7.14425838e-02, 1.04545631e-01, 9.99934204e-01,
  1.16509013e-03, 9.56572628e-05,-1.14114726e-02]

qacc:
[-2.59296273e+00, 2.33902848e+00,-6.46026542e+00, 3.11281307e+00,
 -1.96294855e+00, 1.10854342e+00,-7.16410648e+00, 2.05516710e+01,
  4.46175262e+00, 6.61120395e-01,-7.16729504e-01,-4.24252717e+00,
  3.33594727e-01, 1.38471074e+01, 1.52332463e+02,-3.56274181e+02,
 -1.58643905e+00,-7.16201080e-01,-1.98361402e-01, 2.27816994e+01,
 -5.02043541e+01, 4.14721875e+01]

qfrc_actuator:
[ 5.41857013e-04,-5.24989904e-04,-1.89695662e-04,-7.57110413e-06,
 -6.51033835e-04,-7.22740091e-04,-1.88328863e-04,-5.63211185e-07,
 -4.93241393e-04,-4.63772833e-04,-2.01933117e-04, 7.17808239e-06,
  2.10000000e-01,-5.59665376e-03, 9.00000000e-02, 3.59558200e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39145721,  0.37712977, -0.10493749,  0.37712977,  0.65535283,
        0.94840174, -0.10493749,  0.94840174,  3.79987236,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013613469936674656
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71354447e-01,  2.37627136e-01, -1.97039304e-03,  2.37626647e-01,
        9.71356446e-01,  4.82025785e-04,  2.02849638e-03,  5.42101086e-20,
       -9.99997943e-01])
  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([ 0.1040365 , -0.09023336,  0.14128272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36407312,  0.21492085,  0.29386776,  0.21492085,  1.27196501,
       -0.6639888 ,  0.29386776, -0.6639888 ,  0.84968283,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009182709147114835
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.80570714,  0.38931149, -0.44639956,  0.34053734,  0.92110616,
        0.18867367,  0.48463422,  0.        , -0.87471691])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10383843, -0.0894049 ,  0.15004346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.60893643, -10.47842826,   1.65893741, -10.47842826,
        12.80954553,  13.89981592,   1.65893741,  13.89981592,
        98.40502994,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045904621951670804
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.53476814e-14, -1.51158938e-14,  1.00000000e+00, -6.85470736e-28,
        1.00000000e+00,  1.51158938e-14, -1.00000000e+00,  0.00000000e+00,
       -4.53476814e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09969836, -0.05291396,  0.06198048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51925931e-05, 2.77689113e-05,-4.06648921e-05,-1.29923751e-05,
 -1.16709497e-05, 2.27080324e-05, 2.01905361e-05, 4.24279979e-05,
  2.64060317e-05, 7.12131714e-06,-2.14958344e-05,-1.66079290e-05,
  2.64566640e-01, 2.47591485e-04, 9.17468933e-02, 3.52098708e-02,
 -9.67043626e-05, 5.29967411e-05,-9.80996009e+00,-1.18199808e-02,
 -2.39628066e-02, 5.18428984e-05]


--- Step 775 ---
qpos:
[-1.35661105e-02, 1.35230075e-02, 1.00540190e-02, 1.47164624e-02,
 -1.90814986e-02,-9.10595194e-03,-1.74701949e-02, 1.63139504e-02,
 -1.21493502e-02,-6.66877806e-03,-1.43150863e-02, 1.51087060e-02,
  1.40360679e+00, 3.23211087e-02, 2.83544857e-01,-3.20080455e-02,
  9.54212842e-02,-7.14487361e-02, 1.04544572e-01, 9.99934215e-01,
  1.19015813e-03,-6.79808733e-05,-1.14081091e-02]

qacc:
[-1.72441288e+00, 1.05134324e-01, 5.17259611e-01,-3.24923446e+00,
 -1.20501669e+00,-1.09806889e+00, 5.01966885e+00,-9.00854295e+00,
 -2.90888449e-01,-2.47051537e+00, 1.23027693e+01,-2.80726349e+01,
  3.12846621e-02,-6.94523723e+00, 8.94153332e+01,-2.01875971e+02,
 -1.42160010e+00,-5.76178196e-01,-1.80393032e-01, 1.68198759e+01,
 -5.08596870e+01, 4.94913418e+01]

qfrc_actuator:
[ 5.32082124e-04,-5.22671643e-04,-1.94340862e-04,-1.51809081e-05,
 -6.57909508e-04,-7.14344794e-04,-1.72694092e-04,-1.09386818e-05,
 -4.95756979e-04,-4.86814249e-04,-2.00049068e-04,-3.93065125e-05,
  2.10000000e-01,-5.58158825e-03, 9.00000000e-02, 3.59187656e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39042709,  0.35609968, -0.16008225,  0.35609968,  0.37496601,
       -0.03439285, -0.16008225, -0.03439285,  0.31392091,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012727087498799712
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71347995e-01,  2.37652457e-01, -2.09365217e-03,  2.37651905e-01,
        9.71350251e-01,  5.12237043e-04,  2.15540395e-03,  0.00000000e+00,
       -9.99997677e-01])
  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([ 0.10402655, -0.09024519,  0.14128029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.3641407 ,  0.35053951,  0.09859259,  0.35053951,  0.39454119,
       -0.10808694,  0.09859259, -0.10808694,  0.74843675,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009188189140941258
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.06420900e-01,  3.88564606e-01, -4.45761012e-01,  3.40068715e-01,
        9.21421482e-01,  1.87977983e-01,  4.83775363e-01, -2.77555756e-17,
       -8.75192207e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382508, -0.08941206,  0.15004999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.6104277 , -10.15261249,  -3.08312108, -10.15261249,
        17.14839989, -21.52931927,  -3.08312108, -21.52931927,
        81.50574128,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045915749852819265
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.51122304e-14,  7.55611520e-15,  1.00000000e+00, -1.14189754e-28,
        1.00000000e+00, -7.55611520e-15, -1.00000000e+00,  0.00000000e+00,
        1.51122304e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09970138, -0.05291936,  0.06198048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02066121e-05, 8.86293947e-06,-4.37373592e-06,-8.08040315e-06,
 -7.17958495e-06, 2.70940862e-05, 2.42862165e-05,-7.87648852e-06,
 -1.76118580e-06,-2.42092570e-05, 1.29316809e-07,-4.72481106e-05,
  2.64138055e-01, 1.90228193e-04, 8.76434092e-02, 3.56806213e-02,
 -3.33075773e-05, 8.80279486e-07,-9.80999773e+00,-1.18134324e-02,
 -2.39597349e-02, 5.32746942e-05]


--- Step 776 ---
qpos:
[-1.35661583e-02, 1.35232767e-02, 1.00539629e-02, 1.47167407e-02,
 -1.90818131e-02,-9.10629379e-03,-1.74698205e-02, 1.63140889e-02,
 -1.21492229e-02,-6.66874948e-03,-1.43153305e-02, 1.51080185e-02,
  1.40360272e+00, 3.23142633e-02, 2.83611067e-01,-3.20031527e-02,
  9.54137936e-02,-7.14526685e-02, 1.04544535e-01, 9.99934111e-01,
  1.19600651e-03,-1.76731257e-04,-1.14154024e-02]

qacc:
[-4.02674471e+00,-9.78260498e-01, 3.90596571e+00,-6.14349201e+00,
  2.29508778e+00, 1.02262217e+00,-8.03580402e-01,-6.73207909e+00,
 -2.61410390e-01,-2.14431554e+00, 9.81795947e+00,-2.00879154e+01,
  1.36343116e-01,-1.29568691e+01,-6.01677880e+01, 1.47647659e+02,
  9.79274529e-01, 5.54965863e-01, 2.55583712e-01,-9.92255763e+00,
  2.73260960e+01,-5.36067069e+00]

qfrc_actuator:
[ 5.08416454e-04,-5.21458083e-04,-1.79181717e-04,-1.98021650e-05,
 -6.43965876e-04,-6.91316355e-04,-1.99353194e-04,-3.50394385e-05,
 -4.97309273e-04,-4.82845081e-04,-1.81035164e-04,-6.66076892e-05,
  2.10000000e-01,-5.58724270e-03, 9.00000000e-02, 3.59348905e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.3889877 ,  0.38758402,  0.03301599,  0.38758402,  0.39261896,
       -0.04262849,  0.03301599, -0.04262849,  0.8894156 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011365209438070373
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71337418e-01,  2.37692777e-01, -2.40093020e-03,  2.37692051e-01,
        9.71340385e-01,  5.87521920e-04,  2.47177018e-03, -1.08420217e-19,
       -9.99996945e-01])
  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([ 0.10400918, -0.09026368,  0.14127694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36375571, -0.34801422, -0.10585048, -0.34801422,  0.4989785 ,
       -0.44458421, -0.10585048, -0.44458421,  1.82545552,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00091574243873692
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.07613382e-01,  3.87237918e-01, -4.44755461e-01,  3.39203219e-01,
        9.21979824e-01,  1.86800377e-01,  4.82391751e-01, -2.77555756e-17,
       -8.75955592e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10380125, -0.08942452,  0.15006043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.6279246 ,   9.31246764,   5.12159425,   9.31246764,
        16.46609135, -10.61539363,   5.12159425, -10.61539363,
        29.92963121,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046045896719433543
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.2055613e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.2055613e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0817727 , -0.06232771,  0.06198042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.39639694e-05, 4.90202862e-06, 1.61672082e-05,-4.55048988e-06,
  1.37639138e-05, 4.28768596e-05,-1.83364841e-05,-2.22509916e-05,
 -1.60845408e-06,-1.15729286e-05, 1.23928851e-05,-2.92538474e-05,
  2.64174548e-01, 2.70875266e-04, 8.50577368e-02, 3.59106746e-02,
 -6.02683785e-05,-7.43500107e-06,-9.80994339e+00,-1.18157732e-02,
 -2.39658411e-02, 5.79886654e-05]


--- Step 777 ---
qpos:
[-1.35664896e-02, 1.35235565e-02, 1.00540884e-02, 1.47169634e-02,
 -1.90819580e-02,-9.10612078e-03,-1.74698096e-02, 1.63135785e-02,
 -1.21487703e-02,-6.66877004e-03,-1.43153862e-02, 1.51070053e-02,
  1.40359495e+00, 3.23061162e-02, 2.83649172e-01,-3.19928346e-02,
  9.54097592e-02,-7.14550618e-02, 1.04545219e-01, 9.99933767e-01,
  1.18445693e-03,-2.34819135e-04,-1.14456817e-02]

qacc:
[ -2.4533522 , -0.60372568,  2.41634238, -3.68774901,  1.45232113,
   0.35780567,  2.44615723,-13.46807205,  2.84585416, -1.26767974,
   5.79200415,-11.68600558,  0.37827738,-10.79787146,-58.13857146,
 142.70928838,  0.86407539,  0.38479895,  0.18017583, -8.9894585 ,
  25.21651429,-11.52242095]

qfrc_actuator:
[ 4.94515440e-04,-5.20825913e-04,-1.70223632e-04,-2.26234698e-05,
 -6.35634093e-04,-6.59893556e-04,-2.15208442e-04,-6.70316621e-05,
 -4.80520228e-04,-4.80398129e-04,-1.69700374e-04,-8.23700134e-05,
  2.10000000e-01,-5.62236463e-03, 9.00000000e-02, 3.59569966e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38811624,  0.38341585,  0.06022043,  0.38341585,  0.3990704 ,
       -0.06974376,  0.06022043, -0.06974376,  0.83216594,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010449722075781067
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71328600e-01,  2.37726606e-01, -2.61004612e-03,  2.37725747e-01,
        9.71332106e-01,  6.38790172e-04,  2.68707901e-03, -1.08420217e-19,
       -9.99996390e-01])
  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([ 0.10399742, -0.09027526,  0.14127527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009007595684834776
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.80838993,  0.38641994, -0.44405557,  0.33868612,  0.92232295,
        0.18604321,  0.48145345,  0.        , -0.87647166])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10378516, -0.08943179,  0.15006839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046340420215822825
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.49737397e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.49737397e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177531, -0.06233154,  0.0619803 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.46005739e-05, 6.51227139e-06, 1.18063154e-05,-2.13917919e-06,
  8.75245849e-06, 5.06746862e-05,-1.00245491e-05,-3.12223007e-05,
  1.67430050e-05,-2.72326793e-06, 9.45750944e-06,-1.63987853e-05,
  2.64434421e-01, 3.23584879e-04, 8.65125557e-02, 3.56524462e-02,
 -2.80236349e-05,-2.75788517e-06,-9.80997697e+00,-1.18147884e-02,
 -2.39700870e-02, 6.12269990e-05]


--- Step 778 ---
qpos:
[-1.35666407e-02, 1.35237861e-02, 1.00546395e-02, 1.47171413e-02,
 -1.90820016e-02,-9.10593180e-03,-1.74695282e-02, 1.63127090e-02,
 -1.21477749e-02,-6.66904523e-03,-1.43149502e-02, 1.51061616e-02,
  1.40358502e+00, 3.22971248e-02, 2.83661230e-01,-3.19782153e-02,
  9.54087214e-02,-7.14565956e-02, 1.04546355e-01, 9.99933040e-01,
  1.15773326e-03,-2.46104345e-04,-1.15114714e-02]

qacc:
[ 1.57699431e+00,-1.35128901e+00, 4.90535475e+00,-6.31731343e+00,
  8.88031088e-01,-1.47558674e+00, 6.80615329e+00,-1.34649741e+01,
  4.75771412e+00,-1.37068967e+00, 3.66727990e+00,-1.31449709e+00,
  5.58661584e-01,-8.20411037e+00,-5.16688488e+01, 1.24548391e+02,
  7.49109690e-01, 2.14841760e-01, 1.13072375e-01,-7.85832903e+00,
  2.32918702e+01,-1.77821096e+01]

qfrc_actuator:
[ 5.04230189e-04,-5.20564854e-04,-1.47255321e-04,-2.43718773e-05,
 -6.30678828e-04,-6.76923261e-04,-2.06755189e-04,-8.56335982e-05,
 -4.53070371e-04,-4.96644881e-04,-1.45237654e-04,-7.34740141e-05,
  2.10000000e-01,-5.60389261e-03, 9.00000000e-02, 3.58741146e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38762331,  0.38120506,  0.07024623,  0.38120506,  0.40070827,
       -0.07100812,  0.07024623, -0.07100812,  0.77296289,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.892643333615958e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71321683e-01,  2.37753535e-01, -2.72845710e-03,  2.37752597e-01,
        9.71325515e-01,  6.67850591e-04,  2.80900384e-03,  1.08420217e-19,
       -9.99996055e-01])
  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([ 0.10399042, -0.09028164,  0.14127493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000900273849801783
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.80884198,  0.38599435, -0.44360231,  0.33843691,  0.92250114,
        0.18561276,  0.48086912,  0.        , -0.87679239])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10377573, -0.08943531,  0.15007437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046453737379380244
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.98744269e-14,  2.24058202e-14,  1.00000000e+00, -6.69361036e-28,
        1.00000000e+00, -2.24058202e-14, -1.00000000e+00,  0.00000000e+00,
        2.98744269e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177703, -0.06233434,  0.06198025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.28348971e-06, 6.25787814e-06, 2.56986022e-05,-1.10097617e-06,
  5.22140164e-06, 7.90720769e-06, 1.66062873e-05,-1.73849993e-05,
  2.79323970e-05,-1.65290378e-05, 2.44920332e-05, 8.78592120e-06,
  2.64619152e-01, 4.07945815e-04, 8.79178143e-02, 3.52983077e-02,
 -1.19719330e-05,-5.19734603e-07,-9.80999419e+00,-1.18147082e-02,
 -2.39726491e-02, 6.22112001e-05]


--- Step 779 ---
qpos:
[-1.35670195e-02, 1.35240207e-02, 1.00554648e-02, 1.47173001e-02,
 -1.90816404e-02,-9.10595156e-03,-1.74690152e-02, 1.63116554e-02,
 -1.21468029e-02,-6.66953154e-03,-1.43142405e-02, 1.51061312e-02,
  1.40357441e+00, 3.22877754e-02, 2.83649847e-01,-3.19607885e-02,
  9.54102691e-02,-7.14578738e-02, 1.04547707e-01, 9.99931791e-01,
  1.11794797e-03,-2.13902256e-04,-1.16239982e-02]

qacc:
[-1.96502978e+00,-7.95428981e-01, 2.93259285e+00,-3.71131756e+00,
  3.52441904e+00,-1.30821253e+00, 5.02980673e+00,-8.41935096e+00,
 -1.90807260e-01, 6.30718617e-01,-6.08718704e+00, 1.98808148e+01,
  6.59721895e-01,-5.20894746e+00,-4.32621690e+01, 1.00806789e+02,
  6.46412266e-01, 6.39257496e-02, 5.38558493e-02,-6.78611921e+00,
  2.16398957e+01,-2.33935780e+01]

qfrc_actuator:
[ 4.92258665e-04,-5.20469997e-04,-1.33950124e-04,-2.54652443e-05,
 -6.09996434e-04,-7.04978893e-04,-2.01958162e-04,-9.62314302e-05,
 -4.55076911e-04,-5.06130084e-04,-1.31029459e-04,-3.23954007e-05,
  2.10000000e-01,-5.57095368e-03, 9.00000000e-02, 3.57449465e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38738772,  0.37965915,  0.07699466,  0.37965915,  0.40095235,
       -0.06688691,  0.07699466, -0.06688691,  0.71720573,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.614517618419731e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71316715e-01,  2.37773436e-01, -2.76271732e-03,  2.37772474e-01,
        9.71320644e-01,  6.76296540e-04,  2.84428972e-03,  0.00000000e+00,
       -9.99995955e-01])
  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([ 0.10398732, -0.09028451,  0.14127562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009002459454660623
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.80903971,  0.38584886, -0.44336825,  0.33836972,  0.92256201,
        0.18543267,  0.48058368,  0.        , -0.87694887])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10377176, -0.08943626,  0.15007838])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004641946251215043
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.49482427e-14, -1.49482427e-14,  1.00000000e+00, -2.23449959e-28,
        1.00000000e+00,  1.49482427e-14, -1.00000000e+00,  0.00000000e+00,
       -1.49482427e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177803, -0.0623363 ,  0.06198027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17177518e-05, 8.86568071e-06, 1.77272544e-05, 4.27371509e-08,
  2.08273313e-05,-2.09454464e-05, 7.87463639e-06,-1.00228035e-05,
 -1.20691549e-06,-1.33184499e-05, 1.41022011e-05, 4.13855674e-05,
  2.64727120e-01, 4.83390784e-04, 8.92201117e-02, 3.49540746e-02,
 -1.47098965e-05, 5.61464943e-06,-9.80999493e+00,-1.18162972e-02,
 -2.39740124e-02, 6.11737701e-05]


--- Step 780 ---
qpos:
[-1.35675391e-02, 1.35244300e-02, 1.00558336e-02, 1.47174739e-02,
 -1.90806892e-02,-9.10634226e-03,-1.74683201e-02, 1.63101627e-02,
 -1.21458620e-02,-6.67007288e-03,-1.43136769e-02, 1.51066023e-02,
  1.40356425e+00, 3.22784927e-02, 2.83616991e-01,-3.19417247e-02,
  9.54140897e-02,-7.14593196e-02, 1.04549072e-01, 9.99929899e-01,
  1.06633756e-03,-1.40830358e-04,-1.17914906e-02]

qacc:
[-1.23838007e+00, 1.54019085e+00,-5.21510019e+00, 6.06927051e+00,
  5.13518788e+00,-1.91243948e+00, 7.94512458e+00,-1.55461284e+01,
 -2.75888513e-01, 1.36830054e+00,-7.10142473e+00, 1.60560390e+01,
  6.93239894e-01,-2.50153798e+00,-3.67768630e+01, 8.24160981e+01,
  5.68189379e-01,-4.19120620e-02, 3.53400991e-03,-6.15521505e+00,
  2.03339897e+01,-2.75061903e+01]

qfrc_actuator:
[ 4.85363827e-04,-5.20509900e-04,-1.61966920e-04,-2.61733876e-05,
 -5.80221641e-04,-7.39431754e-04,-1.99424092e-04,-1.19810914e-04,
 -4.56655676e-04,-5.11499998e-04,-1.40705253e-04,-8.22401590e-06,
  2.10000000e-01,-5.56498838e-03, 9.00000000e-02, 3.57120483e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38733402,  0.37878027,  0.08095151,  0.37878027,  0.39993961,
       -0.05898285,  0.08095151, -0.05898285,  0.66332071,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.549940004970726e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71313635e-01,  2.37786528e-01, -2.71835199e-03,  2.37785597e-01,
        9.71317439e-01,  6.65475010e-04,  2.79862369e-03, -1.08420217e-19,
       -9.99996084e-01])
  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([ 0.10398732, -0.09028532,  0.14127707])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009006432017116071
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.09048095e-01,  3.85882042e-01, -4.43324068e-01,  3.38407419e-01,
        9.22548129e-01,  1.85432924e-01,  4.80543025e-01, -2.77555756e-17,
       -8.76971152e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10377222, -0.08943579,  0.15008051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046266644835155774
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49976164e-14,  2.24964246e-14,  1.00000000e+00, -3.37392746e-28,
        1.00000000e+00, -2.24964246e-14, -1.00000000e+00,  0.00000000e+00,
        1.49976164e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177847, -0.06233761,  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:
[-7.24887102e-06, 8.59282235e-06,-2.39945027e-05, 2.87579951e-07,
  3.03643415e-05,-4.49743189e-05,-1.17414258e-06,-2.44012829e-05,
 -1.61092554e-06,-8.16601800e-06,-9.26913787e-06, 2.48919374e-05,
  2.64761442e-01, 5.07093777e-04, 9.03920218e-02, 3.47807716e-02,
 -4.05477980e-05, 2.23051993e-05,-9.80997931e+00,-1.18201993e-02,
 -2.39745160e-02, 5.83279816e-05]


--- Step 781 ---
qpos:
[-1.35677930e-02, 1.35251551e-02, 1.00555195e-02, 1.47172905e-02,
 -1.90797327e-02,-9.10728078e-03,-1.74675327e-02, 1.63091194e-02,
 -1.21449472e-02,-6.67066757e-03,-1.43132269e-02, 1.51073573e-02,
  1.40355540e+00, 3.22696402e-02, 2.83564010e-01,-3.19218369e-02,
  9.54199510e-02,-7.14612080e-02, 1.04550283e-01, 9.99927257e-01,
  1.00340558e-03,-2.89333631e-05,-1.20197106e-02]

qacc:
[ 2.27582312e+00, 1.58683306e+00,-3.55179703e+00,-1.76206117e+00,
  5.80208841e-02,-5.67537665e-02,-2.74592772e+00, 1.07798957e+01,
 -2.29587199e-01, 8.31848426e-01,-4.26610227e+00, 9.39898021e+00,
  6.70227030e-01,-1.03317463e-01,-3.22963134e+01, 6.96986622e+01,
  5.10203912e-01,-1.10640707e-01,-3.86761733e-02,-5.89316909e+00,
  1.93120083e+01,-3.03860897e+01]

qfrc_actuator:
[ 4.99271922e-04,-5.03049734e-04,-1.96403267e-04,-4.44293255e-05,
 -5.80843947e-04,-7.77477255e-04,-1.98290968e-04,-9.75927714e-05,
 -4.57960534e-04,-5.14472397e-04,-1.46648561e-04, 5.78942322e-06,
  2.10000000e-01,-5.57548871e-03, 9.00000000e-02, 3.57724648e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38741552,  0.37844094,  0.08290499,  0.37844094,  0.39829176,
       -0.04964736,  0.08290499, -0.04964736,  0.61404355,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.647769982923526e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71312407e-01,  2.37792871e-01, -2.59989816e-03,  2.37792019e-01,
        9.71315886e-01,  6.36494528e-04,  2.67667624e-03,  1.08420217e-19,
       -9.99996418e-01])
  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([ 0.10398982, -0.09028512,  0.14127903])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009014420715721509
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.08915066e-01,  3.86021845e-01, -4.43445094e-01,  3.38495819e-01,
        9.22489640e-01,  1.85562511e-01,  4.80704688e-01,  2.77555756e-17,
       -8.76882548e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10377635, -0.0894347 ,  0.15008084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046020367728708683
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.03115033e-14, -1.50778758e-14,  1.00000000e+00,  9.09369359e-28,
        1.00000000e+00,  1.50778758e-14, -1.00000000e+00,  0.00000000e+00,
        6.03115033e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177847, -0.06233839,  0.06198044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36835038e-05, 1.73391673e-05,-3.55995617e-05,-1.87107246e-05,
  2.46743249e-07,-6.45071514e-05,-9.15786846e-06, 1.97719731e-05,
 -1.34258200e-06,-8.42035504e-06,-7.92152295e-06, 1.38250753e-05,
  2.64738443e-01, 4.92674736e-04, 9.14653947e-02, 3.47592973e-02,
 -9.33947954e-05, 5.47440843e-05,-9.80994756e+00,-1.18268444e-02,
 -2.39743695e-02, 5.38170790e-05]


--- Step 782 ---
qpos:
[-1.35682235e-02, 1.35258513e-02, 1.00551719e-02, 1.47168891e-02,
 -1.90787904e-02,-9.10861228e-03,-1.74665062e-02, 1.63083201e-02,
 -1.21447449e-02,-6.67106868e-03,-1.43126914e-02, 1.51082283e-02,
  1.40355806e+00, 3.22633573e-02, 2.83589241e-01,-3.19156042e-02,
  9.54189921e-02,-7.14661695e-02, 1.04550459e-01, 9.99925404e-01,
  9.93676871e-04,-1.75217150e-05,-1.21737264e-02]

qacc:
[-1.53011479e+00,-3.90711529e-01, 2.26295097e+00,-5.96602032e+00,
 -1.09250838e-01,-6.84941850e-01, 6.58685175e-01, 3.47137516e+00,
 -6.21971216e+00, 2.67531054e-01,-1.05158737e+00, 2.75772786e+00,
  6.03802500e-01, 1.99540831e+01, 1.57271676e+02,-3.81708242e+02,
 -1.70505517e+00,-7.68269685e-01,-2.58763537e-01, 2.72042819e+01,
 -4.98820353e+01, 3.71538581e+01]

qfrc_actuator:
[ 4.89806375e-04,-5.10805853e-04,-1.98777001e-04,-5.50952393e-05,
 -5.81603077e-04,-7.81847828e-04,-1.80228714e-04,-8.41141697e-05,
 -4.94599029e-04,-4.80480689e-04,-1.32573670e-04, 1.37252141e-05,
  2.10000000e-01,-5.57850609e-03, 9.00000000e-02, 3.58180178e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38760221,  0.38709078, -0.01990475,  0.38709078,  0.39382034,
        0.12092498, -0.01990475,  0.12092498,  2.7392495 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.868057018047611e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71313013e-01,  2.37792384e-01, -2.41108397e-03,  2.37791651e-01,
        9.71316005e-01,  5.90268668e-04,  2.48228584e-03,  0.00000000e+00,
       -9.99996919e-01])
  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([ 0.10399441, -0.09028464,  0.14128133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009026101605229892
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.80867494,  0.38622037, -0.44371011,  0.33859987,  0.92240654,
        0.18578563,  0.4810353 ,  0.        , -0.87670122])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10378356, -0.08943351,  0.15007947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.61556108,  9.44286904,  4.84998569,  9.44286904, 13.73131317,
       -6.06633521,  4.84998569, -6.06633521, 22.42664932,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000459540125513809
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.50996475e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.50996475e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0997215 , -0.05295722,  0.06198046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.08482214e-06,-6.19953164e-06,-3.82138503e-06,-1.15187953e-05,
 -7.47808116e-07,-4.15217689e-05, 4.28297079e-06, 1.07800743e-05,
 -3.66655869e-05, 2.82069118e-05, 1.18275909e-05, 7.56780272e-06,
  2.64673260e-01, 4.67157831e-04, 9.24713323e-02, 3.47635941e-02,
 -1.76128105e-04, 1.06169769e-04,-9.80989993e+00,-1.18364430e-02,
 -2.39737301e-02, 4.77220763e-05]


--- Step 783 ---
qpos:
[-1.35684194e-02, 1.35265404e-02, 1.00544855e-02, 1.47167269e-02,
 -1.90778642e-02,-9.10984161e-03,-1.74654752e-02, 1.63072948e-02,
 -1.21446384e-02,-6.67118126e-03,-1.43120330e-02, 1.51088266e-02,
  1.40356562e+00, 3.22575673e-02, 2.83678901e-01,-3.19183043e-02,
  9.54122717e-02,-7.14733605e-02, 1.04549843e-01, 9.99924706e-01,
  1.01978874e-03,-1.07610494e-04,-1.22282744e-02]

qacc:
[ 2.02218757e+00, 1.42645078e+00,-6.11608511e+00, 1.08090621e+01,
 -1.41192467e-01,-3.42382094e-01, 2.37132049e+00,-6.36492387e+00,
 -8.37678683e-01,-5.21431619e-01, 3.56650714e+00,-8.69680735e+00,
  5.40173609e-02, 7.35665752e+00, 1.22467620e+02,-2.89835458e+02,
 -1.44038058e+00,-5.57394330e-01,-1.97971344e-01, 1.85370707e+01,
 -5.04788418e+01, 4.97873246e+01]

qfrc_actuator:
[ 5.02157700e-04,-5.15720656e-04,-2.17794777e-04,-4.34508515e-05,
 -5.82426926e-04,-7.48196515e-04,-1.69945467e-04,-9.36063310e-05,
 -4.98482933e-04,-4.60041369e-04,-1.24394331e-04, 3.16055539e-07,
  2.10000000e-01,-5.59709772e-03, 9.00000000e-02, 3.58332970e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38743487,  0.36779179, -0.12179892,  0.36779179,  0.4223078 ,
        0.10530453, -0.12179892,  0.10530453,  0.70541913,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.670839709812089e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71304696e-01,  2.37826530e-01, -2.39362347e-03,  2.37825807e-01,
        9.71307645e-01,  5.86083273e-04,  2.46433093e-03,  0.00000000e+00,
       -9.99996964e-01])
  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([ 0.10398936, -0.09029307,  0.14128181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36227019,  0.35109893,  0.08927055,  0.35109893,  0.44273226,
       -0.31645537,  0.08927055, -0.31645537,  1.6068815 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009047482852144027
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.80896909,  0.38562316, -0.44369335,  0.33810769,  0.92265637,
        0.18544112,  0.48088688,  0.        , -0.87678264])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10377806, -0.08944005,  0.1500795 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.61937927, -10.11789832,  -3.22480225, -10.11789832,
        16.27850014, -17.75563433,  -3.22480225, -17.75563433,
        66.32812936,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004598242951191975
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.5090316e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.5090316e-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([ 0.09972521, -0.05296442,  0.06198045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20675703e-05,-9.65045006e-06,-2.11619718e-05, 1.10236441e-05,
 -8.22385682e-07, 1.17445627e-05, 2.59642006e-06,-1.09155269e-05,
 -4.91870718e-06, 3.89604520e-05, 1.57232926e-05,-1.16429844e-05,
  2.64097876e-01, 3.20632954e-04, 8.85607504e-02, 3.54616202e-02,
 -6.04235032e-05, 3.34985025e-05,-9.80999370e+00,-1.18242793e-02,
 -2.39649490e-02, 4.77393294e-05]


--- Step 784 ---
qpos:
[-1.35677767e-02, 1.35272595e-02, 1.00538189e-02, 1.47166756e-02,
 -1.90772993e-02,-9.11081732e-03,-1.74647469e-02, 1.63068557e-02,
 -1.21445794e-02,-6.67133140e-03,-1.43116640e-02, 1.51089856e-02,
  1.40356874e+00, 3.22507249e-02, 2.83733549e-01,-3.19166898e-02,
  9.54092686e-02,-7.14784644e-02, 1.04549851e-01, 9.99923853e-01,
  1.02539662e-03,-1.45734519e-04,-1.22969979e-02]

qacc:
[ 7.27093313e+00, 1.98599857e-01,-1.14336892e+00, 3.03626541e+00,
 -3.15042176e+00, 2.39298287e+00,-1.05107130e+01, 2.09411194e+01,
 -4.23080670e-01,-1.44749588e-01, 2.30107376e+00,-9.41852537e+00,
 -7.84463248e-02,-8.63815834e+00,-6.49604344e+01, 1.51828212e+02,
  9.29319220e-01, 5.21782258e-01, 1.55934332e-01,-1.05696295e+01,
  2.58478203e+01,-7.11355187e+00]

qfrc_actuator:
[ 5.45011475e-04,-5.01188215e-04,-2.10974917e-04,-3.65427879e-05,
 -6.01034710e-04,-7.27575302e-04,-1.81943319e-04,-6.32507136e-05,
 -5.00798381e-04,-5.01163762e-04,-1.55329047e-04,-2.55578565e-05,
  2.10000000e-01,-5.62398512e-03, 9.00000000e-02, 3.58489042e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38696162,  0.38243944,  0.05898623,  0.38243944,  0.39401575,
       -0.04573572,  0.05898623, -0.04573572,  0.68349088,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.089077643620596e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71290116e-01,  2.37884363e-01, -2.55735386e-03,  2.37883538e-01,
        9.71293483e-01,  6.26334373e-04,  2.63293629e-03,  0.00000000e+00,
       -9.99996534e-01])
  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([ 0.10397647, -0.09030761,  0.14128099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36260379, -0.33461023, -0.13970505, -0.33461023,  0.56430932,
       -0.48310878, -0.13970505, -0.48310878,  1.51970688,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009071110242500864
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.09703836e-01,  3.84464218e-01, -4.43358730e-01,  3.37220993e-01,
        9.23139895e-01,  1.84647601e-01,  4.80272527e-01,  2.77555756e-17,
       -8.77119319e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10376182, -0.08945163,  0.15008219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.61287713,   9.27789996,   5.15303147,   9.27789996,
        17.12732988, -11.72910379,   5.15303147, -11.72910379,
        31.73082534,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045934015440580317
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.04248842e-14, -1.51062210e-14,  1.00000000e+00,  9.12791656e-28,
        1.00000000e+00,  1.51062210e-14, -1.00000000e+00,  0.00000000e+00,
        6.04248842e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0817815 , -0.0623443 ,  0.06198047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.31822720e-05, 5.24958010e-06, 2.60311688e-06, 5.97670634e-06,
 -1.85921724e-05, 2.72233312e-05,-9.64070167e-06, 3.07342667e-05,
 -2.44784330e-06,-1.65928514e-05,-2.13549627e-05,-2.38871318e-05,
  2.63852534e-01, 2.70901909e-04, 8.53394235e-02, 3.59239080e-02,
 -2.12613488e-05,-1.09296924e-05,-9.80999166e+00,-1.18196474e-02,
 -2.39665236e-02, 5.10119185e-05]


--- Step 785 ---
qpos:
[-1.35669703e-02, 1.35279257e-02, 1.00538383e-02, 1.47163258e-02,
 -1.90762717e-02,-9.11148984e-03,-1.74644873e-02, 1.63067886e-02,
 -1.21445485e-02,-6.67162511e-03,-1.43113285e-02, 1.51088302e-02,
  1.40356878e+00, 3.22432237e-02, 2.83755136e-01,-3.19111493e-02,
  9.54095010e-02,-7.14821746e-02, 1.04550240e-01, 9.99922683e-01,
  1.01261275e-03,-1.35930699e-04,-1.23929248e-02]

qacc:
[ 1.44058689e+00,-2.60547847e+00, 1.04432965e+01,-1.66614120e+01,
  3.99821851e+00, 2.46761496e+00,-9.80247323e+00, 1.67844019e+01,
 -2.44840577e-01,-7.42618088e-01, 3.70060998e+00,-8.98251490e+00,
  1.01544863e-01,-6.48553091e+00,-6.08828810e+01, 1.41791143e+02,
  8.08895476e-01, 3.48428932e-01, 9.54242595e-02,-9.49167657e+00,
  2.38350459e+01,-1.36258751e+01]

qfrc_actuator:
[ 5.52210784e-04,-4.92774469e-04,-1.71123020e-04,-5.01966289e-05,
 -5.76703289e-04,-7.14964460e-04,-2.07004280e-04,-4.52132952e-05,
 -5.02182776e-04,-5.08001963e-04,-1.56111190e-04,-4.08821047e-05,
  2.10000000e-01,-5.60124386e-03, 9.00000000e-02, 3.58550339e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38678029,  0.38090805,  0.06714202,  0.38090805,  0.39487269,
       -0.04590957,  0.06714202, -0.04590957,  0.64723307,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.855675342535297e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71279341e-01,  2.37927571e-01, -2.62919284e-03,  2.37926699e-01,
        9.71282900e-01,  6.44052795e-04,  2.70692796e-03,  1.08420217e-19,
       -9.99996336e-01])
  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([ 0.10396909, -0.0903161 ,  0.14128136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009094423217939742
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.81008378,  0.38377909, -0.44325825,  0.33667405,  0.92342494,
        0.1842199 ,  0.48001546,  0.        , -0.87726003])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10375297, -0.08945853,  0.15008306])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004602850536465364
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.03008405e-14, -1.50752101e-14,  1.00000000e+00,  9.09047842e-28,
        1.00000000e+00,  1.50752101e-14, -1.00000000e+00,  0.00000000e+00,
        6.03008405e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08178322, -0.06234725,  0.06198043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.42797235e-06, 1.21365785e-05, 4.14545066e-05,-1.32257221e-05,
  2.38325581e-05, 2.71327438e-05,-1.95678303e-05, 1.94680419e-05,
 -1.45767279e-06,-2.15545000e-05,-7.66746197e-06,-1.72392475e-05,
  2.64074130e-01, 3.47365691e-04, 8.70900514e-02, 3.57143179e-02,
 -1.39482369e-05, 2.08587733e-07,-9.81000116e+00,-1.18206327e-02,
 -2.39687143e-02, 5.23819328e-05]


--- Step 786 ---
qpos:
[-1.35667736e-02, 1.35287014e-02, 1.00539948e-02, 1.47161774e-02,
 -1.90749602e-02,-9.11179764e-03,-1.74645830e-02, 1.63069224e-02,
 -1.21441896e-02,-6.67188742e-03,-1.43110989e-02, 1.51084745e-02,
  1.40356720e+00, 3.22355926e-02, 2.83746725e-01,-3.19022448e-02,
  9.54125520e-02,-7.14851106e-02, 1.04550792e-01, 9.99921040e-01,
  9.83572602e-04,-8.15556132e-05,-1.25275200e-02]

qacc:
[-5.28287967e+00, 1.86595571e-01,-1.28703380e+00, 4.45149522e+00,
  2.44753274e+00, 1.88261154e+00,-6.87027711e+00, 1.06564465e+01,
  2.85928676e+00,-8.03966979e-02, 1.18290939e+00,-4.49278738e+00,
  1.64775360e-01,-3.17937366e+00,-5.46131101e+01, 1.26521357e+02,
  7.04619783e-01, 1.93537687e-01, 4.05041542e-02,-8.40608344e+00,
  2.21635686e+01,-1.93570217e+01]

qfrc_actuator:
[ 5.20604372e-04,-4.87960886e-04,-1.65383872e-04,-4.03173335e-05,
 -5.62793131e-04,-6.89558228e-04,-2.21863472e-04,-3.45872595e-05,
 -4.85256204e-04,-4.94148629e-04,-1.56694583e-04,-4.98259264e-05,
  2.10000000e-01,-5.54869811e-03, 9.00000000e-02, 3.58541400e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38680434,  0.37639872,  0.08911566,  0.37639872,  0.40041476,
       -0.05748646,  0.08911566, -0.05748646,  0.62961048,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.886999122800611e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71272274e-01,  2.37956562e-01, -2.61608790e-03,  2.37955699e-01,
        9.71275797e-01,  6.40925352e-04,  2.69345526e-03, -1.08420217e-19,
       -9.99996373e-01])
  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([ 0.10396631, -0.09032027,  0.14128262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008915300800840569
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.10182464e-01,  3.83452663e-01, -4.43360384e-01,  3.36379276e-01,
        9.23560531e-01,  1.84078589e-01,  4.80055577e-01,  2.77555756e-17,
       -8.77238077e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10375028, -0.08946199,  0.15008216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004598522439245509
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.03575953e-14,  1.50893988e-14,  1.00000000e+00, -9.10759826e-28,
        1.00000000e+00, -1.50893988e-14, -1.00000000e+00,  0.00000000e+00,
        6.03575953e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08178425, -0.06234935,  0.06198045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.13838455e-05, 1.95726851e-05, 1.28852856e-05, 1.15743171e-05,
  1.46273634e-05, 3.73422049e-05,-1.10046550e-05, 1.14871881e-05,
  1.68853855e-05,-5.23476782e-07,-6.57697189e-06,-1.04682997e-05,
  2.64228044e-01, 4.33301760e-04, 8.87431086e-02, 3.55171136e-02,
 -2.47518350e-05, 1.35015955e-05,-9.80999532e+00,-1.18230355e-02,
 -2.39693830e-02, 5.15194026e-05]


--- Step 787 ---
qpos:
[-1.35669578e-02, 1.35296217e-02, 1.00539052e-02, 1.47168614e-02,
 -1.90741813e-02,-9.11187561e-03,-1.74645476e-02, 1.63071657e-02,
 -1.21436306e-02,-6.67192079e-03,-1.43115310e-02, 1.51076821e-02,
  1.40357352e+00, 3.22294892e-02, 2.83810630e-01,-3.19039869e-02,
  9.54094525e-02,-7.14907009e-02, 1.04550514e-01, 9.99920434e-01,
  9.95118256e-04,-1.28997127e-04,-1.25745264e-02]

qacc:
[-3.31151350e+00, 2.60017832e+00,-1.24976284e+01, 2.71824207e+01,
 -4.62399007e+00, 1.72335900e-01,-6.20750386e-01, 2.12164381e+00,
  1.72219826e+00, 1.24869966e+00,-2.17488417e+00,-4.48996334e+00,
  1.85476659e-01, 1.39570038e+01, 1.39388785e+02,-3.31934932e+02,
 -1.53759290e+00,-6.63567702e-01,-2.07200075e-01, 2.09321151e+01,
 -5.06069433e+01, 4.38458321e+01]

qfrc_actuator:
[ 5.01927665e-04,-4.85448811e-04,-1.79837846e-04, 1.05414278e-06,
 -5.90647215e-04,-6.74410205e-04,-2.12775002e-04,-2.83856953e-05,
 -4.75440621e-04,-4.85750553e-04,-1.92578165e-04,-7.26824249e-05,
  2.10000000e-01,-5.54954553e-03, 9.00000000e-02, 3.57592603e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38698748,  0.38599717, -0.02766752,  0.38599717,  0.39967216,
        0.17696751, -0.02766752,  0.17696751,  2.85590986,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.121856074986673e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71268514e-01,  2.37972909e-01, -2.52362957e-03,  2.37972106e-01,
        9.71271792e-01,  6.18318657e-04,  2.59827330e-03,  0.00000000e+00,
       -9.99996624e-01])
  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([ 0.10396729, -0.09032157,  0.14128451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000893846659821073
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.10074462e-01,  3.83378970e-01, -4.43621383e-01,  3.36258659e-01,
        9.23591125e-01,  1.84145456e-01,  4.80322267e-01, -2.77555756e-17,
       -8.77092082e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10375276, -0.08946328,  0.15007987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.61288436,  9.48276439,  4.76555286,  9.48276439, 15.41937551,
       -9.56422571,  4.76555286, -9.56422571, 29.64431716,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004593406931447941
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.51062033e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.51062033e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09973734, -0.05298717,  0.06198047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.96055626e-05, 1.65995004e-05,-8.42344093e-06, 4.28823602e-05,
 -2.74079318e-05, 3.42063231e-05, 1.58275256e-05, 7.64096413e-06,
  1.03073225e-05, 6.29179883e-06,-3.71688816e-05,-2.33116810e-05,
  2.64308929e-01, 4.38815257e-04, 9.02427784e-02, 3.52540021e-02,
 -5.67218967e-05, 3.52079248e-05,-9.80997369e+00,-1.18275963e-02,
 -2.39689950e-02, 4.86423842e-05]


--- Step 788 ---
qpos:
[-1.35670205e-02, 1.35304167e-02, 1.00540712e-02, 1.47176908e-02,
 -1.90737422e-02,-9.11165106e-03,-1.74646895e-02, 1.63071481e-02,
 -1.21429579e-02,-6.67195947e-03,-1.43121168e-02, 1.51076529e-02,
  1.40357640e+00, 3.22227918e-02, 2.83839707e-01,-3.19018109e-02,
  9.54096632e-02,-7.14947519e-02, 1.04550657e-01, 9.99919529e-01,
  9.88600768e-04,-1.27283157e-04,-1.26467789e-02]

qacc:
[ 1.06376799e+00,-5.82710252e-01, 1.22021325e+00, 9.82391181e-01,
 -2.96094829e+00, 3.63534100e-01, 3.95869476e-01,-4.86303483e+00,
  9.88604895e-01, 1.99157461e+00,-1.03377969e+01, 2.38024496e+01,
 -9.26446963e-02,-5.77600033e+00,-6.34588945e+01, 1.47042581e+02,
  8.27519820e-01, 3.84841858e-01, 1.05071881e-01,-9.34138587e+00,
  2.44496376e+01,-1.26471973e+01]

qfrc_actuator:
[ 5.08776486e-04,-5.02149027e-04,-1.70574198e-04, 7.35124774e-06,
 -6.07351668e-04,-6.65428096e-04,-2.25167245e-04,-4.25804595e-05,
 -4.69894966e-04,-4.80835713e-04,-1.95785855e-04,-3.25593485e-05,
  2.10000000e-01,-5.58403450e-03, 9.00000000e-02, 3.57094173e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38686724,  0.37919978,  0.0766406 ,  0.37919978,  0.39808348,
       -0.05549535,  0.0766406 , -0.05549535,  0.66144528,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.968371619787007e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71256884e-01,  2.38019427e-01, -2.61087076e-03,  2.38018567e-01,
        9.71260394e-01,  6.39826319e-04,  2.68812645e-03,  0.00000000e+00,
       -9.99996387e-01])
  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([ 0.10395959, -0.09032998,  0.14128488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36113456, -0.3260027 , -0.15537185, -0.3260027 ,  0.58659768,
       -0.47306887, -0.15537185, -0.47306887,  1.3537322 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008970825926143735
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.81044195,  0.38265874, -0.44357202,  0.33567067,  0.92388976,
        0.18371966,  0.48011358,  0.        , -0.87720633])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10374359, -0.08947057,  0.1500798 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.61766737,   9.25753482,   5.19931816,   9.25753482,
        17.89454059, -12.95668109,   5.19931816, -12.95668109,
        33.68740893,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004596969315540794
  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([ 0.08178686, -0.06235438,  0.06198046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.25396587e-06,-7.31720934e-06, 1.31428139e-05, 7.55306168e-06,
 -1.74808202e-05, 3.16689717e-05,-3.12072896e-06,-1.20331386e-05,
  5.85354999e-06,-2.59186074e-07,-7.29954540e-06, 3.86513834e-05,
  2.63913443e-01, 3.29231142e-04, 8.66270762e-02, 3.57365023e-02,
 -9.08391907e-06,-2.85062427e-06,-9.80999924e+00,-1.18220571e-02,
 -2.39679417e-02, 5.04953802e-05]


--- Step 789 ---
qpos:
[-1.35673463e-02, 1.35312723e-02, 1.00543327e-02, 1.47178859e-02,
 -1.90735071e-02,-9.11122298e-03,-1.74649427e-02, 1.63069690e-02,
 -1.21418786e-02,-6.67223297e-03,-1.43123804e-02, 1.51084460e-02,
  1.40357715e+00, 3.22158954e-02, 2.83836515e-01,-3.18963612e-02,
  9.54127420e-02,-7.14978919e-02, 1.04551007e-01, 9.99918167e-01,
  9.65827086e-04,-8.01349570e-05,-1.27561722e-02]

qacc:
[-2.28000610e+00,-1.48893429e+00, 8.11052010e+00,-1.92937514e+01,
 -1.77794925e+00, 2.51085452e-01, 1.82580307e-01,-2.95470961e+00,
  3.56293095e+00, 4.75412635e-01,-5.62975467e+00, 1.95337657e+01,
  4.91920341e-02,-3.48178311e+00,-5.77018564e+01, 1.32446800e+02,
  7.17046893e-01, 2.27717013e-01, 5.17254147e-02,-8.41687855e+00,
  2.25941051e+01,-1.85932262e+01]

qfrc_actuator:
[ 4.95085287e-04,-4.94659318e-04,-1.65235693e-04,-2.47946791e-05,
 -6.17346117e-04,-6.60310163e-04,-2.32439483e-04,-5.09336824e-05,
 -4.49152292e-04,-4.95620793e-04,-1.79631324e-04, 8.82085539e-06,
  2.10000000e-01,-5.60169253e-03, 9.00000000e-02, 3.57295481e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38695871,  0.37839316,  0.08096703,  0.37839316,  0.39815041,
       -0.05230351,  0.08096703, -0.05230351,  0.63139512,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.085379824193778e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71249293e-01,  2.38050404e-01, -2.61061259e-03,  2.38049544e-01,
        9.71252802e-01,  6.39851314e-04,  2.68788166e-03,  0.00000000e+00,
       -9.99996388e-01])
  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([ 0.1039567 , -0.09033386,  0.14128617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009000959543417097
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.8105237 ,  0.38231125, -0.44372226,  0.33534747,  0.92403361,
        0.18358641,  0.48020143,  0.        , -0.87715824])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10374087, -0.08947433,  0.1500781 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004596222235413866
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.03878015e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.03878015e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08178821, -0.062357  ,  0.06198046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35468050e-05, 6.44370619e-06, 5.70875571e-06,-3.18575007e-05,
 -1.04925918e-05, 2.16448333e-05,-1.53619768e-06,-7.33857461e-06,
  2.09172155e-05,-1.48030834e-05, 1.65318646e-05, 4.18671171e-05,
  2.64085654e-01, 3.41861874e-04, 8.83684384e-02, 3.55607209e-02,
 -1.35395549e-05, 6.91193855e-06,-9.80999861e+00,-1.18235689e-02,
 -2.39685418e-02, 5.01758395e-05]


--- Step 790 ---
qpos:
[-1.35678345e-02, 1.35323509e-02, 1.00545727e-02, 1.47176814e-02,
 -1.90733936e-02,-9.11105147e-03,-1.74647969e-02, 1.63067154e-02,
 -1.21405589e-02,-6.67262685e-03,-1.43124002e-02, 1.51086835e-02,
  1.40358489e+00, 3.22103052e-02, 2.83903627e-01,-3.19010969e-02,
  9.54097601e-02,-7.15036252e-02, 1.04550589e-01, 9.99917891e-01,
  9.81414325e-04,-1.35263352e-04,-1.27761118e-02]

qacc:
[-1.41198496e+00,-4.65435616e-01, 3.77905057e+00,-1.08302125e+01,
 -1.04013856e+00,-1.60504823e+00, 5.54982087e+00,-7.29419676e+00,
  2.10802239e+00,-1.98820828e+00, 9.19750803e+00,-1.91083903e+01,
  4.33727946e-02, 1.27603006e+01, 1.35007896e+02,-3.20949718e+02,
 -1.51517601e+00,-6.48306862e-01,-1.92030669e-01, 1.98342789e+01,
 -5.08462014e+01, 4.47779466e+01]

qfrc_actuator:
[ 4.87158822e-04,-4.72791467e-04,-1.62194506e-04,-4.37797452e-05,
 -6.23314466e-04,-6.93038018e-04,-2.18882144e-04,-5.57771546e-05,
 -4.37382305e-04,-5.04241545e-04,-1.70026405e-04,-2.04195434e-05,
  2.10000000e-01,-5.53839885e-03, 9.00000000e-02, 3.57197299e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38721155,  0.38413187, -0.04873906,  0.38413187,  0.42829965,
        0.32383162, -0.04873906,  0.32383162,  2.93945713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.400966309106498e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71245521e-01,  2.38066674e-01, -2.52931438e-03,  2.38065867e-01,
        9.71248814e-01,  6.19970345e-04,  2.60418787e-03,  0.00000000e+00,
       -9.99996609e-01])
  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([ 0.10395777, -0.09033475,  0.1412881 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009028620211727596
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.81038906,  0.38223166, -0.44403662,  0.33521001,  0.92406653,
        0.18367168,  0.48052452,  0.        , -0.87698129])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10374348, -0.08947572,  0.15007494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.61908837,   9.50161335,   4.74176987,   9.50161335,
        15.96177943, -10.7057462 ,   4.74176987, -10.7057462 ,
        32.07138652,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045980265761765005
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.11274365e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.11274365e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09974577, -0.0530036 ,  0.06198045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.34825676e-06, 2.52953650e-05, 3.97858649e-06,-1.91298525e-05,
 -6.27474860e-06,-2.12681101e-05, 1.75826205e-05,-4.11201670e-06,
  1.23726963e-05,-1.17205673e-05, 1.00193315e-05,-2.84911910e-05,
  2.64191965e-01, 4.15061201e-04, 8.99817490e-02, 3.53871899e-02,
 -3.78850659e-05, 2.38141230e-05,-9.80998197e+00,-1.18271663e-02,
 -2.39680060e-02, 4.78161273e-05]


--- Step 791 ---
qpos:
[-1.35677251e-02, 1.35334890e-02, 1.00549021e-02, 1.47172642e-02,
 -1.90736974e-02,-9.11153286e-03,-1.74639794e-02, 1.63064385e-02,
 -1.21397975e-02,-6.67327005e-03,-1.43122298e-02, 1.51085895e-02,
  1.40358856e+00, 3.22040369e-02, 2.83933160e-01,-3.19012798e-02,
  9.54101582e-02,-7.15076212e-02, 1.04550626e-01, 9.99917345e-01,
  9.78678378e-04,-1.40211360e-04,-1.28189730e-02]

qacc:
[ 5.18195731e+00,-6.19468670e-01, 3.20359503e+00,-7.05382566e+00,
 -3.59037448e+00,-2.77966930e+00, 8.77034087e+00,-9.78079149e+00,
 -4.86372969e+00,-1.53354760e+00, 6.40590137e+00,-1.22806620e+01,
 -2.17950696e-01,-6.22040786e+00,-6.94515856e+01, 1.62096301e+02,
  8.44974819e-01, 4.34337502e-01, 1.13985613e-01,-9.48281319e+00,
  2.49598173e+01,-1.14849161e+01]

qfrc_actuator:
[ 5.18200885e-04,-4.77988639e-04,-1.60452894e-04,-5.48492446e-05,
 -6.44620444e-04,-7.48094658e-04,-1.93292865e-04,-5.85370371e-05,
 -4.66497718e-04,-5.26936840e-04,-1.64401841e-04,-3.77254102e-05,
  2.10000000e-01,-5.48121759e-03, 9.00000000e-02, 3.57928549e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38714591,  0.38055623,  0.07112605,  0.38055623,  0.39690196,
       -0.05219919,  0.07112605, -0.05219919,  0.66643498,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.320098814533768e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71234337e-01,  2.38111210e-01, -2.62963832e-03,  2.38110337e-01,
        9.71237897e-01,  6.44688973e-04,  2.70751206e-03,  0.00000000e+00,
       -9.99996335e-01])
  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([ 0.10395033, -0.09034256,  0.14128855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36253738, -0.3265964 , -0.15737899, -0.3265964 ,  0.60683132,
       -0.50696424, -0.15737899, -0.50696424,  1.41460091,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009066362724941358
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.81072675,  0.38152639, -0.44402675,  0.33462541,  0.92435794,
        0.18327091,  0.48036234,  0.        , -0.87707013])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10373458, -0.08948286,  0.15007427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.6222511 ,   9.28177459,   5.16535371,   9.28177459,
        17.07322517, -11.59194327,   5.16535371, -11.59194327,
        31.45215171,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046003779227885705
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20666502e-13, -1.50833128e-14,  1.00000000e+00,  1.82005059e-27,
        1.00000000e+00,  1.50833128e-14, -1.00000000e+00,  0.00000000e+00,
        1.20666502e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08179143, -0.06236304,  0.06198044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.07693873e-05, 8.96868565e-06, 6.80227851e-06,-1.02184924e-05,
 -2.15019932e-05,-6.35004816e-05, 2.32188417e-05,-3.14284788e-06,
 -2.87504264e-05,-2.84430346e-05, 3.43631980e-06,-1.80193300e-05,
  2.63841989e-01, 4.08277399e-04, 8.64666252e-02, 3.59695996e-02,
 -6.69155896e-06,-3.44707927e-06,-9.80999545e+00,-1.18232012e-02,
 -2.39683319e-02, 4.99566652e-05]


--- Step 792 ---
qpos:
[-1.35672453e-02, 1.35345567e-02, 1.00550437e-02, 1.47167540e-02,
 -1.90735648e-02,-9.11211749e-03,-1.74630432e-02, 1.63060984e-02,
 -1.21397354e-02,-6.67423721e-03,-1.43116824e-02, 1.51086310e-02,
  1.40358958e+00, 3.21975002e-02, 2.83928103e-01,-3.18975572e-02,
  9.54134694e-02,-7.15105596e-02, 1.04550904e-01, 9.99916360e-01,
  9.59515252e-04,-9.89784724e-05,-1.28973994e-02]

qacc:
[ 3.20696089e+00, 2.33822472e-01,-5.86907641e-01,-6.58943551e-01,
  3.79386776e+00,-6.05196474e-01, 2.21382559e+00,-3.40664371e+00,
 -6.08583248e+00,-1.19092032e+00, 3.07401242e+00,-1.11698474e+00,
 -5.74287109e-02,-3.85359298e+00,-6.30512929e+01, 1.46172157e+02,
  7.28301009e-01, 2.64380065e-01, 5.99535137e-02,-8.51118622e+00,
  2.29658153e+01,-1.78054212e+01]

qfrc_actuator:
[ 5.36423824e-04,-4.99350522e-04,-1.77345890e-04,-6.11963976e-05,
 -6.21526940e-04,-7.27286453e-04,-1.78669287e-04,-6.00682188e-05,
 -5.01689127e-04,-5.40147157e-04,-1.43456760e-04,-3.01198956e-05,
  2.10000000e-01,-5.47950005e-03, 9.00000000e-02, 3.58340715e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38729818,  0.37971074,  0.07628656,  0.37971074,  0.39750221,
       -0.05078978,  0.07628656, -0.05078978,  0.6401006 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.50659796076795e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71227637e-01,  2.38138416e-01, -2.64057289e-03,  2.38137535e-01,
        9.71231226e-01,  6.47448134e-04,  2.71878912e-03,  0.00000000e+00,
       -9.99996304e-01])
  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([ 0.10394794, -0.09034562,  0.14128994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009098652645930852
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.10771389e-01,  3.81215226e-01, -4.44212456e-01,  3.34324470e-01,
        9.24486318e-01,  1.83172588e-01,  4.80496517e-01,  2.77555756e-17,
       -8.76996634e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1037324 , -0.08948625,  0.15007208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004601853595329955
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.0313904e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        6.0313904e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08179306, -0.06236613,  0.06198044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.90694630e-05,-1.53686462e-05,-1.45572141e-05,-5.92763408e-06,
  2.24599357e-05,-1.00362997e-05, 4.26327144e-06,-3.50842653e-06,
 -3.60027064e-05,-2.92137714e-05, 1.48624729e-05, 6.15449457e-06,
  2.64045290e-01, 4.44479521e-04, 8.83455073e-02, 3.57831715e-02,
 -4.75006640e-06, 1.94744296e-06,-9.80999991e+00,-1.18237823e-02,
 -2.39688124e-02, 5.00190472e-05]


--- Step 793 ---
qpos:
[-1.35662061e-02, 1.35352987e-02, 1.00550858e-02, 1.47165446e-02,
 -1.90724672e-02,-9.11227301e-03,-1.74624802e-02, 1.63057074e-02,
 -1.21400954e-02,-6.67527932e-03,-1.43109965e-02, 1.51090928e-02,
  1.40359558e+00, 3.21917086e-02, 2.83980861e-01,-3.19030524e-02,
  9.54115916e-02,-7.15156983e-02, 1.04550938e-01, 9.99916339e-01,
  9.75882477e-04,-1.44471000e-04,-1.28973743e-02]

qacc:
[ 4.85079972e+00, 4.57917724e-01,-3.54343834e+00, 9.16547176e+00,
  8.36037554e+00, 1.48786351e+00,-4.29552595e+00, 3.72454580e+00,
 -3.67928636e+00, 3.86381883e-01,-3.28337122e+00, 1.03772172e+01,
 -1.22432164e-02, 8.64359876e+00, 1.13556233e+02,-2.72833794e+02,
 -1.29725961e+00,-5.50066285e-01,-6.07149221e-02, 1.83263761e+01,
 -4.30922707e+01, 3.92685216e+01]

qfrc_actuator:
[ 5.64695985e-04,-5.30305129e-04,-1.87425748e-04,-4.69921841e-05,
 -5.72480400e-04,-6.79000470e-04,-1.88093438e-04,-6.08130259e-05,
 -5.22409304e-04,-5.29739467e-04,-1.31334904e-04,-7.90180685e-06,
  2.10000000e-01,-5.49344630e-03, 9.00000000e-02, 3.58017112e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38761791,  0.38498951, -0.04506354,  0.38498951,  0.42212538,
        0.29480623, -0.04506354,  0.29480623,  2.906224  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.886353452411363e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71225120e-01,  2.38149463e-01, -2.56908663e-03,  2.38148630e-01,
        9.71228517e-01,  6.29951232e-04,  2.64519274e-03, -1.08420217e-19,
       -9.99996501e-01])
  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([ 0.10394969, -0.09034553,  0.14129197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009126101303983248
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.10595805e-01,  3.81186604e-01, -4.44557323e-01,  3.34222705e-01,
        9.24498119e-01,  1.83298693e-01,  4.80863416e-01,  2.77555756e-17,
       -8.76795515e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10373575, -0.08948713,  0.15006856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.62027961,   9.53398038,   4.67905514,   9.53398038,
        17.25839199, -13.5257293 ,   4.67905514, -13.5257293 ,
        38.18012532,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045989125034772495
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.14151895e-06,  6.11862572e-06,  1.00000000e+00,  1.31031529e-11,
        1.00000000e+00, -6.11862572e-06, -1.00000000e+00,  0.00000000e+00,
       -2.14151895e-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([ 0.0978118 , -0.05402892,  0.06198045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.87783925e-05,-4.28172720e-05,-1.52578696e-05, 1.29248194e-05,
  4.97007526e-05, 4.34069800e-05,-1.10958717e-05,-1.09686801e-06,
 -2.17338864e-05,-2.60730531e-06, 8.13241738e-06, 2.16017250e-05,
  2.64178044e-01, 4.43872463e-04, 9.00748805e-02, 3.55555006e-02,
 -2.09705274e-05, 1.29933762e-05,-9.80998813e+00,-1.18263918e-02,
 -2.39680906e-02, 4.80085275e-05]


--- Step 794 ---
qpos:
[-1.35644917e-02, 1.35356883e-02, 1.00550124e-02, 1.47168571e-02,
 -1.90718243e-02,-9.11214683e-03,-1.74620209e-02, 1.63053101e-02,
 -1.21403559e-02,-6.67632235e-03,-1.43107715e-02, 1.51101945e-02,
  1.40359780e+00, 3.21852994e-02, 2.83996037e-01,-3.19038950e-02,
  9.54129450e-02,-7.15192313e-02, 1.04551317e-01, 9.99916002e-01,
  9.74101110e-04,-1.41012712e-04,-1.29236229e-02]

qacc:
[ 5.85706934e+00, 9.20783629e-01,-6.18244722e+00, 1.56825247e+01,
 -3.95661382e+00, 6.56920398e-01,-1.76267012e+00, 1.59946281e+00,
  8.55173276e-01, 2.60203653e+00,-1.19853834e+01, 2.38045624e+01,
 -1.38848160e-01,-6.02911204e+00,-6.97587077e+01, 1.63163255e+02,
  8.07812317e-01, 4.01431696e-01, 8.60642979e-02,-9.39094961e+00,
  2.43434827e+01,-1.31603509e+01]

qfrc_actuator:
[ 5.98660701e-04,-5.48979265e-04,-1.93430727e-04,-2.08136864e-05,
 -5.97328477e-04,-6.67976769e-04,-1.93749295e-04,-6.10728969e-05,
 -5.16691450e-04,-5.40785675e-04,-1.59924446e-04, 2.27448614e-05,
  2.10000000e-01,-5.55320245e-03, 9.00000000e-02, 3.58432817e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38764978,  0.38227744,  0.06431419,  0.38227744,  0.39597904,
       -0.0495083 ,  0.06431419, -0.0495083 ,  0.68192239,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.923382798161661e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71216845e-01,  2.38182318e-01, -2.65025705e-03,  2.38181431e-01,
        9.71220461e-01,  6.49949617e-04,  2.72879038e-03,  0.00000000e+00,
       -9.99996277e-01])
  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([ 0.10394429, -0.09035155,  0.14129288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36385115, -0.32623945, -0.16110705, -0.32623945,  0.62409129,
       -0.52698251, -0.16110705, -0.52698251,  1.4309831 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009164950809957044
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.81083271,  0.38061197, -0.44461764,  0.33373094,  0.92473484,
        0.18300034,  0.48080555,  0.        , -0.87682725])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10372936, -0.08949308,  0.15006739])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.62227367,   9.27597714,   5.17580389,   9.27597714,
        17.49268202, -12.31301498,   5.17580389, -12.31301498,
        32.68942456,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046003946913961147
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.03330311e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.03330311e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08179625, -0.06237229,  0.06198044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.47528794e-05,-4.52411119e-05,-1.62942683e-05, 2.40638244e-05,
 -2.34014418e-05, 3.29353218e-05, 1.89029025e-06, 1.19036987e-06,
  5.12191224e-06,-9.89076426e-06,-2.73734823e-05, 3.12384517e-05,
  2.63928933e-01, 3.47900755e-04, 8.71841967e-02, 3.60579691e-02,
 -4.12133044e-06,-1.42479591e-06,-9.80999525e+00,-1.18240025e-02,
 -2.39688965e-02, 4.99190341e-05]


--- Step 795 ---
qpos:
[-1.35630730e-02, 1.35357243e-02, 1.00551675e-02, 1.47171116e-02,
 -1.90718288e-02,-9.11182926e-03,-1.74616168e-02, 1.63052665e-02,
 -1.21408904e-02,-6.67726140e-03,-1.43109263e-02, 1.51112909e-02,
  1.40359768e+00, 3.21786917e-02, 2.83976970e-01,-3.19008377e-02,
  9.54170712e-02,-7.15218325e-02, 1.04551840e-01, 9.99915183e-01,
  9.56108672e-04,-9.24926110e-05,-1.29886487e-02]

qacc:
[-2.55156399e+00,-1.22100784e+00, 3.92876682e+00,-5.04711845e+00,
 -5.62505803e+00, 1.14560111e+00,-5.19202099e+00, 1.12391513e+01,
 -2.40521003e+00, 1.19242657e+00,-4.02151439e+00, 4.45019143e+00,
  7.68230149e-03,-3.54538964e+00,-6.25189740e+01, 1.45059144e+02,
  6.93175534e-01, 2.32934454e-01, 3.59647872e-02,-8.39853463e+00,
  2.24053404e+01,-1.94108728e+01]

qfrc_actuator:
[ 5.82443279e-04,-5.60128160e-04,-1.79182441e-04,-2.32974243e-05,
 -6.29974233e-04,-6.61582035e-04,-1.97264282e-04,-4.33135586e-05,
 -5.30968930e-04,-5.29243004e-04,-1.76891725e-04, 2.25555070e-05,
  2.10000000e-01,-5.55061662e-03, 9.00000000e-02, 3.58835221e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38788949,  0.38166811,  0.06919327,  0.38166811,  0.39669222,
       -0.04855558,  0.06919327, -0.04855558,  0.65572068,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010197401186386361
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71213125e-01,  2.38197550e-01, -2.64436240e-03,  2.38196667e-01,
        9.71216725e-01,  6.48547980e-04,  2.72273153e-03,  0.00000000e+00,
       -9.99996293e-01])
  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([ 0.10394372, -0.09035324,  0.1412946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009196367005153505
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.81079913,  0.38040406, -0.44485674,  0.33350398,  0.92482039,
        0.18298181,  0.48101961,  0.        , -0.87670984])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10372937, -0.0894956 ,  0.15006484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004595962948901258
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.03912084e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.03912084e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08179768, -0.06237518,  0.06198046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52453093e-05,-3.88315448e-05, 3.70757708e-06,-4.52310287e-06,
 -3.33173251e-05, 2.52220039e-05, 3.55535107e-06, 1.92588028e-05,
 -1.41017433e-05, 1.71026631e-06,-2.12977319e-05,-9.52152678e-07,
  2.64117518e-01, 3.81664278e-04, 8.90631732e-02, 3.58655591e-02,
 -1.77570837e-06, 1.04998741e-06,-9.80999974e+00,-1.18241266e-02,
 -2.39687941e-02, 4.98151272e-05]


--- Step 796 ---
qpos:
[-1.35622046e-02, 1.35356730e-02, 1.00553767e-02, 1.47173118e-02,
 -1.90715352e-02,-9.11168767e-03,-1.74605453e-02, 1.63057784e-02,
 -1.21419361e-02,-6.67803245e-03,-1.43110716e-02, 1.51123408e-02,
  1.40360419e+00, 3.21733027e-02, 2.84027470e-01,-3.19073198e-02,
  9.54150602e-02,-7.15271300e-02, 1.04551570e-01, 9.99915426e-01,
  9.74805009e-04,-1.47251161e-04,-1.29680087e-02]

qacc:
[-4.76640469e+00,-3.68895042e-01, 1.39365511e+00,-2.37408503e+00,
  2.61160236e+00,-9.58471349e-01, 7.25302773e-01, 7.96350627e+00,
 -4.46536459e+00, 1.08531062e-01, 1.46338202e-01,-1.10515107e+00,
  4.61569042e-04, 1.22300574e+01, 1.31955550e+02,-3.11868413e+02,
 -1.53428140e+00,-6.74056035e-01,-1.98273376e-01, 1.90170108e+01,
 -5.13556743e+01, 4.28837903e+01]

qfrc_actuator:
[ 5.54570250e-04,-5.48867045e-04,-1.70832672e-04,-2.48546788e-05,
 -6.13666252e-04,-6.75739694e-04,-1.63996534e-04,-1.50999960e-05,
 -5.56909877e-04,-5.04251533e-04,-1.69029584e-04, 2.20066023e-05,
  2.10000000e-01,-5.51079768e-03, 9.00000000e-02, 3.58685982e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38828982,  0.37893249, -0.08472988,  0.37893249,  0.53014213,
        0.6343978 , -0.08472988,  0.6343978 ,  3.22547014,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010638662614298958
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71213585e-01,  2.38196616e-01, -2.55813666e-03,  2.38195790e-01,
        9.71216954e-01,  6.27397920e-04,  2.63394976e-03,  1.08420217e-19,
       -9.99996531e-01])
  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([ 0.10394706, -0.0903522 ,  0.14129688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009222017980318989
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.81056529,  0.38045302, -0.44524085,  0.33345797,  0.92480025,
        0.18316737,  0.48144543,  0.        , -0.87647607])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10373458, -0.08949588,  0.15006105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.61142173,   9.50983342,   4.70800801,   9.50983342,
        16.76548274, -12.43075522,   4.70800801, -12.43075522,
        35.72064227,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004592316418341874
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.04391620e-14,  1.51097905e-13,  1.00000000e+00, -9.13223077e-27,
        1.00000000e+00, -1.51097905e-13, -1.00000000e+00,  0.00000000e+00,
        6.04391620e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0997598 , -0.05303019,  0.06198048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83299540e-05,-9.93817143e-06, 6.12836292e-07,-3.18348831e-06,
  1.53402972e-05, 1.49460474e-06, 3.95832372e-05, 2.97936234e-05,
 -2.63099706e-05, 2.15251917e-05, 5.56671887e-06,-1.22935262e-06,
  2.64234847e-01, 4.31032581e-04, 9.07751261e-02, 3.56555934e-02,
 -1.71461650e-05, 1.01496768e-05,-9.80998780e+00,-1.18264917e-02,
 -2.39676111e-02, 4.76793885e-05]


--- Step 797 ---
qpos:
[-1.35616774e-02, 1.35358369e-02, 1.00552339e-02, 1.47178257e-02,
 -1.90707042e-02,-9.11179184e-03,-1.74589641e-02, 1.63062992e-02,
 -1.21429393e-02,-6.67873582e-03,-1.43110756e-02, 1.51130339e-02,
  1.40360688e+00, 3.21673081e-02, 2.84040614e-01,-3.19095058e-02,
  9.54162549e-02,-7.15308147e-02, 1.04551706e-01, 9.99915339e-01,
  9.76285101e-04,-1.52453988e-04,-1.29745513e-02]

qacc:
[-2.97264739e+00, 1.92062101e+00,-7.75007209e+00, 1.35748559e+01,
  4.68630608e+00,-1.73947836e+00, 5.67818742e+00,-6.14222824e+00,
  3.74426635e-01,-1.04049978e+00, 5.34505880e+00,-1.17945917e+01,
 -1.92441225e-01,-5.80316300e+00,-6.83417067e+01, 1.58700708e+02,
  8.01423776e-01, 4.03174265e-01, 1.01559467e-01,-8.93055545e+00,
  2.46508618e+01,-1.36151326e+01]

qfrc_actuator:
[ 5.37829174e-04,-5.24284904e-04,-1.83691491e-04,-8.08385015e-06,
 -5.86425068e-04,-7.01937965e-04,-1.44864891e-04,-1.64626298e-05,
 -5.53996758e-04,-5.06801668e-04,-1.64259890e-04, 3.53252051e-06,
  2.10000000e-01,-5.52098720e-03, 9.00000000e-02, 3.57969498e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38830235,  0.38451694,  0.05408737,  0.38451694,  0.39462267,
       -0.04493228,  0.05408737, -0.04493228,  0.70773404,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010652167061323938
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71206760e-01,  2.38223368e-01, -2.65626694e-03,  2.38222477e-01,
        9.71210393e-01,  6.51542509e-04,  2.73500670e-03, -1.08420217e-19,
       -9.99996260e-01])
  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([ 0.10394172, -0.09035837,  0.1412976 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36497703, -0.33139294, -0.15292793, -0.33139294,  0.57728355,
       -0.46006561, -0.15292793, -0.46006561,  1.36193352,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009259175108303519
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.10821755e-01,  3.79863739e-01, -4.45277016e-01,  3.32959620e-01,
        9.25042453e-01,  1.82850627e-01,  4.81358466e-01,  2.77555756e-17,
       -8.76523832e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10372805, -0.08950201,  0.15006003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.61505745,   9.28717787,   5.14079486,   9.28717787,
        16.53932933, -10.70257971,   5.14079486, -10.70257971,
        29.94995879,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004595026154865303
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.04035204e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.04035204e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08180111, -0.0623818 ,  0.06198047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75625379e-05, 1.89735569e-05,-1.49552113e-05, 1.63035080e-05,
  2.76617127e-05,-1.59150476e-05, 2.53433763e-05, 6.49724504e-07,
  2.19419593e-06, 1.06149963e-05, 9.87306544e-06,-1.73795716e-05,
  2.63902560e-01, 3.60906190e-04, 8.72968512e-02, 3.60609230e-02,
 -7.81917700e-06, 8.66702450e-07,-9.80999086e+00,-1.18246421e-02,
 -2.39692558e-02, 4.99020733e-05]


--- Step 798 ---
qpos:
[-1.35610104e-02, 1.35357679e-02, 1.00556872e-02, 1.47181829e-02,
 -1.90695535e-02,-9.11178908e-03,-1.74578045e-02, 1.63064743e-02,
 -1.21435546e-02,-6.67937015e-03,-1.43109742e-02, 1.51128122e-02,
  1.40360725e+00, 3.21611343e-02, 2.84020124e-01,-3.19084026e-02,
  9.54201799e-02,-7.15336035e-02, 1.04552040e-01, 9.99914750e-01,
  9.62546940e-04,-1.12221210e-04,-1.30213104e-02]

qacc:
[ 1.23501810e+00,-2.30001209e+00, 8.41190485e+00,-1.19034496e+01,
  2.76126122e+00, 6.02372202e-01,-4.92380795e-01,-4.88596946e+00,
  3.38681208e+00,-2.09315853e+00, 1.14475737e+01,-2.74899142e+01,
 -2.53308357e-02,-3.28087388e+00,-5.97629445e+01, 1.36738285e+02,
  6.82576495e-01, 2.24007064e-01, 4.97485055e-02,-7.90605593e+00,
  2.25974850e+01,-2.01308259e+01]

qfrc_actuator:
[ 5.45531039e-04,-5.45235576e-04,-1.55633228e-04,-1.61678494e-05,
 -5.70735221e-04,-6.99715178e-04,-1.69829504e-04,-3.52464785e-05,
 -5.34120511e-04,-5.08091004e-04,-1.61481265e-04,-4.31204027e-05,
  2.10000000e-01,-5.55984494e-03, 9.00000000e-02, 3.57522575e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38853876,  0.38413966,  0.05830167,  0.38413966,  0.3952877 ,
       -0.04446761,  0.05830167, -0.04446761,  0.6815282 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010903652285842193
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71204459e-01,  2.38232642e-01, -2.66573236e-03,  2.38231745e-01,
        9.71208118e-01,  6.53891224e-04,  2.74475915e-03,  0.00000000e+00,
       -9.99996233e-01])
  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([ 0.10394119, -0.0903603 ,  0.14129916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009288807841652325
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.10809305e-01,  3.79634875e-01, -4.45494818e-01,  3.32720114e-01,
        9.25136402e-01,  1.82811280e-01,  4.81545010e-01,  5.55111512e-17,
       -8.76421362e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1037279 , -0.08950479,  0.15005761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045948382061566234
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20811982e-13,  1.51014978e-14,  1.00000000e+00, -1.82444189e-27,
        1.00000000e+00, -1.51014978e-14, -1.00000000e+00,  0.00000000e+00,
        1.20811982e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08180286, -0.06238519,  0.06198047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.19647288e-06,-1.27558329e-05, 3.06943842e-05,-7.47145154e-06,
  1.64637936e-05,-1.43480893e-06,-2.51183511e-05,-1.85792103e-05,
  1.99671219e-05, 5.98035764e-06, 5.59822152e-06,-4.61924902e-05,
  2.64094149e-01, 3.52579489e-04, 8.91645546e-02, 3.58014018e-02,
 -1.40791342e-07,-3.03243112e-08,-9.81000001e+00,-1.18239672e-02,
 -2.39692066e-02, 5.01974264e-05]


--- Step 799 ---
qpos:
[-1.35602563e-02, 1.35352979e-02, 1.00568978e-02, 1.47181057e-02,
 -1.90682237e-02,-9.11146265e-03,-1.74571220e-02, 1.63070895e-02,
 -1.21435817e-02,-6.67982985e-03,-1.43109140e-02, 1.51123753e-02,
  1.40360657e+00, 3.21551984e-02, 2.83969376e-01,-3.19049398e-02,
  9.54264554e-02,-7.15360500e-02, 1.04552392e-01, 9.99913511e-01,
  9.35028737e-04,-2.98614544e-05,-1.31185452e-02]

qacc:
[ 7.84485951e-01,-3.54338987e+00, 1.36958929e+01,-2.21262648e+01,
  1.53361405e+00, 2.66299040e+00,-1.07391602e+01, 1.88894038e+01,
  5.13069258e+00,-1.06973763e-01, 1.60805402e+00,-5.37823200e+00,
  4.06113039e-02,-6.23038341e-01,-5.19299889e+01, 1.16646353e+02,
  5.87620586e-01, 8.55566805e-02, 4.28505176e-03,-7.16622690e+00,
  2.09476472e+01,-2.52594180e+01]

qfrc_actuator:
[ 5.49801400e-04,-5.75391274e-04,-1.21584669e-04,-3.88196427e-05,
 -5.61973482e-04,-6.62941500e-04,-1.85019076e-04,-1.08741173e-05,
 -5.04428687e-04,-4.90899670e-04,-1.59917944e-04,-5.27219353e-05,
  2.10000000e-01,-5.52732469e-03, 9.00000000e-02, 3.57762852e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38894468,  0.38390664,  0.06239918,  0.38390664,  0.3958565 ,
       -0.04252446,  0.06239918, -0.04252446,  0.65057345,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011321845361264454
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71206295e-01,  2.38225953e-01, -2.59369537e-03,  2.38225104e-01,
        9.71209759e-01,  6.36201960e-04,  2.67058207e-03,  0.00000000e+00,
       -9.99996434e-01])
  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([ 0.10394451, -0.09035962,  0.14130129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009313034979022506
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.10600920e-01,  3.79651316e-01, -4.45859874e-01,  3.32651434e-01,
        9.25129655e-01,  1.82970341e-01,  4.81943122e-01,  2.77555756e-17,
       -8.76202504e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10373288, -0.08950546,  0.15005393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045828213444481375
  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([ 0.08180391, -0.06238762,  0.06198052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.46889705e-06,-3.12899042e-05, 3.49280333e-05,-2.22833824e-05,
  9.22296261e-06, 2.99508455e-05,-1.92372335e-05, 2.30768173e-05,
  3.02898002e-05, 1.97436484e-05, 1.89673216e-06,-1.00498467e-05,
  2.64209879e-01, 3.93645333e-04, 9.08460060e-02, 3.56609232e-02,
 -9.78688589e-06, 5.54793802e-06,-9.80999243e+00,-1.18255505e-02,
 -2.39680424e-02, 4.85021478e-05]


--- Step 800 ---
qpos:
[-1.35594570e-02, 1.35348874e-02, 1.00580574e-02, 1.47180999e-02,
 -1.90664547e-02,-9.11103281e-03,-1.74562785e-02, 1.63076300e-02,
 -1.21439417e-02,-6.68037716e-03,-1.43104930e-02, 1.51125227e-02,
  1.40361413e+00, 3.21511242e-02, 2.83991172e-01,-3.19130148e-02,
  9.54261986e-02,-7.15414564e-02, 1.04551910e-01, 9.99913233e-01,
  9.50376100e-04,-5.06128738e-05,-1.31385054e-02]

qacc:
[ 3.89196547e-01, 3.67541144e-01,-1.49889859e+00, 2.77359947e+00,
  3.81791750e+00,-4.74683050e-01, 2.19409002e+00,-3.80928452e+00,
 -2.89330709e+00, 8.46419424e-02,-2.92793360e+00, 1.25212218e+01,
 -1.82164943e-02, 1.64860089e+01, 1.42457808e+02,-3.42100586e+02,
 -1.63308214e+00,-7.39984215e-01,-2.08686315e-01, 2.21079673e+01,
 -5.12338205e+01, 3.86878166e+01]

qfrc_actuator:
[ 5.52009761e-04,-5.57550758e-04,-1.19846720e-04,-3.43665985e-05,
 -5.39603057e-04,-6.58954704e-04,-1.76366959e-04,-1.45135668e-05,
 -5.22461016e-04,-4.98258396e-04,-1.41226580e-04,-2.26736198e-05,
  2.10000000e-01,-5.47007566e-03, 9.00000000e-02, 3.57523957e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38948259,  0.37772517, -0.09497573,  0.37772517,  0.56974461,
        0.71691475, -0.09497573,  0.71691475,  3.24070313,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011852162027916816
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71211875e-01,  2.38204765e-01, -2.44596438e-03,  2.38204010e-01,
        9.71214956e-01,  5.99908772e-04,  2.51845832e-03,  0.00000000e+00,
       -9.99996829e-01])
  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([ 0.10395089, -0.09035759,  0.14130378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000933421632201364
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.10252360e-01,  3.79824003e-01, -4.46346098e-01,  3.32685128e-01,
        9.25058769e-01,  1.83267234e-01,  4.82505667e-01, -2.77555756e-17,
       -8.75892848e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10374202, -0.08950501,  0.15004908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.62161859,  9.48615201,  4.77825297,  9.48615201, 15.29809313,
       -9.28409372,  4.77825297, -9.28409372, 29.0531091 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004599907879051651
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.50848541e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.50848541e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09976851, -0.05304753,  0.06198045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.32884895e-06, 6.57699864e-06,-1.20282219e-06, 3.88534453e-06,
  2.26249762e-05, 1.77055130e-05, 1.32514025e-05,-2.57592703e-06,
 -1.71406213e-05, 3.65608801e-06, 2.26550217e-05, 3.07633824e-05,
  2.64262702e-01, 4.37991011e-04, 9.23586620e-02, 3.55189916e-02,
 -4.17318377e-05, 2.39634892e-05,-9.80996823e+00,-1.18299364e-02,
 -2.39661268e-02, 4.49926255e-05]


--- Step 801 ---
qpos:
[-1.35582925e-02, 1.35344519e-02, 1.00592752e-02, 1.47178052e-02,
 -1.90640868e-02,-9.11055715e-03,-1.74549844e-02, 1.63074190e-02,
 -1.21455492e-02,-6.68102793e-03,-1.43095070e-02, 1.51126714e-02,
  1.40362156e+00, 3.21461008e-02, 2.84061262e-01,-3.19271279e-02,
  9.54201325e-02,-7.15491859e-02, 1.04550690e-01, 9.99914163e-01,
  9.96189216e-04,-1.75349857e-04,-1.30630369e-02]

qacc:
[ 3.16789532e+00,-7.97053595e-01, 4.00268099e+00,-9.06512215e+00,
  5.21200728e+00,-2.75420908e+00, 1.30641150e+01,-2.68048619e+01,
 -1.08690074e+01,-1.69162732e+00, 5.86505864e+00,-6.71105900e+00,
 -3.83218969e-01,-1.64521727e+00, 8.97454394e+01,-2.10220937e+02,
 -1.45231171e+00,-5.80774809e-01,-1.84222089e-01, 1.59165034e+01,
 -5.17427564e+01, 4.77667669e+01]

qfrc_actuator:
[ 5.70740581e-04,-5.64470662e-04,-1.19237222e-04,-4.94879142e-05,
 -5.09399411e-04,-6.56796602e-04,-1.53857093e-04,-5.23737681e-05,
 -5.86194514e-04,-5.02402146e-04,-1.12644062e-04,-2.28069338e-05,
  2.10000000e-01,-5.45296621e-03, 9.00000000e-02, 3.57659673e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38955864,  0.35456654, -0.16136449,  0.35456654,  0.38244491,
       -0.01563099, -0.16136449, -0.01563099,  0.35521262,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011925125869640708
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71209810e-01,  2.38212840e-01, -2.47951706e-03,  2.38212064e-01,
        9.71212975e-01,  6.08159915e-04,  2.55301064e-03,  0.00000000e+00,
       -9.99996741e-01])
  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([ 0.10394803, -0.09036387,  0.14130454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36613459,  0.35368719,  0.09465681,  0.35368719,  0.404689  ,
       -0.14405938,  0.09465681, -0.14405938,  0.90441554,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009369871412054154
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.10434280e-01,  3.79272961e-01, -4.46484376e-01,  3.32195880e-01,
        9.25284832e-01,  1.83013323e-01,  4.82537226e-01, -2.77555756e-17,
       -8.75875462e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10373874, -0.08951139,  0.15004676])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.61806266, -10.35467331,  -2.35031814, -10.35467331,
        15.15623592, -19.9935918 ,  -2.35031814, -19.9935918 ,
        98.7027809 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004597263475043731
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.50935311e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.50935311e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09977082, -0.05305174,  0.06198046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.88014432e-05,-3.35219030e-06, 1.94570986e-06,-1.48072113e-05,
  3.08340936e-05, 1.46293227e-05, 2.76885700e-05,-3.66979557e-05,
 -6.42107820e-05, 3.90690455e-06, 3.31978962e-05, 1.40753749e-06,
  2.63850670e-01, 3.62429686e-04, 8.87313844e-02, 3.61094355e-02,
 -1.00519568e-06,-8.16412433e-07,-9.80999990e+00,-1.18248516e-02,
 -2.39649700e-02, 4.64557872e-05]


--- Step 802 ---
qpos:
[-1.35572573e-02, 1.35339904e-02, 1.00605170e-02, 1.47169890e-02,
 -1.90620653e-02,-9.10996121e-03,-1.74537412e-02, 1.63071267e-02,
 -1.21479082e-02,-6.68137268e-03,-1.43088471e-02, 1.51121361e-02,
  1.40362427e+00, 3.21401485e-02, 2.84094045e-01,-3.19367957e-02,
  9.54176951e-02,-7.15545781e-02, 1.04550242e-01, 9.99914897e-01,
  1.02398042e-03,-2.45657992e-04,-1.30034640e-02]

qacc:
[-1.11955932e+00,-1.17347984e+00, 6.33995574e+00,-1.53904515e+01,
 -3.01124227e+00, 1.39400391e-01, 8.74901081e-02,-1.51458074e+00,
 -6.57611087e+00,-7.95896384e-02, 3.78110030e+00,-1.53483311e+01,
 -2.81506091e-01,-7.58221032e+00,-6.87358872e+01, 1.60146972e+02,
  9.07175670e-01, 5.84338543e-01, 1.92820844e-01,-9.36698315e+00,
  2.70864429e+01,-7.97394139e+00]

qfrc_actuator:
[ 5.63541530e-04,-5.68433392e-04,-1.19393601e-04,-7.60221722e-05,
 -5.28088929e-04,-6.55719500e-04,-1.58891762e-04,-5.68020804e-05,
 -6.23043169e-04,-4.86813381e-04,-1.31733225e-04,-5.84524028e-05,
  2.10000000e-01,-5.45787424e-03, 9.00000000e-02, 3.58543889e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38907692,  0.38780987,  0.03137443,  0.38780987,  0.39172205,
       -0.03269566,  0.03137443, -0.03269566,  0.79321806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011454612498456026
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71205001e-01,  2.38230028e-01, -2.70163908e-03,  2.38229107e-01,
        9.71208759e-01,  6.62691259e-04,  2.78172850e-03,  0.00000000e+00,
       -9.99996131e-01])
  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([ 0.10393763, -0.09037729,  0.14130399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36645563, -0.34876346, -0.112489  , -0.34876346,  0.50471772,
       -0.42867094, -0.112489  , -0.42867094,  1.69551682,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009404068706825127
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.81112783,  0.37813408, -0.44619083,  0.33131493,  0.92575084,
        0.18225202,  0.48197723,  0.        , -0.87618374])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10372468, -0.08952315,  0.1500489 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.63212603,  9.33606082,  5.08724604,  9.33606082, 15.56269865,
       -9.04853541,  5.08724604, -9.04853541, 27.23790374,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004607703478665265
  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([ 0.08181063, -0.06239969,  0.06198041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.65532167e-06,-6.10571118e-06,-1.13517599e-06,-2.69020434e-05,
 -1.78282156e-05, 1.33290652e-05, 9.89529677e-08,-3.56406033e-06,
 -3.86760622e-05, 2.47279080e-05,-1.41231189e-05,-3.42957133e-05,
  2.63856744e-01, 4.06338476e-04, 8.63167954e-02, 3.64997747e-02,
 -5.13509980e-05, 1.55466096e-05,-9.80994403e+00,-1.18281453e-02,
 -2.39723569e-02, 5.11315352e-05]


--- Step 803 ---
qpos:
[-1.35566611e-02, 1.35337757e-02, 1.00615759e-02, 1.47165308e-02,
 -1.90609735e-02,-9.10943413e-03,-1.74524576e-02, 1.63064565e-02,
 -1.21496562e-02,-6.68160900e-03,-1.43086763e-02, 1.51119060e-02,
  1.40362350e+00, 3.21335770e-02, 2.84091583e-01,-3.19421344e-02,
  9.54184179e-02,-7.15583392e-02, 1.04550318e-01, 9.99915286e-01,
  1.03494400e-03,-2.66200484e-04,-1.29722479e-02]

qacc:
[-3.81614766e+00, 1.58234517e+00,-6.66712661e+00, 1.29604015e+01,
 -8.06963292e+00,-9.65732021e-01, 4.93454068e+00,-1.15188964e+01,
  5.31634092e+00, 2.12782097e+00,-8.68594034e+00, 1.46905268e+01,
 -6.22196243e-02,-6.03921468e+00,-6.53239579e+01, 1.52663068e+02,
  7.90028726e-01, 4.07769964e-01, 1.31090196e-01,-8.73996337e+00,
  2.47567347e+01,-1.42028148e+01]

qfrc_actuator:
[ 5.41132923e-04,-5.35105538e-04,-1.19998495e-04,-5.57980465e-05,
 -5.75408664e-04,-6.73136416e-04,-1.62379317e-04,-7.70459323e-05,
 -5.90499905e-04,-4.95258455e-04,-1.61007643e-04,-4.37098864e-05,
  2.10000000e-01,-5.51113872e-03, 9.00000000e-02, 3.59263945e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38893933,  0.38687459,  0.0400232 ,  0.38687459,  0.3928855 ,
       -0.03814471,  0.0400232 , -0.03814471,  0.75765597,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001131643298257478
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71204294e-01,  2.38231472e-01, -2.82590714e-03,  2.38230464e-01,
        9.71208405e-01,  6.93177711e-04,  2.90968151e-03, -1.08420217e-19,
       -9.99995767e-01])
  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([ 0.10393284, -0.09038474,  0.14130457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009431321629324164
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.11473203e-01,  3.77468628e-01, -4.46126300e-01,  3.30775677e-01,
        9.26022373e-01,  1.81851635e-01,  4.81766222e-01, -2.77555756e-17,
       -8.76299782e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1037181 , -0.08953029,  0.15004931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.65779559,  -8.71728086,  -6.13168992,  -8.71728086,
        41.21948582, -43.44884375,  -6.13168992, -43.44884375,
        72.42800559,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046266335426106003
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49977167e-14,  2.24965750e-14,  1.00000000e+00, -3.37397258e-28,
        1.00000000e+00, -2.24965750e-14, -1.00000000e+00,  0.00000000e+00,
        1.49977167e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181358, -0.06240474,  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:
[-2.25975444e-05, 2.84860021e-05,-2.94802029e-06, 1.93975990e-05,
 -4.78639320e-05,-1.01752907e-05,-8.68527226e-07,-1.97423943e-05,
  3.14521685e-05, 1.06834106e-06,-2.70642228e-05, 1.46529033e-05,
  2.64092969e-01, 4.00126362e-04, 8.81821244e-02, 3.63495092e-02,
 -2.14451911e-05, 9.38565088e-06,-9.80997917e+00,-1.18242438e-02,
 -2.39739770e-02, 5.45370007e-05]


--- Step 804 ---
qpos:
[-1.35559936e-02, 1.35338293e-02, 1.00625609e-02, 1.47166527e-02,
 -1.90604582e-02,-9.10890052e-03,-1.74512884e-02, 1.63062409e-02,
 -1.21506558e-02,-6.68202958e-03,-1.43082240e-02, 1.51125293e-02,
  1.40362064e+00, 3.21267777e-02, 2.84057202e-01,-3.19440100e-02,
  9.54218467e-02,-7.15611594e-02, 1.04550695e-01, 9.99915174e-01,
  1.03078769e-03,-2.41101633e-04,-1.29817196e-02]

qacc:
[ 6.12292889e-01, 1.75529119e+00,-8.19550645e+00, 1.81595553e+01,
 -5.00960639e+00, 1.27358967e+00,-6.43161777e+00, 1.44604773e+01,
  6.54542375e+00, 7.13667359e-01,-6.52367516e+00, 2.10041796e+01,
  9.25980076e-02,-3.73677859e+00,-5.77608616e+01, 1.33395482e+02,
  6.76528811e-01, 2.35225925e-01, 7.52126533e-02,-7.86049744e+00,
  2.26995473e+01,-2.03670162e+01]

qfrc_actuator:
[ 5.45465399e-04,-5.15171058e-04,-1.20675314e-04,-2.59424653e-05,
 -6.03679440e-04,-6.66003447e-04,-1.65009559e-04,-5.31921714e-05,
 -5.52888709e-04,-5.00296043e-04,-1.42841853e-04, 5.49816047e-07,
  2.10000000e-01,-5.54009729e-03, 9.00000000e-02, 3.58981252e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38904816,  0.3862815 ,  0.04631491,  0.3862815 ,  0.39386558,
       -0.04017894,  0.04631491, -0.04017894,  0.7241536 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011425871774036064
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71207576e-01,  2.38217672e-01, -2.86092566e-03,  2.38216638e-01,
        9.71211790e-01,  7.01724440e-04,  2.94572789e-03,  1.08420217e-19,
       -9.99995661e-01])
  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([ 0.10393274, -0.0903879 ,  0.14130601])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009450913677957396
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.11548885e-01,  3.77164747e-01, -4.46245628e-01,  3.30496023e-01,
        9.26146184e-01,  1.81729540e-01,  4.81830661e-01,  2.77555756e-17,
       -8.76264352e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1037178 , -0.08953403,  0.15004827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046295829329783683
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.4988162e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.4988162e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181556, -0.06240849,  0.06198032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.68640251e-06, 3.60572483e-05, 5.51028441e-06, 3.13514833e-05,
 -2.96844172e-05, 3.61219746e-07,-5.53301065e-06, 2.30029959e-05,
  3.85200365e-05,-9.32769041e-06, 1.55790124e-05, 4.36567771e-05,
  2.64266777e-01, 4.02046445e-04, 8.99442166e-02, 3.61047412e-02,
 -3.78000774e-06, 2.15968750e-06,-9.80999727e+00,-1.18219219e-02,
 -2.39739332e-02, 5.57362729e-05]


--- Step 805 ---
qpos:
[-1.35552798e-02, 1.35341342e-02, 1.00635381e-02, 1.47171288e-02,
 -1.90602870e-02,-9.10820430e-03,-1.74508125e-02, 1.63066781e-02,
 -1.21511966e-02,-6.68227250e-03,-1.43079148e-02, 1.51126245e-02,
  1.40361705e+00, 3.21201987e-02, 2.83994736e-01,-3.19437262e-02,
  9.54275775e-02,-7.15636594e-02, 1.04551171e-01, 9.99914408e-01,
  1.01330756e-03,-1.73852136e-04,-1.30429914e-02]

qacc:
[ 3.96807251e-01, 1.08252634e+00,-4.87442394e+00, 1.08332011e+01,
 -3.01111592e+00, 3.50025889e+00,-1.49159706e+01, 2.71935740e+01,
  3.99697840e+00,-4.59991381e-01, 4.19694526e+00,-1.32235584e+01,
  1.51564052e-01,-8.25267956e-01,-4.81115635e+01, 1.07946482e+02,
  5.75468483e-01, 8.00529094e-02, 2.49080163e-02,-6.94084426e+00,
  2.09602763e+01,-2.59222765e+01]

qfrc_actuator:
[ 5.47755051e-04,-5.03392711e-04,-1.21430956e-04,-8.42595027e-06,
 -6.20502055e-04,-6.61941030e-04,-2.02491955e-04,-2.13138049e-05,
 -5.30371229e-04,-4.85287163e-04,-1.50044865e-04,-2.69135987e-05,
  2.10000000e-01,-5.48360557e-03, 9.00000000e-02, 3.58088256e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38933807,  0.38586391,  0.05189586,  0.38586391,  0.3947362 ,
       -0.04013697,  0.05189586, -0.04013697,  0.68777054,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011712168807217162
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71214535e-01,  2.38189859e-01, -2.81400257e-03,  2.38188859e-01,
        9.71218611e-01,  6.90129768e-04,  2.89739358e-03,  1.08420217e-19,
       -9.99995803e-01])
  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([ 0.10393641, -0.09038835,  0.14130802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009464998836873977
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.81142535,  0.37711228, -0.44651453,  0.33039213,  0.92616755,
        0.18180956,  0.48210989,  0.        , -0.87611075])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10372258, -0.08953559,  0.15004595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004619619209895731
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.51024445e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.51024445e-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([ 0.08181679, -0.06241121,  0.06198036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.39326021e-06, 3.44019738e-05, 8.44927834e-06, 1.98610830e-05,
 -1.77106015e-05, 4.07821377e-06,-3.72981964e-05, 3.21501451e-05,
  2.36236542e-05, 1.49319606e-05,-5.69001409e-06,-2.64738884e-05,
  2.64371180e-01, 4.69217572e-04, 9.15399268e-02, 3.58422356e-02,
 -1.69331687e-06, 3.82944439e-07,-9.80999829e+00,-1.18218890e-02,
 -2.39727386e-02, 5.49401279e-05]


--- Step 806 ---
qpos:
[-1.35545444e-02, 1.35344331e-02, 1.00649257e-02, 1.47174700e-02,
 -1.90596299e-02,-9.10759497e-03,-1.74507041e-02, 1.63075039e-02,
 -1.21514629e-02,-6.68212699e-03,-1.43080919e-02, 1.51123869e-02,
  1.40361378e+00, 3.21142304e-02, 2.83907249e-01,-3.19422990e-02,
  9.54353051e-02,-7.15662766e-02, 1.04551576e-01, 9.99912863e-01,
  9.83504138e-04,-6.71835839e-05,-1.31641711e-02]

qacc:
[ 2.00296220e-01,-1.43331120e+00, 5.66764483e+00,-8.65265894e+00,
  4.20930656e+00, 1.70347401e+00,-7.89598924e+00, 1.52890842e+01,
  2.37342226e+00, 1.18193198e+00,-2.07183220e+00,-3.19018965e+00,
  1.49831729e-01, 1.80409039e+00,-4.04752261e+01, 8.78786030e+01,
  4.99215795e-01,-2.92920957e-02,-1.79116230e-02,-6.42300375e+00,
  1.95970539e+01,-2.99753059e+01]

qfrc_actuator:
[ 5.48815568e-04,-5.14351083e-04,-1.04517980e-04,-1.60716002e-05,
 -5.94952416e-04,-6.77632261e-04,-2.24755873e-04,-2.75333876e-06,
 -5.16919719e-04,-4.58538638e-04,-1.72157102e-04,-4.31129431e-05,
  2.10000000e-01,-5.44721106e-03, 9.00000000e-02, 3.58070945e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.3897632 ,  0.38576615,  0.05567611,  0.38576615,  0.39515292,
       -0.03734404,  0.05567611, -0.03734404,  0.64851094,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012119104039755241
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71224767e-01,  2.38149554e-01, -2.69115082e-03,  2.38148640e-01,
        9.71228495e-01,  6.59882170e-04,  2.77087300e-03,  0.00000000e+00,
       -9.99996161e-01])
  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([ 0.10394302, -0.09038746,  0.1413104 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009476757840490005
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.11162067e-01,  3.77212087e-01, -4.46908426e-01,  3.30386835e-01,
        9.26126903e-01,  1.82026091e-01,  4.82556359e-01, -2.77555756e-17,
       -8.75864921e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10373139, -0.08953604,  0.1500424 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004599387099500987
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.03462483e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.03462483e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818174 , -0.06241311,  0.06198045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11681295e-06, 1.08530409e-05, 2.57401988e-05,-5.49387593e-06,
  2.50094009e-05,-1.97494398e-05,-2.49048852e-05, 1.80705979e-05,
  1.41396680e-05, 3.28169653e-05,-2.06396464e-05,-1.62714143e-05,
  2.64407988e-01, 4.93339902e-04, 9.29438128e-02, 3.57324505e-02,
 -2.06755705e-05, 1.08090006e-05,-9.80998247e+00,-1.18246805e-02,
 -2.39707601e-02, 5.23487242e-05]


--- Step 807 ---
qpos:
[-1.35538025e-02, 1.35347138e-02, 1.00665526e-02, 1.47177308e-02,
 -1.90583271e-02,-9.10756506e-03,-1.74504233e-02, 1.63096080e-02,
 -1.21519106e-02,-6.68178221e-03,-1.43082583e-02, 1.51126371e-02,
  1.40362037e+00, 3.21106562e-02, 2.83896201e-01,-3.19534795e-02,
  9.54362017e-02,-7.15719950e-02, 1.04551048e-01, 9.99912190e-01,
  1.00017467e-03,-6.39175604e-05,-1.32139234e-02]

qacc:
[ 6.41645019e-02,-8.59128381e-01, 3.36789860e+00,-5.12975869e+00,
  5.62203863e+00, 1.37215475e+00,-1.14212877e+01, 3.37201516e+01,
 -1.58549021e+00, 1.24092208e+00,-6.09752575e+00, 1.43735029e+01,
  8.45293005e-02, 1.98059889e+01, 1.51490492e+02,-3.65258125e+02,
 -1.70773801e+00,-7.75309031e-01,-2.33204160e-01, 2.39175255e+01,
 -5.13557099e+01, 3.57655938e+01]

qfrc_actuator:
[ 5.49144734e-04,-5.21042092e-04,-9.51714438e-05,-2.07145673e-05,
 -5.62424399e-04,-7.22743860e-04,-2.20184344e-04, 6.10773967e-05,
 -5.26659571e-04,-4.42780783e-04,-1.67309243e-04,-1.70324650e-05,
  2.10000000e-01,-5.49436397e-03, 9.00000000e-02, 3.58225516e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39029023,  0.37498451, -0.10822697,  0.37498451,  0.61629779,
        0.78307039, -0.10822697,  0.78307039,  3.10347045,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012604301104297412
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71237930e-01,  2.38097980e-01, -2.49723676e-03,  2.38097193e-01,
        9.71241140e-01,  6.12193001e-04,  2.57118100e-03, -1.08420217e-19,
       -9.99996695e-01])
  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([ 0.10395194, -0.09038621,  0.14131297])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009488556834369873
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.10802106e-01,  3.77394197e-01, -4.47407604e-01,  3.30426127e-01,
        9.26052709e-01,  1.82331990e-01,  4.83134059e-01, -2.77555756e-17,
       -8.75546390e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10374344, -0.08953615,  0.15003767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.60406093,  9.45413333,  4.80265251,  9.45413333, 14.49452338,
       -7.65846595,  4.80265251, -7.65846595, 25.67992951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045868201935096026
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.05895272e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.05895272e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09978247, -0.0530736 ,  0.0619805 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.36510050e-07, 4.43597619e-06, 1.45618479e-05,-3.39542962e-06,
  3.32162222e-05,-6.05403832e-05,-1.95907905e-06, 6.24717842e-05,
 -9.32456078e-06, 2.91629334e-05, 8.52361313e-06, 2.64559313e-05,
  2.64392596e-01, 4.13895470e-04, 9.41944758e-02, 3.56906475e-02,
 -6.61586709e-05, 3.86999726e-05,-9.80995024e+00,-1.18305941e-02,
 -2.39682362e-02, 4.80946100e-05]


--- Step 808 ---
qpos:
[-1.35537526e-02, 1.35350349e-02, 1.00679823e-02, 1.47183023e-02,
 -1.90573343e-02,-9.10793268e-03,-1.74498048e-02, 1.63117350e-02,
 -1.21524716e-02,-6.68121661e-03,-1.43083372e-02, 1.51124987e-02,
  1.40362996e+00, 3.21072355e-02, 2.83946063e-01,-3.19726039e-02,
  9.54312378e-02,-7.15799969e-02, 1.04549784e-01, 9.99912734e-01,
  1.04789951e-03,-1.64782269e-04,-1.31681026e-02]

qacc:
[-6.00545435e+00, 1.25687919e+00,-5.69602251e+00, 1.13394283e+01,
 -2.67415825e+00,-1.41599435e+00, 4.19935181e+00,-4.06095005e+00,
 -9.90893010e-01,-7.50670156e-01, 4.74453222e+00,-1.17775277e+01,
 -3.73398078e-01, 5.92568740e+00, 1.14262131e+02,-2.68697094e+02,
 -1.46512831e+00,-5.70884387e-01,-1.83889300e-01, 1.62162239e+01,
 -5.18077857e+01, 4.78414645e+01]

qfrc_actuator:
[ 5.13536290e-04,-5.25158113e-04,-1.08110576e-04,-5.80373890e-06,
 -5.79321371e-04,-7.31722510e-04,-1.99904662e-04, 6.22618831e-05,
 -5.32215624e-04,-4.33583551e-04,-1.64340383e-04,-3.72822956e-05,
  2.10000000e-01,-5.52266250e-03, 9.00000000e-02, 3.58261100e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39030647,  0.35471555, -0.1628374 ,  0.35471555,  0.43342673,
        0.09393067, -0.1628374 ,  0.09393067,  0.59491959,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012618941356532258
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71242689e-01,  2.38078709e-01, -2.48356027e-03,  2.38077930e-01,
        9.71245864e-01,  6.08787996e-04,  2.55708710e-03,  1.08420217e-19,
       -9.99996731e-01])
  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([ 0.10395112, -0.09039389,  0.14131366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36742314,  0.35483399,  0.09535513,  0.35483399,  0.44484758,
       -0.28811063,  0.09535513, -0.28811063,  1.43953588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009521254021406484
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.10993317e-01,  3.76801319e-01, -4.47560728e-01,  3.29898841e-01,
        9.26294103e-01,  1.82060397e-01,  4.83173461e-01,  2.77555756e-17,
       -8.75524646e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10374251, -0.08954365,  0.15003521])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.60314291, -10.31201421,  -2.46759044, -10.31201421,
        15.25865216, -19.45528593,  -2.46759044, -19.45528593,
        91.90641834,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045861337684656445
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.05206412e-14,  9.07809618e-14,  1.00000000e+00, -5.49412201e-27,
        1.00000000e+00, -9.07809618e-14, -1.00000000e+00,  0.00000000e+00,
        6.05206412e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09978495, -0.0530783 ,  0.0619805 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.56274406e-05, 1.20297829e-06,-1.03534238e-05, 1.55374655e-05,
 -1.59733148e-05,-4.05960058e-05, 9.67875243e-06,-2.66066587e-07,
 -5.82547896e-06, 2.84114602e-05, 1.09634759e-05,-1.81889959e-05,
  2.63899818e-01, 2.65628848e-04, 9.03723567e-02, 3.63245400e-02,
 -4.36287929e-06, 3.93472314e-06,-9.81000122e+00,-1.18231699e-02,
 -2.39651584e-02, 4.91785188e-05]


--- Step 809 ---
qpos:
[-1.35541303e-02, 1.35352713e-02, 1.00690296e-02, 1.47190776e-02,
 -1.90572413e-02,-9.10844593e-03,-1.74487496e-02, 1.63134746e-02,
 -1.21534401e-02,-6.68069212e-03,-1.43079584e-02, 1.51117818e-02,
  1.40363457e+00, 3.21028427e-02, 2.83958770e-01,-3.19876283e-02,
  9.54298013e-02,-7.15857352e-02, 1.04549234e-01, 9.99913065e-01,
  1.07612376e-03,-2.13005193e-04,-1.31399854e-02]

qacc:
[ -3.71792742,  1.38390247, -5.94403355, 10.12981114, -7.79695593,
  -2.19425672,  9.20744159,-16.53333038, -3.54155055, -2.5170361 ,
  11.35113424,-22.07991806, -0.3716224 , -7.62017471,-67.46386725,
 156.02943739,  0.88182564,  0.56592194,  0.17839091,-10.09738471,
  26.18090885, -8.87837349]

qfrc_actuator:
[ 4.92566455e-04,-5.45532973e-04,-1.34080161e-04, 2.72764955e-06,
 -6.25175956e-04,-7.18971495e-04,-1.70434175e-04, 4.43554221e-05,
 -5.53009447e-04,-4.46176572e-04,-1.44827355e-04,-6.68962851e-05,
  2.10000000e-01,-5.48510754e-03, 9.00000000e-02, 3.58761665e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38982421,  0.38978467, -0.00555191,  0.38978467,  0.38989345,
        0.0048616 , -0.00555191,  0.0048616 ,  0.7311444 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012176319130489804
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71242090e-01,  2.38079264e-01, -2.65846395e-03,  2.38078372e-01,
        9.71245728e-01,  6.51663242e-04,  2.73716926e-03,  0.00000000e+00,
       -9.99996254e-01])
  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([ 0.10394233, -0.09040802,  0.14131296])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36888346, -0.34569273, -0.12873051, -0.34569273,  0.52873002,
       -0.42925174, -0.12873051, -0.42925174,  1.5215955 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00097992449612038
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.81164836,  0.37564732, -0.44734331,  0.3289877 ,  0.9267627 ,
        0.18132291,  0.48269456,  0.        , -0.87578877])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10373048, -0.08955605,  0.15003608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.62772503,  9.32556209,  5.09729645,  9.32556209, 15.8230241 ,
       -9.504859  ,  5.09729645, -9.504859  , 28.01697317,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046044416592362636
  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([ 0.08182273, -0.06242318,  0.06198043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.20267515e-05,-2.11866529e-05,-2.64559237e-05, 8.52889915e-06,
 -4.63277523e-05,-8.00402533e-06, 2.22573407e-05,-1.93178920e-05,
 -2.09696761e-05, 4.79643374e-06, 2.61090212e-05,-2.83696815e-05,
  2.63749148e-01, 2.96437217e-04, 8.73268877e-02, 3.67717962e-02,
 -2.82317915e-05, 3.47372008e-06,-9.80996365e+00,-1.18235422e-02,
 -2.39710483e-02, 5.34470516e-05]


--- Step 810 ---
qpos:
[-1.35540677e-02, 1.35354315e-02, 1.00694913e-02, 1.47196175e-02,
 -1.90573541e-02,-9.10897310e-03,-1.74474233e-02, 1.63153254e-02,
 -1.21543055e-02,-6.68057965e-03,-1.43072003e-02, 1.51118054e-02,
  1.40363548e+00, 3.20978175e-02, 2.83936691e-01,-3.19986905e-02,
  9.54314272e-02,-7.15899111e-02, 1.04549157e-01, 9.99913027e-01,
  1.08635116e-03,-2.12991357e-04,-1.31420504e-02]

qacc:
[ 3.80083472e+00, 1.04418922e+00,-2.88823255e+00,-1.79437958e-01,
 -1.77788277e+00,-5.43395079e-01, 1.44766507e+00, 4.63946013e-02,
  9.18547549e-01,-8.20972413e-02,-3.62725636e+00, 1.61443577e+01,
 -1.72197837e-01,-5.83119932e+00,-6.35278600e+01, 1.47379295e+02,
  7.65633762e-01, 3.90569409e-01, 1.18136383e-01,-9.31757501e+00,
  2.39817653e+01,-1.51162878e+01]

qfrc_actuator:
[ 5.15897544e-04,-5.57801683e-04,-1.67604068e-04,-1.03384810e-05,
 -6.34433383e-04,-7.11028206e-04,-1.53435981e-04, 5.09007955e-05,
 -5.47101277e-04,-4.89422773e-04,-1.33545636e-04,-3.07728792e-05,
  2.10000000e-01,-5.46023421e-03, 9.00000000e-02, 3.59275027e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38967611,  0.38964113,  0.00522088,  0.38964113,  0.38973128,
       -0.00411767,  0.00522088, -0.00411767,  0.69698279,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012036922037764567
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71245812e-01,  2.38063156e-01, -2.73966930e-03,  2.38062209e-01,
        9.71249676e-01,  6.71520758e-04,  2.82076727e-03,  0.00000000e+00,
       -9.99996022e-01])
  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([ 0.10393899, -0.09041642,  0.14131334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000983019941971989
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.81198205,  0.37495471, -0.44731881,  0.32841675,  0.92704313,
        0.18092394,  0.48252211,  0.        , -0.87588379])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10372573, -0.08956401,  0.15003574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.64631246,  -8.63841769,  -6.22267698,  -8.63841769,
        45.73884076, -48.71599762,  -6.22267698, -48.71599762,
        78.27462366,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046181852726256967
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50251527e-14,  7.51257636e-15,  1.00000000e+00, -1.12877607e-28,
        1.00000000e+00, -7.51257636e-15, -1.00000000e+00,  0.00000000e+00,
        1.50251527e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08182525, -0.06242756,  0.06198037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.26666438e-05,-2.92079834e-05,-4.08570404e-05,-1.47213265e-05,
 -1.05919021e-05, 7.21742800e-06, 1.74190140e-05, 6.59834873e-06,
  5.28757078e-06,-3.63608874e-05, 1.45182592e-05, 3.66832872e-05,
  2.63998523e-01, 3.70098037e-04, 8.91845826e-02, 3.66181010e-02,
 -7.47336578e-06, 1.50800636e-06,-9.80999005e+00,-1.18206763e-02,
 -2.39720619e-02, 5.62940799e-05]


--- Step 811 ---
qpos:
[-1.35537264e-02, 1.35355835e-02, 1.00694575e-02, 1.47203271e-02,
 -1.90572326e-02,-9.10935685e-03,-1.74462178e-02, 1.63169015e-02,
 -1.21540591e-02,-6.68083793e-03,-1.43067784e-02, 1.51116163e-02,
  1.40363410e+00, 3.20925696e-02, 2.83883306e-01,-3.20066254e-02,
  9.54356718e-02,-7.15932003e-02, 1.04549335e-01, 9.99912457e-01,
  1.08046956e-03,-1.68621816e-04,-1.31864380e-02]

qacc:
[ 2.40054213e+00, 1.71936792e+00,-6.87081025e+00, 1.06155920e+01,
  2.02715166e+00,-4.22942720e-02, 1.57831693e+00,-6.23564113e+00,
  9.70039424e+00,-6.92280154e-03, 1.78908500e-01,-3.01401607e+00,
 -3.28874732e-02,-3.37633612e+00,-5.58293102e+01, 1.27975294e+02,
  6.54649564e-01, 2.21703170e-01, 6.38995559e-02,-8.34947848e+00,
  2.20470258e+01,-2.11853143e+01]

qfrc_actuator:
[ 5.29606889e-04,-5.47428614e-04,-1.87551719e-04,-5.00265553e-07,
 -6.22066636e-04,-7.06043021e-04,-1.61682845e-04, 3.62684043e-05,
 -4.90014116e-04,-5.32920910e-04,-1.62812796e-04,-4.50578312e-05,
  2.10000000e-01,-5.42516807e-03, 9.00000000e-02, 3.58893415e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38976504,  0.38952223,  0.01375554,  0.38952223,  0.39010697,
       -0.00968262,  0.01375554, -0.00968262,  0.66395242,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012120831405799244
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71253639e-01,  2.38031277e-01, -2.73513058e-03,  2.38030333e-01,
        9.71257490e-01,  6.70313106e-04,  2.81607155e-03,  0.00000000e+00,
       -9.99996035e-01])
  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([ 0.10394015, -0.09042072,  0.14131449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000985082663539061
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.81206302,  0.37461348, -0.4474577 ,  0.32810178,  0.92718107,
        0.18078851,  0.48260012,  0.        , -0.87584081])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.103727  , -0.08956867,  0.15003422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046171025413757616
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00573524e-14,  2.25430143e-14,  1.00000000e+00, -6.77583324e-28,
        1.00000000e+00, -2.25430143e-14, -1.00000000e+00,  0.00000000e+00,
        3.00573524e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818269 , -0.06243079,  0.06198037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43427172e-05,-1.50242006e-05,-3.15236753e-05, 6.88546566e-06,
  1.20627587e-05, 1.29022585e-05,-4.38022473e-06,-1.35912172e-05,
  5.72108470e-05,-5.92283114e-05,-3.37110061e-05,-1.46252453e-05,
  2.64183535e-01, 4.36285243e-04, 9.09236903e-02, 3.63817821e-02,
  3.41579935e-08, 1.34680563e-07,-9.80999984e+00,-1.18195584e-02,
 -2.39715365e-02, 5.69099165e-05]


--- Step 812 ---
qpos:
[-1.35535681e-02, 1.35356604e-02, 1.00694444e-02, 1.47211213e-02,
 -1.90573088e-02,-9.10970793e-03,-1.74453329e-02, 1.63179735e-02,
 -1.21531302e-02,-6.68157257e-03,-1.43063412e-02, 1.51105570e-02,
  1.40363178e+00, 3.20875465e-02, 2.83802502e-01,-3.20126670e-02,
  9.54421420e-02,-7.15962030e-02, 1.04549576e-01, 9.99911198e-01,
  1.06035177e-03,-8.31817976e-05,-1.32839906e-02]

qacc:
[-1.58495088e+00, 1.99444891e-02,-5.66513254e-01, 2.04513802e+00,
 -1.72629868e+00,-9.53520093e-02, 2.53781413e+00,-1.07835545e+01,
  5.96563480e+00,-2.47519057e+00, 1.15663319e+01,-2.62799374e+01,
  2.73798528e-02,-4.69596393e-01,-4.63120405e+01, 1.03101211e+02,
  5.56401142e-01, 7.16076383e-02, 1.55675704e-02,-7.39237005e+00,
  2.04107990e+01,-2.66057202e+01]

qfrc_actuator:
[ 5.19776139e-04,-5.41260636e-04,-1.81456855e-04, 5.01697033e-06,
 -6.32588314e-04,-7.20737082e-04,-1.84793402e-04, 9.27059399e-06,
 -4.56527464e-04,-5.58694026e-04,-1.62587411e-04,-8.89308214e-05,
  2.10000000e-01,-5.34863765e-03, 9.00000000e-02, 3.57967318e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39002405,  0.38945381,  0.02108292,  0.38945381,  0.39072428,
       -0.01293497,  0.02108292, -0.01293497,  0.62896496,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012361780059437253
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71265177e-01,  2.37985138e-01, -2.65159197e-03,  2.37984251e-01,
        9.71268796e-01,  6.49706323e-04,  2.73002898e-03,  1.08420217e-19,
       -9.99996273e-01])
  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([ 0.10394494, -0.09042247,  0.14131619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009863987274160075
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.81195623,  0.3745158 , -0.44773317,  0.32795913,  0.92722053,
        0.18084494,  0.48287668,  0.        , -0.87568837])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10373314, -0.0895712 ,  0.15003157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046040920056292234
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.02845807e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.02845807e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08182786, -0.06243311,  0.06198043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.42806789e-06,-8.45718423e-06,-6.57432827e-07, 3.91542324e-06,
 -1.01728306e-05,-8.96651569e-06,-2.14573607e-05,-2.68617795e-05,
  3.51114215e-05,-6.64721434e-05,-1.66725972e-05,-4.78651516e-05,
  2.64298533e-01, 5.22839851e-04, 9.24886762e-02, 3.61327288e-02,
 -9.69113814e-06, 5.97693359e-06,-9.80999285e+00,-1.18208643e-02,
 -2.39699738e-02, 5.55118816e-05]


--- Step 813 ---
qpos:
[-1.35535289e-02, 1.35355921e-02, 1.00695658e-02, 1.47212854e-02,
 -1.90575103e-02,-9.11011807e-03,-1.74446846e-02, 1.63183748e-02,
 -1.21524959e-02,-6.68277772e-03,-1.43060016e-02, 1.51103686e-02,
  1.40362948e+00, 3.20830935e-02, 2.83697011e-01,-3.20175320e-02,
  9.54505583e-02,-7.15992994e-02, 1.04549718e-01, 9.99909124e-01,
  1.02676525e-03, 4.08230100e-05,-1.34419976e-02]

qacc:
[-1.02518999e+00,-1.86339610e+00, 9.02878605e+00,-2.00439995e+01,
 -1.09515652e+00,-7.94746768e-01, 5.55621424e+00,-1.67463739e+01,
 -2.56587079e+00, 1.44864219e+00,-9.73611118e+00, 2.53021322e+01,
  4.86763514e-02, 1.79794311e+00,-4.00794470e+01, 8.72176787e+01,
  4.86540257e-01,-2.34266578e-02,-2.44494357e-02,-6.99199887e+00,
  1.91591380e+01,-3.02497812e+01]

qfrc_actuator:
[ 5.13924226e-04,-5.55298143e-04,-1.77807108e-04,-2.75462850e-05,
 -6.38752317e-04,-7.29432700e-04,-1.98821302e-04,-2.48069448e-05,
 -4.72721815e-04,-5.73578221e-04,-1.62636307e-04,-4.32983126e-05,
  2.10000000e-01,-5.35410293e-03, 9.00000000e-02, 3.58489624e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39040479,  0.3895139 ,  0.02635947,  0.3895139 ,  0.39132903,
       -0.01365755,  0.02635947, -0.01365755,  0.59222237,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012707169211375837
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71279970e-01,  2.37926454e-01, -2.49462224e-03,  2.37925669e-01,
        9.71283173e-01,  6.11085048e-04,  2.56837791e-03,  0.00000000e+00,
       -9.99996702e-01])
  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([ 0.10395253, -0.090423  ,  0.14131821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009873218597306862
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.11718822e-01,  3.74564945e-01, -4.48122367e-01,  3.27913280e-01,
        9.27200680e-01,  1.81029774e-01,  4.83306771e-01, -2.77555756e-17,
       -8.75451064e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10374311, -0.08957266,  0.15002782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045816463574810395
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.51449793e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.51449793e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08182827, -0.06243469,  0.06198052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.13131398e-06,-1.87434950e-05, 1.95601987e-06,-3.28720134e-05,
 -6.45808664e-06,-1.92936115e-05,-1.94514246e-05,-3.57264842e-05,
 -1.51854008e-05,-5.75697390e-05,-1.75010282e-05, 4.12722723e-05,
  2.64345881e-01, 5.04477565e-04, 9.38591987e-02, 3.60902001e-02,
 -4.23388105e-05, 2.56105582e-05,-9.80996921e+00,-1.18250881e-02,
 -2.39677306e-02, 5.22997142e-05]


--- Step 814 ---
qpos:
[-1.35539048e-02, 1.35352218e-02, 1.00698090e-02, 1.47210796e-02,
 -1.90577842e-02,-9.11048922e-03,-1.74443015e-02, 1.63186992e-02,
 -1.21527495e-02,-6.68402020e-03,-1.43064239e-02, 1.51107182e-02,
  1.40363680e+00, 3.20810153e-02, 2.83668012e-01,-3.20349775e-02,
  9.54520832e-02,-7.16053774e-02, 1.04549009e-01, 9.99907973e-01,
  1.04074774e-03, 6.11284083e-05,-1.35262437e-02]

qacc:
[-3.59067078e+00,-1.49510550e+00, 6.32569293e+00,-1.27147701e+01,
 -6.37378656e-01, 6.35168295e-01,-1.86340454e+00, 9.25979393e-01,
 -7.77354890e+00, 3.20195868e+00,-1.37342683e+01, 2.42636866e+01,
 -7.93692335e-03, 1.98971094e+01, 1.51490104e+02,-3.65134209e+02,
 -1.72287032e+00,-7.45372099e-01,-2.12869442e-01, 2.44773282e+01,
 -5.14874333e+01, 3.69374735e+01]

qfrc_actuator:
[ 4.92716130e-04,-5.81358915e-04,-1.75746498e-04,-4.67719436e-05,
 -6.42294907e-04,-7.16697936e-04,-2.07355322e-04,-2.72589777e-05,
 -5.18020666e-04,-5.63991748e-04,-1.98248154e-04,-1.63659323e-05,
  2.10000000e-01,-5.40920089e-03, 9.00000000e-02, 3.58815409e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39087202,  0.35809607, -0.15667847,  0.35809607,  0.79046384,
        0.91328606, -0.15667847,  0.91328606,  2.47823061,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001311780720522449
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71297664e-01,  2.37856470e-01, -2.26874065e-03,  2.37855821e-01,
        9.71300314e-01,  5.55579603e-04,  2.33577671e-03, -1.08420217e-19,
       -9.99997272e-01])
  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([ 0.10396236, -0.09042317,  0.1413204 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000988069585453905
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.8113897 ,  0.37469941, -0.44860574,  0.3279172 ,  0.92714635,
        0.18130072,  0.48385645,  0.        , -0.87514738])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10375619, -0.0895737 ,  0.15002304])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.61934708,  9.46576438,  4.81350569,  9.46576438, 14.2590971 ,
       -7.15757254,  4.81350569, -7.15757254, 24.69472159,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004598219009555246
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.03615782e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.03615782e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09979866, -0.05310565,  0.06198045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.13894875e-05,-3.75505493e-05,-2.70784035e-06,-2.06007280e-05,
 -3.72659746e-06,-3.59780247e-06,-1.61489747e-05,-4.64650181e-06,
 -4.57148296e-05,-2.44776846e-05,-4.82367802e-05, 2.46624431e-05,
  2.64345025e-01, 4.18726839e-04, 9.50931435e-02, 3.60638423e-02,
 -1.02676276e-04, 6.34209317e-05,-9.80992919e+00,-1.18324623e-02,
 -2.39650635e-02, 4.73854175e-05]


--- Step 815 ---
qpos:
[-1.35541871e-02, 1.35345469e-02, 1.00700696e-02, 1.47209982e-02,
 -1.90584434e-02,-9.11050769e-03,-1.74442254e-02, 1.63192987e-02,
 -1.21535435e-02,-6.68519201e-03,-1.43070793e-02, 1.51109914e-02,
  1.40364710e+00, 3.20791333e-02, 2.83701398e-01,-3.20606739e-02,
  9.54477009e-02,-7.16136374e-02, 1.04547639e-01, 9.99908106e-01,
  1.08655273e-03,-2.30094184e-05,-1.35128619e-02]

qacc:
[ 8.17794855e-01,-1.96387002e-01,-4.11774634e-01, 2.76393372e+00,
 -3.36105684e+00, 1.89588256e+00,-7.23439601e+00, 1.22153258e+01,
 -4.72507064e+00, 5.96928507e-01,-1.65474520e+00, 6.37418256e-01,
 -4.71246211e-01, 6.50295380e+00, 1.17381999e+02,-2.76421512e+02,
 -1.47677551e+00,-5.45537094e-01,-1.65357665e-01, 1.66125007e+01,
 -5.19508239e+01, 4.88734697e+01]

qfrc_actuator:
[ 4.98143408e-04,-5.96666032e-04,-1.74680568e-04,-4.02504195e-05,
 -6.62020116e-04,-6.73426757e-04,-2.12469904e-04,-1.10612214e-05,
 -5.44565748e-04,-5.39967835e-04,-2.01236582e-04,-1.84217424e-05,
  2.10000000e-01,-5.38959541e-03, 9.00000000e-02, 3.58446039e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39080125,  0.34530457, -0.18300373,  0.34530457,  0.45189337,
        0.11527299, -0.18300373,  0.11527299,  0.6083066 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013056492104485533
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71306983e-01,  2.37818842e-01, -2.22323526e-03,  2.37818219e-01,
        9.71309528e-01,  5.44344743e-04,  2.28890503e-03,  0.00000000e+00,
       -9.99997380e-01])
  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([ 0.10396245, -0.0904322 ,  0.14132072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36913768,  0.35680347,  0.09462512,  0.35680347,  0.45606196,
       -0.32776589,  0.09462512, -0.32776589,  1.60504636,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009913029385568966
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.11612710e-01,  3.74061349e-01, -4.48734794e-01,  3.27357827e-01,
        9.27403961e-01,  1.80993774e-01,  4.83861201e-01,  2.77555756e-17,
       -8.75144753e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10375633, -0.08958212,  0.15002068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.62412695, -10.25398489,  -2.77990419, -10.25398489,
        15.76726433, -18.97103256,  -2.77990419, -18.97103256,
        80.6008844 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046017713569387886
  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([ 0.09980153, -0.05311138,  0.06198044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.80931056e-06,-3.77427087e-05,-7.73206963e-06, 4.41940932e-06,
 -1.98246492e-05, 3.77332193e-05,-8.00446214e-06, 1.53950925e-05,
 -2.78129186e-05, 1.42667830e-06,-1.31264378e-05,-4.29121176e-06,
  2.63864578e-01, 3.18938380e-04, 9.12683073e-02, 3.66558707e-02,
 -1.59981801e-05, 1.34309835e-05,-9.80999949e+00,-1.18224462e-02,
 -2.39599589e-02, 4.80656357e-05]


--- Step 816 ---
qpos:
[-1.35533675e-02, 1.35337011e-02, 1.00700049e-02, 1.47210021e-02,
 -1.90589892e-02,-9.11020754e-03,-1.74439449e-02, 1.63197103e-02,
 -1.21539592e-02,-6.68631145e-03,-1.43075249e-02, 1.51112087e-02,
  1.40364692e+00, 3.20725568e-02, 2.83749167e-01,-3.20873474e-02,
  9.54374385e-02,-7.16240023e-02, 1.04545450e-01, 9.99909502e-01,
  1.16013126e-03,-2.12967487e-04,-1.34013819e-02]

qacc:
[  9.54450567,  0.84029723, -3.71616814,  5.87341687,  0.98526204,
  -0.53825052,  3.32078407, -7.13185765,  3.30722705, -0.63877401,
   2.60322351, -3.93386339, -0.50882363,-26.57194541, 23.99336802,
 -53.65843081, -1.47003792, -0.52619962, -0.20475295, 14.60090014,
 -52.66430073, 49.11034183]

qfrc_actuator:
[ 5.54714374e-04,-6.05397573e-04,-1.91908224e-04,-3.63795624e-05,
 -6.55607725e-04,-6.47668261e-04,-1.97632346e-04,-1.95000677e-05,
 -5.24345729e-04,-5.25127170e-04,-1.84874954e-04,-1.97187356e-05,
  2.10000000e-01,-5.41270221e-03, 9.00000000e-02, 3.58199182e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39022662,  0.34220809, -0.18753784,  0.34220809,  0.32610225,
       -0.11701041, -0.18753784, -0.11701041,  0.17671285,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000125468002509058
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71310731e-01,  2.37802151e-01, -2.36663201e-03,  2.37801445e-01,
        9.71313614e-01,  5.79411400e-04,  2.43652717e-03,  1.08420217e-19,
       -9.99997032e-01])
  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([ 0.10395455, -0.09044754,  0.14131968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36918229,  0.35925184,  0.08505101,  0.35925184,  0.37228079,
       -0.01308794,  0.08505101, -0.01308794,  0.42446518,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000995729400358376
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.81230405,  0.37286534, -0.44847917,  0.32641963,  0.92788546,
        0.18021873,  0.48333463,  0.        , -0.87543569])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10374541, -0.08959547,  0.15002194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.61006932, -10.29499576,  -2.56644369, -10.29499576,
        16.06864934, -21.89647035,  -2.56644369, -21.89647035,
        98.44525947,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004591307610613965
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.04524418e-14,  7.55655523e-14,  1.00000000e+00,  4.56812215e-27,
        1.00000000e+00, -7.55655523e-14, -1.00000000e+00,  0.00000000e+00,
       -6.04524418e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09980402, -0.05311534,  0.06198048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.67182120e-05,-3.12354176e-05,-2.58208497e-05, 2.07226121e-06,
  5.85285927e-06, 4.58822087e-05, 2.21867072e-05,-6.79696629e-06,
  1.94741104e-05, 1.27665760e-05, 1.49031222e-05,-1.77036639e-06,
  2.63715650e-01, 2.86593400e-04, 8.81490489e-02, 3.70437137e-02,
 -1.41351078e-05,-4.06992975e-06,-9.80997846e+00,-1.18202254e-02,
 -2.39643407e-02, 5.19335920e-05]


--- Step 817 ---
qpos:
[-1.35522203e-02, 1.35326939e-02, 1.00697087e-02, 1.47210447e-02,
 -1.90591092e-02,-9.11003205e-03,-1.74432424e-02, 1.63193690e-02,
 -1.21537840e-02,-6.68717719e-03,-1.43078862e-02, 1.51117362e-02,
  1.40364291e+00, 3.20648689e-02, 2.83767885e-01,-3.21105348e-02,
  9.54309675e-02,-7.16316376e-02, 1.04544445e-01, 9.99910729e-01,
  1.21559661e-03,-3.45646115e-04,-1.33017280e-02]

qacc:
[ 2.83558809e+00, 5.08202021e-01,-2.29446132e+00, 3.46330506e+00,
  3.71187168e+00,-2.90010469e+00, 1.32688009e+01,-2.68700577e+01,
  5.15671123e+00, 7.28242969e-01,-3.43757996e+00, 8.50476845e+00,
  9.84573977e-02,-8.96016505e+00,-5.36402992e+01, 1.25009393e+02,
  9.47837513e-01, 6.82380011e-01, 2.95961397e-01,-9.44074757e+00,
  2.85088803e+01,-5.94502074e+00]

qfrc_actuator:
[ 5.69915382e-04,-6.10195671e-04,-2.02023880e-04,-3.41098087e-05,
 -6.33857353e-04,-6.85782299e-04,-1.88964524e-04,-6.01204839e-05,
 -4.94521740e-04,-4.98053781e-04,-1.75005652e-04,-2.79763821e-06,
  2.10000000e-01,-5.49212963e-03, 9.00000000e-02, 3.58696203e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38884854,  0.38749247, -0.03244647,  0.38749247,  0.39183879,
        0.03571107, -0.03244647,  0.03571107,  0.81532854,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011224273082585452
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71319001e-01,  2.37764779e-01, -2.70351161e-03,  2.37763858e-01,
        9.71322763e-01,  6.61777798e-04,  2.78332982e-03,  0.00000000e+00,
       -9.99996127e-01])
  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([ 0.10394017, -0.09047168,  0.14131752])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36919465,  0.36877332, -0.01763315,  0.36877332,  0.37733872,
        0.17032198, -0.01763315,  0.17032198,  3.93124613,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009984735720122739
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.81361169,  0.37102934, -0.44763071,  0.32507746,  0.92862115,
        0.17885025,  0.48203803,  0.        , -0.87615029])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10372428, -0.08961497,  0.15003055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.67701942,  9.39021006,  5.08160396,  9.39021006, 15.50263422,
       -8.91717201,  5.08160396, -8.91717201, 27.15491084,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046407049667292893
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -7.4761205e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  7.4761205e-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([ 0.08183829, -0.06245195,  0.06198027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68581524e-05,-2.75228206e-05,-1.96892969e-05, 7.37273928e-08,
  2.19191895e-05,-8.14349544e-06, 2.06489664e-05,-3.80178043e-05,
  3.04309642e-05, 3.72407524e-05, 1.42864684e-05, 1.79498046e-05,
  2.64239070e-01, 4.42720728e-04, 8.74299078e-02, 3.71422584e-02,
 -1.16688009e-04, 3.26766632e-05,-9.80986945e+00,-1.18277745e-02,
 -2.39768100e-02, 5.90350278e-05]


--- Step 818 ---
qpos:
[-1.35512435e-02, 1.35318497e-02, 1.00690999e-02, 1.47214228e-02,
 -1.90589676e-02,-9.11022823e-03,-1.74422737e-02, 1.63185875e-02,
 -1.21529070e-02,-6.68767017e-03,-1.43084421e-02, 1.51121208e-02,
  1.40363604e+00, 3.20564080e-02, 2.83758054e-01,-3.21291585e-02,
  9.54279144e-02,-7.16371579e-02, 1.04544316e-01, 9.99911690e-01,
  1.25329333e-03,-4.25588303e-04,-1.32234948e-02]

qacc:
[ -1.48977693,  1.78349769, -7.45772297, 13.63873755,  2.28646255,
  -2.14517524,  8.78787292,-16.55226116,  6.11326732,  0.73029261,
  -1.30617093, -1.10898242,  0.22257884, -7.20110873,-56.14327967,
 134.88155129,  0.85451085,  0.52876935,  0.21914825, -9.23779936,
  26.23462396,-10.74009905]

qfrc_actuator:
[ 5.60627909e-04,-5.77069486e-04,-2.07835812e-04,-1.50355644e-05,
 -6.21014601e-04,-7.26398749e-04,-1.84298079e-04,-8.39045073e-05,
 -4.59299373e-04,-4.81615668e-04,-1.86742758e-04,-1.07947552e-05,
  2.10000000e-01,-5.51829138e-03, 9.00000000e-02, 3.59776354e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38801236,  0.38663869,  0.03262077,  0.38663869,  0.39103766,
       -0.03585752,  0.03262077, -0.03585752,  0.81301469,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010334919615668472
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71329321e-01,  2.37719846e-01, -2.93693994e-03,  2.37718759e-01,
        9.71333761e-01,  7.18773441e-04,  3.02361563e-03,  0.00000000e+00,
       -9.99995429e-01])
  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([ 0.1039315 , -0.0904886 ,  0.14131673])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009515950589465607
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.14510161e-01,  3.69738764e-01, -4.47064250e-01,  3.24124843e-01,
        9.29135753e-01,  1.77904017e-01,  4.81161390e-01, -2.77555756e-17,
       -8.76632030e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10371097, -0.08962894,  0.15003683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.72777427,  -8.85927784,  -6.04965593,  -8.85927784,
        35.32076745, -36.01463654,  -6.04965593, -36.01463654,
        63.46857063,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004677431680590524
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48348375e-14,  2.96696751e-14,  1.00000000e+00, -4.40144809e-28,
        1.00000000e+00, -2.96696751e-14, -1.00000000e+00,  0.00000000e+00,
        1.48348375e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184224, -0.06245834,  0.06198012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.77031113e-06, 1.36320177e-05,-1.39352257e-05, 1.72114438e-05,
  1.34579504e-05,-4.25222962e-05, 4.21297107e-06,-2.41589848e-05,
  3.61400325e-05, 4.09906105e-05,-1.66593943e-06,-5.55908313e-06,
  2.64430766e-01, 4.72392396e-04, 8.88824425e-02, 3.70759330e-02,
 -6.86394139e-05, 2.59698322e-05,-9.80992815e+00,-1.18212974e-02,
 -2.39803353e-02, 6.55523893e-05]


--- Step 819 ---
qpos:
[-1.35507297e-02, 1.35310801e-02, 1.00689760e-02, 1.47219814e-02,
 -1.90586732e-02,-9.11038200e-03,-1.74414726e-02, 1.63185400e-02,
 -1.21516134e-02,-6.68833688e-03,-1.43088726e-02, 1.51121100e-02,
  1.40362724e+00, 3.20474569e-02, 2.83720787e-01,-3.21433550e-02,
  9.54278703e-02,-7.16411994e-02, 1.04544792e-01, 9.99912257e-01,
  1.27424525e-03,-4.57022438e-04,-1.31774937e-02]

qacc:
[ -3.99889091, -0.87764939,  2.5235586 , -0.24404938,  1.32052401,
   2.03225961,-10.26940764, 23.21670804,  3.64251881, -1.4010105 ,
   6.31923662,-13.22083621,  0.34616161, -5.67040306,-54.07384778,
 130.05823201,  0.75221168,  0.36970411,  0.15120597, -8.69899593,
  24.12089069,-16.14405529]

qfrc_actuator:
[ 5.37014355e-04,-5.56953935e-04,-1.75386601e-04,-3.94353525e-06,
 -6.13522626e-04,-6.97209248e-04,-1.82045486e-04,-4.43402732e-05,
 -4.38937846e-04,-5.25037166e-04,-1.93445827e-04,-3.34136969e-05,
  2.10000000e-01,-5.47688244e-03, 9.00000000e-02, 3.60116504e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38754468,  0.38478153,  0.04619579,  0.38478153,  0.39284615,
       -0.0441579 ,  0.04619579, -0.0441579 ,  0.75535187,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.800718554427e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71341710e-01,  2.37667463e-01, -3.07566994e-03,  2.37666271e-01,
        9.71346579e-01,  7.52549796e-04,  3.16639807e-03,  0.00000000e+00,
       -9.99994987e-01])
  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([ 0.10392779, -0.0904997 ,  0.14131702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009514702243355901
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.81506864,  0.36890112, -0.44673826,  0.32349637,  0.92946864,
        0.17730802,  0.48063833,  0.        , -0.87691892])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10370447, -0.08963842,  0.15004105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.75096155,  -8.81114496,  -6.16010541,  -8.81114496,
        42.0891187 , -44.82472735,  -6.16010541, -44.82472735,
        74.86628818,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046940089999358836
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47824470e-14,  7.39122348e-15,  1.00000000e+00, -1.09260369e-28,
        1.00000000e+00, -7.39122348e-15, -1.00000000e+00,  0.00000000e+00,
        1.47824470e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.081845  , -0.06246315,  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:
[-2.38250952e-05, 2.55560582e-05, 3.41318471e-05, 1.15269563e-05,
  7.86299137e-06, 5.24564528e-06,-6.84974632e-06, 3.74167907e-05,
  2.14347220e-05,-2.10989419e-05, 1.35554665e-06,-2.10315724e-05,
  2.64573985e-01, 5.52152471e-04, 9.03096526e-02, 3.68817104e-02,
 -3.24504719e-05, 1.51362562e-05,-9.80996921e+00,-1.18160738e-02,
 -2.39818254e-02, 6.97275371e-05]


--- Step 820 ---
qpos:
[-1.35505025e-02, 1.35304256e-02, 1.00695390e-02, 1.47223032e-02,
 -1.90586362e-02,-9.11031175e-03,-1.74410381e-02, 1.63189565e-02,
 -1.21507744e-02,-6.68953561e-03,-1.43089184e-02, 1.51122028e-02,
  1.40361756e+00, 3.20383729e-02, 2.83658187e-01,-3.21537888e-02,
  9.54304484e-02,-7.16443626e-02, 1.04545629e-01, 9.99912300e-01,
  1.27982586e-03,-4.43625168e-04,-1.31741179e-02]

qacc:
[-2.46576145e+00,-2.25097074e+00, 9.25461049e+00,-1.45449963e+01,
 -2.24966775e+00, 2.27926786e+00,-9.64973093e+00, 1.80949130e+01,
 -3.94658006e+00,-1.55691174e+00, 4.10738844e+00,-2.55323690e+00,
  4.09339158e-01,-3.46110575e+00,-4.89280095e+01, 1.16626794e+02,
  6.55576700e-01, 2.19540854e-01, 9.02186920e-02,-7.98977287e+00,
  2.22851806e+01,-2.13392940e+01]

qfrc_actuator:
[ 5.22918423e-04,-5.44621504e-04,-1.38405885e-04,-1.53726864e-05,
 -6.26989459e-04,-6.79659493e-04,-1.98666393e-04,-2.10231456e-05,
 -4.62993548e-04,-5.68471773e-04,-1.79618156e-04,-2.89909665e-05,
  2.10000000e-01,-5.39490456e-03, 9.00000000e-02, 3.59995765e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38732727,  0.38308088,  0.05719661,  0.38308088,  0.39434622,
       -0.04701018,  0.05719661, -0.04701018,  0.70218336,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.541800202495738e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71356264e-01,  2.37607294e-01, -3.12753672e-03,  2.37606062e-01,
        9.71361299e-01,  7.65035149e-04,  3.21974606e-03,  1.08420217e-19,
       -9.99994817e-01])
  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([ 0.10392827, -0.09050651,  0.14131813])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009512546243289439
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.15358109e-01,  3.68414539e-01, -4.46611556e-01,  3.23117331e-01,
        9.29661620e-01,  1.76987182e-01,  4.80402274e-01, -2.77555756e-17,
       -8.77048263e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10370373, -0.08964454,  0.15004351])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004694152666883944
  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([ 0.08184682, -0.06246669,  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:
[-1.47479472e-05, 3.41387666e-05, 4.68567493e-05,-8.92884826e-06,
 -1.32435894e-05, 2.06637092e-05,-1.50901663e-05, 2.40321007e-05,
 -2.34191531e-05,-5.58912091e-05, 8.89386506e-06, 3.15262262e-06,
  2.64670309e-01, 6.57815446e-04, 9.16811983e-02, 3.66482013e-02,
 -8.62323662e-06, 4.61161218e-06,-9.80999297e+00,-1.18126833e-02,
 -2.39817731e-02, 7.17312462e-05]


--- Step 821 ---
qpos:
[-1.35501012e-02, 1.35300975e-02, 1.00699308e-02, 1.47225180e-02,
 -1.90587606e-02,-9.11050565e-03,-1.74405804e-02, 1.63193401e-02,
 -1.21505744e-02,-6.69080481e-03,-1.43092245e-02, 1.51119880e-02,
  1.40360798e+00, 3.20294948e-02, 2.83572457e-01,-3.21612179e-02,
  9.54353166e-02,-7.16471383e-02, 1.04546616e-01, 9.99911700e-01,
  1.27111784e-03,-3.88486443e-04,-1.32221682e-02]

qacc:
[ 1.49850578e+00, 6.86587306e-01,-1.37572102e+00,-4.36568007e-01,
 -1.39665965e+00,-4.78786697e-01, 1.34452009e+00,-1.76247287e+00,
 -5.58445016e+00, 1.19275831e-02, 1.14012230e+00,-6.01694966e+00,
  4.50319480e-01,-1.30500269e+00,-4.33519825e+01, 1.01904210e+02,
  5.72519070e-01, 9.68953975e-02, 3.76098392e-02,-7.42963519e+00,
  2.07417264e+01,-2.57385535e+01]

qfrc_actuator:
[ 5.32294614e-04,-5.37029335e-04,-1.52360011e-04,-2.22168090e-05,
 -6.34929929e-04,-7.22550038e-04,-2.08592745e-04,-2.52305106e-05,
 -4.95242462e-04,-5.58228572e-04,-1.89286660e-04,-4.41892179e-05,
  2.10000000e-01,-5.39526241e-03, 9.00000000e-02, 3.60120007e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38728595,  0.38200314,  0.06374952,  0.38200314,  0.39470507,
       -0.04445724,  0.06374952, -0.04445724,  0.65368491,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.49175116097385e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71372893e-01,  2.37539675e-01, -3.09912974e-03,  2.37538466e-01,
        9.71377837e-01,  7.57857800e-04,  3.19044724e-03,  1.08420217e-19,
       -9.99994911e-01])
  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([ 0.10393217, -0.09051044,  0.14131984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009509583263477684
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.81544086,  0.36818201, -0.44665222,  0.32291417,  0.92975374,
        0.17687405,  0.48039842,  0.        , -0.87705038])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10370775, -0.08964837,  0.15004438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000468107107698304
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48233039e-14,  1.48233039e-14,  1.00000000e+00, -2.19730338e-28,
        1.00000000e+00, -1.48233039e-14, -1.00000000e+00,  0.00000000e+00,
        1.48233039e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184789, -0.06246924,  0.0619801 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.97763716e-06, 3.59645622e-05,-1.44192994e-06,-3.93344872e-06,
 -8.32357106e-06,-3.34285089e-05,-6.68536446e-06,-3.37588793e-06,
 -3.28959833e-05,-1.90737422e-05,-2.00162119e-05,-1.72248696e-05,
  2.64714333e-01, 6.62781329e-04, 9.29474653e-02, 3.64723984e-02,
 -5.92563971e-07, 1.49527913e-07,-9.80999958e+00,-1.18116843e-02,
 -2.39806252e-02, 7.17447132e-05]


--- Step 822 ---
qpos:
[-1.35495904e-02, 1.35298913e-02, 1.00699515e-02, 1.47230355e-02,
 -1.90589796e-02,-9.11063939e-03,-1.74406220e-02, 1.63193202e-02,
 -1.21507620e-02,-6.69177804e-03,-1.43098530e-02, 1.51115494e-02,
  1.40359931e+00, 3.20211443e-02, 2.83465581e-01,-3.21663246e-02,
  9.54422066e-02,-7.16499016e-02, 1.04547573e-01, 9.99910347e-01,
  1.24882323e-03,-2.94113301e-04,-1.33285996e-02]

qacc:
[ 9.35684910e-01, 1.82045537e+00,-7.53773370e+00, 1.32829910e+01,
 -8.37504652e-01, 6.45501451e-01,-4.79935248e-01,-5.75234204e+00,
 -3.39885936e+00, 8.37475705e-01,-1.46184961e+00,-2.12785251e+00,
  4.39066156e-01, 8.43612571e-01,-3.83288280e+01, 8.86473986e+01,
  5.05424033e-01, 3.10831358e-03,-7.62214933e-03,-7.06294007e+00,
  1.94884033e+01,-2.92152730e+01]

qfrc_actuator:
[ 5.37655333e-04,-5.50291197e-04,-1.78539168e-04,-8.59240588e-06,
 -6.39547558e-04,-7.12543059e-04,-2.32498162e-04,-4.56412306e-05,
 -5.14288437e-04,-5.16027426e-04,-1.94809119e-04,-5.30376752e-05,
  2.10000000e-01,-5.39204938e-03, 9.00000000e-02, 3.60738819e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38737245,  0.38131195,  0.06825403,  0.38131195,  0.39445532,
       -0.03956956,  0.06825403, -0.03956956,  0.60843405,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.596206238428479e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71391446e-01,  2.37465120e-01, -2.99600600e-03,  2.37463990e-01,
        9.71396066e-01,  7.32396339e-04,  3.08422702e-03,  0.00000000e+00,
       -9.99995244e-01])
  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([ 0.10393883, -0.09051261,  0.14132192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009506720528074768
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.15367732e-01,  3.68123618e-01, -4.46833821e-01,  3.22825974e-01,
        9.29776856e-01,  1.76913505e-01,  4.80581785e-01, -2.77555756e-17,
       -8.76949912e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10371569, -0.08965079,  0.15004377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004657519796720591
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48982596e-14,  4.46947788e-14,  1.00000000e+00, -6.65874418e-28,
        1.00000000e+00, -4.46947788e-14, -1.00000000e+00,  0.00000000e+00,
        1.48982596e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184837, -0.06247099,  0.0619802 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.63920113e-06, 6.37145028e-06,-1.90686827e-05, 1.50379363e-05,
 -4.86772848e-06,-1.02100716e-05,-3.17487339e-05,-2.21396242e-05,
 -1.99433199e-05, 2.66481234e-05,-1.25232944e-05,-1.06924068e-05,
  2.64709972e-01, 6.53930775e-04, 9.41034971e-02, 3.63839367e-02,
 -1.31492800e-05, 7.33707453e-06,-9.80998936e+00,-1.18134937e-02,
 -2.39787164e-02, 6.99190027e-05]


--- Step 823 ---
qpos:
[-1.35493638e-02, 1.35296770e-02, 1.00697179e-02, 1.47237214e-02,
 -1.90592525e-02,-9.11041032e-03,-1.74411236e-02, 1.63186685e-02,
 -1.21515207e-02,-6.69266562e-03,-1.43102477e-02, 1.51113410e-02,
  1.40359235e+00, 3.20136699e-02, 2.83340002e-01,-3.21701388e-02,
  9.54508679e-02,-7.16530067e-02, 1.04548342e-01, 9.99908120e-01,
  1.21381095e-03,-1.62684861e-04,-1.35000364e-02]

qacc:
[-2.47147061e+00, 1.05208102e+00,-4.46985794e+00, 7.78964041e+00,
 -4.88805750e-01, 4.65005374e-01, 1.70730724e+00,-1.21768522e+01,
 -4.97866940e+00,-5.61473419e-02,-5.91174844e-01, 4.12248806e+00,
  3.88652663e-01, 3.29068903e+00,-3.15695724e+01, 7.03146162e+01,
  4.42864476e-01,-8.54545497e-02,-4.69899151e-02,-6.61422845e+00,
  1.84005157e+01,-3.25269143e+01]

qfrc_actuator:
[ 5.22849123e-04,-5.58239074e-04,-1.94032269e-04,-8.06338818e-07,
 -6.42173829e-04,-6.71016203e-04,-2.46525216e-04,-7.53902686e-05,
 -5.43161019e-04,-5.08247659e-04,-1.79925196e-04,-4.02843220e-05,
  2.10000000e-01,-5.38709792e-03, 9.00000000e-02, 3.60584020e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38755446,  0.38109957,  0.0704385 ,  0.38109957,  0.39372135,
       -0.03336526,  0.0704385 , -0.03336526,  0.56807344,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.812207627670223e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71411753e-01,  2.37384156e-01, -2.82273488e-03,  2.37383154e-01,
        9.71415855e-01,  6.89789583e-04,  2.90579454e-03,  0.00000000e+00,
       -9.99995778e-01])
  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([ 0.10394772, -0.09051392,  0.14132422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000950491950596342
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.15178034e-01,  3.68177847e-01, -4.47135154e-01,  3.22805868e-01,
        9.29755383e-01,  1.77062979e-01,  4.80916983e-01, -2.77555756e-17,
       -8.76766135e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10372685, -0.08965246,  0.15004178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004625862272450293
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.25003259e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.25003259e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184838, -0.06247211,  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:
[-1.46351675e-05,-7.69651359e-06,-1.60115666e-05, 7.69064154e-06,
 -2.76239336e-06, 2.83171482e-05,-2.08103202e-05,-3.17154020e-05,
 -2.93899881e-05, 1.96400824e-05, 1.84803814e-05, 1.32554814e-05,
  2.64665418e-01, 6.30318680e-04, 9.51602863e-02, 3.62522154e-02,
 -5.09383405e-05, 3.06079110e-05,-9.80996265e+00,-1.18183553e-02,
 -2.39762957e-02, 6.63643950e-05]


--- Step 824 ---
qpos:
[-1.35500059e-02, 1.35294054e-02, 1.00693147e-02, 1.47244960e-02,
 -1.90595547e-02,-9.11008096e-03,-1.74414854e-02, 1.63180021e-02,
 -1.21526186e-02,-6.69401995e-03,-1.43099500e-02, 1.51120170e-02,
  1.40358778e+00, 3.20073803e-02, 2.83197849e-01,-3.21736200e-02,
  9.54611001e-02,-7.16567167e-02, 1.04548791e-01, 9.99904899e-01,
  1.16657930e-03, 4.03318809e-06,-1.37416501e-02]

qacc:
[ -7.53415285,  0.59562863, -2.58226982,  4.40199988, -0.25174815,
  -0.28779229,  1.28140919, -1.83388108, -2.9307879 , -0.72510445,
  -2.0341468 , 16.56814318,  0.31512036,  5.5232683 ,-25.48804705,
  53.67586168,  0.39269058, -0.15123194, -0.07976515, -6.35243267,
  17.51803119,-35.11230232]

qfrc_actuator:
[ 4.78540030e-04,-5.62917156e-04,-2.03082087e-04, 3.48982982e-06,
 -6.43608104e-04,-6.64162038e-04,-2.36712206e-04,-7.48472753e-05,
 -5.59838446e-04,-5.56534048e-04,-1.53224580e-04, 2.81812148e-06,
  2.10000000e-01,-5.43492086e-03, 9.00000000e-02, 3.60498642e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38780733,  0.38140301,  0.07018741,  0.38140301,  0.39266307,
       -0.02638642,  0.07018741, -0.02638642,  0.53119287,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010104351376011769
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71433581e-01,  2.37297547e-01, -2.58315258e-03,  2.37296708e-01,
        9.71437015e-01,  6.30998986e-04,  2.65910455e-03,  1.08420217e-19,
       -9.99996465e-01])
  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([ 0.10395834, -0.09051517,  0.14132659])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009505610438899068
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.81490661,  0.36828658, -0.44754018,  0.32280864,  0.92971232,
        0.17728392,  0.48137491,  0.        , -0.8765148 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10374061, -0.08965401,  0.15003847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004588102998606333
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.51236664e-14,  1.51236664e-14,  1.00000000e+00, -2.28725285e-28,
        1.00000000e+00, -1.51236664e-14, -1.00000000e+00,  0.00000000e+00,
        1.51236664e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184804, -0.06247275,  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:
[-4.47245770e-05,-1.19740445e-05,-1.23480596e-05, 3.56213891e-06,
 -1.50274778e-06, 1.70404757e-05, 1.20042833e-05, 4.19792743e-07,
 -1.74764318e-05,-3.28978927e-05, 3.35039327e-05, 4.48447423e-05,
  2.64579975e-01, 5.36138916e-04, 9.60948783e-02, 3.61789137e-02,
 -1.18770950e-04, 7.41299735e-05,-9.80991981e+00,-1.18264419e-02,
 -2.39735414e-02, 6.11890784e-05]


--- Step 825 ---
qpos:
[-1.35504843e-02, 1.35289929e-02, 1.00691121e-02, 1.47253010e-02,
 -1.90602165e-02,-9.10990265e-03,-1.74413496e-02, 1.63176999e-02,
 -1.21535625e-02,-6.69570468e-03,-1.43090242e-02, 1.51131917e-02,
  1.40358608e+00, 3.20025861e-02, 2.83040856e-01,-3.21775912e-02,
  9.54727559e-02,-7.16612163e-02, 1.04548810e-01, 9.99900559e-01,
  1.10735463e-03, 2.04707991e-04,-1.40571521e-02]

qacc:
[  1.42663613, -0.68707451,  2.0462212 , -1.73092604, -3.10454375,
  -0.83373515,  1.15582273,  4.45261038,  1.36980173, -1.16785364,
   1.42089496,  6.45221467,  0.16360816,  7.90572665,-20.40076313,
  39.67647205,  0.35593266, -0.19737794, -0.10781444, -6.22845081,
  16.85126547,-36.96816353]

qfrc_actuator:
[ 4.88237824e-04,-5.65580987e-04,-1.90496323e-04, 5.70452305e-06,
 -6.62082851e-04,-6.77994090e-04,-2.13010964e-04,-5.64934809e-05,
 -5.51449569e-04,-5.66931467e-04,-1.19986094e-04, 2.78785047e-05,
  2.10000000e-01,-5.37304654e-03, 9.00000000e-02, 3.60636868e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38811163,  0.38160597,  0.07076385,  0.38160597,  0.39181902,
       -0.01999274,  0.07076385, -0.01999274,  0.49592584,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010444653099448796
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71456716e-01,  2.37205919e-01, -2.28043314e-03,  2.37205265e-01,
        9.71459393e-01,  5.56824343e-04,  2.34743022e-03, -1.08420217e-19,
       -9.99997245e-01])
  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([ 0.10397029, -0.09051697,  0.14132891])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009509878022980313
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.8145802 ,  0.36840638, -0.44803553,  0.32280079,  0.92966485,
        0.17754694,  0.48193231,  0.        , -0.87620845])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10375644, -0.08965591,  0.15003386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004545934258749357
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.22111645e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.22111645e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184743, -0.062473  ,  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:
[ 8.41696847e-06,-1.17513705e-05, 8.72345066e-06, 1.34693940e-06,
 -1.85187984e-05,-1.79510284e-06, 2.87178853e-05, 1.95083276e-05,
  7.91769235e-06,-1.99142635e-05, 3.21365003e-05, 2.56860180e-05,
  2.64461405e-01, 5.35893953e-04, 9.69229497e-02, 3.61759423e-02,
 -2.20601331e-04, 1.40902981e-04,-9.80986112e+00,-1.18378234e-02,
 -2.39706008e-02, 5.44657562e-05]


--- Step 826 ---
qpos:
[-1.35504982e-02, 1.35284425e-02, 1.00693665e-02, 1.47257625e-02,
 -1.90610947e-02,-9.11009022e-03,-1.74405412e-02, 1.63183263e-02,
 -1.21543982e-02,-6.69714482e-03,-1.43081565e-02, 1.51139402e-02,
  1.40359707e+00, 3.20013018e-02, 2.82965759e-01,-3.21974042e-02,
  9.54769559e-02,-7.16687172e-02, 1.04547877e-01, 9.99897056e-01,
  1.10831962e-03, 3.02889375e-04,-1.43023546e-02]

qacc:
[ 4.04402356e+00,-2.17538291e+00, 8.92869820e+00,-1.54895900e+01,
 -1.85056509e+00,-4.47940008e-01,-3.01927800e+00, 1.82791511e+01,
  9.38796210e-01,-3.93321205e-01, 3.66733139e+00,-1.11254295e+01,
  9.29143304e-02, 2.71587441e+01, 1.69428829e+02,-4.16109520e+02,
 -1.86397546e+00,-7.50339045e-01,-2.37764877e-01, 3.08045645e+01,
 -5.07797297e+01, 3.52150303e+01]

qfrc_actuator:
[ 5.11902372e-04,-5.66929791e-04,-1.65231559e-04,-1.10595808e-05,
 -6.72687171e-04,-7.04026646e-04,-1.81390391e-04,-1.00736036e-05,
 -5.46131081e-04,-5.36792528e-04,-1.18542770e-04, 6.64049241e-06,
  2.10000000e-01,-5.31714888e-03, 9.00000000e-02, 3.59850997e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38845289,  0.37110431, -0.11479219,  0.37110431,  0.51410959,
        0.40622747, -0.11479219,  0.40622747,  1.70171967,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010813020676480892
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71480976e-01,  2.37109759e-01, -1.91700564e-03,  2.37109297e-01,
        9.71482868e-01,  4.67883440e-04,  1.97327787e-03,  5.42101086e-20,
       -9.99998053e-01])
  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([ 0.10398327, -0.09051972,  0.14133108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010028548037007649
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.81421747,  0.36850681, -0.44861191,  0.32275882,  0.92962505,
        0.17783142,  0.48257296,  0.        , -0.87585577])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10377397, -0.08965847,  0.15002797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.6094556 ,  9.44383059,  4.83472978,  9.44383059, 13.24167657,
       -5.14160047,  4.83472978, -5.14160047, 20.65270641,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004590849667142696
  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([ 0.0998298 , -0.0531656 ,  0.06198048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.39183116e-05,-6.04166966e-06, 2.39631507e-05,-1.69388697e-05,
 -1.11475235e-05,-2.02510456e-05, 3.54710028e-05, 4.77186474e-05,
  5.58353983e-06, 2.67826955e-05, 2.18856866e-06,-2.04777397e-05,
  2.64319235e-01, 5.13846843e-04, 9.76642484e-02, 3.61217011e-02,
 -3.59090037e-04, 2.32754212e-04,-9.80978670e+00,-1.18525010e-02,
 -2.39675858e-02, 4.62385252e-05]


--- Step 827 ---
qpos:
[-1.35502279e-02, 1.35278531e-02, 1.00699173e-02, 1.47256724e-02,
 -1.90620936e-02,-9.11030728e-03,-1.74397134e-02, 1.63195064e-02,
 -1.21544730e-02,-6.69815987e-03,-1.43079407e-02, 1.51144466e-02,
  1.40361505e+00, 3.20017643e-02, 2.82965753e-01,-3.22291545e-02,
  9.54749769e-02,-7.16782489e-02, 1.04546305e-01, 9.99894924e-01,
  1.14860711e-03, 2.97418345e-04,-1.44476123e-02]

qacc:
[ 2.47259557e+00,-2.02153359e+00, 9.45309291e+00,-1.94358844e+01,
 -1.04689776e+00, 1.04817860e+00,-6.12838618e+00, 1.56979811e+01,
  6.61298990e+00, 1.87155422e+00,-4.85783632e+00, 1.41912708e+00,
 -5.42716200e-01, 1.71186182e+01, 1.47453161e+02,-3.54056759e+02,
 -1.54474765e+00,-5.07715394e-01,-1.59860902e-01, 2.03845669e+01,
 -5.14844925e+01, 5.00404618e+01]

qfrc_actuator:
[ 5.25827868e-04,-5.67436176e-04,-1.50448600e-04,-3.88491196e-05,
 -6.78568708e-04,-7.01598986e-04,-1.80897635e-04, 1.69705958e-05,
 -5.07165430e-04,-5.18279860e-04,-1.53494254e-04,-6.14611232e-06,
  2.10000000e-01,-5.33846035e-03, 9.00000000e-02, 3.59198725e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38835324,  0.35239833, -0.16319821,  0.35239833,  0.65095169,
        0.56703597, -0.16319821,  0.56703597,  1.61276939,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010706819836829153
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71496023e-01,  2.37049568e-01, -1.72607652e-03,  2.37049194e-01,
        9.71497557e-01,  4.21170069e-04,  1.77671730e-03,  0.00000000e+00,
       -9.99998422e-01])
  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([ 0.10398589, -0.09053237,  0.14133114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36919646,  0.35029133,  0.11662767,  0.35029133,  0.48565558,
       -0.34978506,  0.11662767, -0.34978506,  1.41977622,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010072735378844203
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.8144283 ,  0.36773526, -0.44886225,  0.32206062,  0.92993052,
        0.17749979,  0.48268364,  0.        , -0.87579478])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10377791, -0.08966955,  0.15002373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.63256142, -10.04152318,  -3.49559361, -10.04152318,
        15.76712184, -14.74965721,  -3.49559361, -14.74965721,
        53.0027684 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046080259145053065
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.51748365e-14, -1.35524509e-13,  1.00000000e+00, -6.12229755e-27,
        1.00000000e+00,  1.35524509e-13, -1.00000000e+00,  0.00000000e+00,
       -4.51748365e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09983444, -0.05317568,  0.06198041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46288485e-05, 3.46646816e-07, 1.58993106e-05,-2.75498606e-05,
 -6.21704812e-06, 5.02844833e-07, 2.34139351e-06, 2.83349884e-05,
  3.91760426e-05, 3.30998459e-05,-2.98483625e-05,-1.19601114e-05,
  2.63684648e-01, 3.15458749e-04, 9.35690728e-02, 3.68484576e-02,
 -1.67013477e-04, 1.26242709e-04,-9.80995087e+00,-1.18317993e-02,
 -2.39513363e-02, 4.51942823e-05]


--- Step 828 ---
qpos:
[-1.35494474e-02, 1.35272577e-02, 1.00706375e-02, 1.47252545e-02,
 -1.90631555e-02,-9.11035560e-03,-1.74389614e-02, 1.63209825e-02,
 -1.21540793e-02,-6.69907777e-03,-1.43080806e-02, 1.51155084e-02,
  1.40362400e+00, 3.19984359e-02, 2.82985080e-01,-3.22631808e-02,
  9.54669777e-02,-7.16896669e-02, 1.04543991e-01, 9.99894241e-01,
  1.22122387e-03, 1.86649072e-04,-1.44906751e-02]

qacc:
[  4.42773041, -1.16506392,  5.51163071,-11.43486524, -0.55288855,
   1.04498588, -4.65119587,  9.7717705 ,  4.07754537,  2.25768367,
 -10.22342029, 20.35105766, -0.89256352,-19.91815834, 35.32850566,
 -82.48331958, -1.50504683, -0.47157125, -0.1856955 , 16.90756111,
 -52.35157425, 51.16783791]

qfrc_actuator:
[ 5.51657209e-04,-5.67480738e-04,-1.41977028e-04,-5.51558675e-05,
 -6.81625630e-04,-6.82285248e-04,-1.80944712e-04, 3.23929321e-05,
 -4.84212596e-04,-5.24773927e-04,-1.74160348e-04, 2.16299872e-05,
  2.10000000e-01,-5.33472771e-03, 9.00000000e-02, 3.59716092e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38792365,  0.34559034, -0.17621597,  0.34559034,  0.33184532,
       -0.10997941, -0.17621597, -0.10997941,  0.17223479,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010235822327777923
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71503193e-01,  2.37020232e-01, -1.71929547e-03,  2.37019861e-01,
        9.71504714e-01,  4.19460456e-04,  1.76972426e-03,  0.00000000e+00,
       -9.99998434e-01])
  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([ 0.10398002, -0.09055104,  0.14132971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36794315,  0.35909566,  0.08020264,  0.35909566,  0.37182958,
       -0.01740093,  0.08020264, -0.01740093,  0.4458533 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009597792781740377
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.15074345e-01,  3.66392097e-01, -4.48787971e-01,  3.20955896e-01,
        9.30460548e-01,  1.76721481e-01,  4.82328855e-01, -2.77555756e-17,
       -8.75990226e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10377044, -0.08968565,  0.15002195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.63283948, -10.08837394,  -3.35886686, -10.08837394,
        16.66755468, -18.12529825,  -3.35886686, -18.12529825,
        65.07226636,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004608231805613497
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.50576060e-14, -6.02304241e-14,  1.00000000e+00, -9.06925998e-28,
        1.00000000e+00,  6.02304241e-14, -1.00000000e+00,  0.00000000e+00,
       -1.50576060e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09983833, -0.05318307,  0.06198041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.62669504e-05, 2.24697698e-06, 9.54438101e-06,-1.62791479e-05,
 -3.24147285e-06, 2.13268980e-05, 1.33770921e-06, 1.60788594e-05,
  2.41212898e-05, 5.35674632e-06,-1.79196651e-05, 2.79274584e-05,
  2.63335528e-01, 2.31725452e-04, 8.98144197e-02, 3.74970171e-02,
 -3.86800234e-05, 2.66536463e-05,-9.81001177e+00,-1.18169680e-02,
 -2.39475701e-02, 4.73734624e-05]


--- Step 829 ---
qpos:
[-1.35483630e-02, 1.35267286e-02, 1.00711303e-02, 1.47250082e-02,
 -1.90639015e-02,-9.10997198e-03,-1.74386043e-02, 1.63222747e-02,
 -1.21544470e-02,-6.70007435e-03,-1.43081350e-02, 1.51172322e-02,
  1.40361431e+00, 3.19861116e-02, 2.83094717e-01,-3.22477334e-02,
  9.54496556e-02,-7.16932324e-02, 1.04541274e-01, 9.99894981e-01,
  1.19981087e-03,-3.23870837e-05,-1.44424988e-02]

qacc:
[ 2.62716192e+00, 1.07140250e+00,-4.42590729e+00, 7.71830158e+00,
  2.72395720e+00, 1.28995990e+00,-3.00394318e+00, 1.43914793e-01,
 -6.64224294e+00, 1.03247742e+00,-6.60483041e+00, 1.79584674e+01,
 -6.14419607e-01,-5.11871830e+01,-1.66864061e+01, 2.51059958e+02,
 -2.33072099e+00, 1.96314011e+00,-1.00411826e-01,-4.62348613e+01,
 -5.47534150e+01, 4.56823337e+01]

qfrc_actuator:
[ 5.66536534e-04,-5.67265823e-04,-1.55036421e-04,-4.68234905e-05,
 -6.65244497e-04,-6.53026286e-04,-1.98980925e-04, 2.31255753e-05,
 -5.24137439e-04,-5.28361498e-04,-1.68538010e-04, 5.52902330e-05,
  2.10000000e-01,-5.31112963e-03, 9.00000000e-02, 3.60531326e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38688516,  0.34713288, -0.17081831,  0.34713288,  0.52935928,
        0.28953249, -0.17081831,  0.28953249,  0.97526613,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.991425609387808e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71514027e-01,  2.36974413e-01, -1.90315146e-03,  2.36973958e-01,
        9.71515892e-01,  4.64221126e-04,  1.95895042e-03,  0.00000000e+00,
       -9.99998081e-01])
  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([ 0.10396756, -0.09057825,  0.14132712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36756861,  0.33775809,  0.14500397,  0.33775809,  0.63229702,
       -0.61663251,  0.14500397, -0.61663251,  1.80389213,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009541396152638377
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.16318624e-01,  3.64409453e-01, -4.48140218e-01,  3.19439240e-01,
        9.31238826e-01,  1.75364823e-01,  4.81230169e-01,  2.77555756e-17,
       -8.76594276e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10375275, -0.0897079 ,  0.15002716])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.62250499, -3.62606094,  9.98445263, -3.62606094, 20.60670844,
        3.62597045,  9.98445263,  3.62597045, 11.93935132,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004600566572395606
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26467179e-06, -3.61334818e-06,  1.00000000e+00,  4.56969951e-12,
        1.00000000e+00,  3.61334818e-06, -1.00000000e+00,  0.00000000e+00,
        1.26467179e-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([ 0.10398138, -0.07145852,  0.06198044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56519629e-05, 2.72507600e-06,-1.19931041e-05, 8.43921062e-06,
  1.62841722e-05, 4.21876881e-05,-1.28972956e-05,-7.99172038e-06,
 -3.92000301e-05,-3.09975898e-06, 5.48315829e-06, 3.38113423e-05,
  2.63787188e-01, 4.45107436e-04, 8.88477241e-02, 3.76922996e-02,
 -1.81831039e-05,-2.01204143e-05,-9.80997784e+00,-1.18118271e-02,
 -2.39534616e-02, 5.28617346e-05]


--- Step 830 ---
qpos:
[-1.35474529e-02, 1.35261544e-02, 1.00717827e-02, 1.47248509e-02,
 -1.90644458e-02,-9.10913169e-03,-1.74387545e-02, 1.63227599e-02,
 -1.21545999e-02,-6.70101060e-03,-1.43084064e-02, 1.51186583e-02,
  1.40359997e+00, 3.19715589e-02, 2.83187019e-01,-3.22268999e-02,
  9.54363580e-02,-7.16950928e-02, 1.04540271e-01, 9.99895369e-01,
  1.16795624e-03,-1.97717266e-04,-1.44169259e-02]

qacc:
[-1.50526218e+00,-3.19391944e-01, 6.80982841e-01, 6.34622911e-01,
  1.72742084e+00, 3.56422507e-01, 3.00674424e+00,-1.64938964e+01,
  1.86758111e+00, 6.99128179e-02, 1.11666715e+00,-5.95814300e+00,
  6.04329338e-01,-1.62933436e+01,-4.21424969e+01, 1.09735553e+02,
  1.00614168e+00, 4.26275288e-01, 4.28344441e-01,-5.60824651e+00,
  2.67611998e+01,-1.13350678e+01]

qfrc_actuator:
[ 5.57095328e-04,-5.66964965e-04,-1.45180097e-04,-4.18284004e-05,
 -6.55307015e-04,-6.35883525e-04,-2.27461179e-04,-1.83466213e-05,
 -5.11983091e-04,-5.30068198e-04,-1.82946815e-04, 3.88944813e-05,
  2.10000000e-01,-5.30439613e-03, 9.00000000e-02, 3.60484308e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38539718,  0.38452636,  0.02589326,  0.38452636,  0.38764004,
       -0.03330746,  0.02589326, -0.03330746,  0.8800277 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.808871485900289e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71501460e-01,  2.37022026e-01, -2.33944804e-03,  2.37021339e-01,
        9.71504276e-01,  5.70765078e-04,  2.40806767e-03,  1.08420217e-19,
       -9.99997101e-01])
  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([ 0.10394543, -0.09059644,  0.14132106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36314895, -0.34164035,  0.12312203, -0.34164035,  0.51167922,
        0.4121434 ,  0.12312203,  0.4121434 ,  1.50676897,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009110979082900099
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.17808254e-01,  3.63273800e-01, -4.46342701e-01,  3.18872937e-01,
        9.31682428e-01,  1.74034203e-01,  4.79071718e-01,  2.77555756e-17,
       -8.77775763e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10372176, -0.08971657,  0.15004729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.65546867,  9.80122179, -4.18031866,  9.80122179, 14.83458653,
        9.79840637, -4.18031866,  9.79840637, 33.6289216 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004624924201674721
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.00130389e-14,  1.50032597e-14,  1.00000000e+00,  9.00391210e-28,
        1.00000000e+00, -1.50032597e-14, -1.00000000e+00,  0.00000000e+00,
       -6.00130389e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185384, -0.062489  ,  0.06198034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.97483056e-06,-3.26016531e-07, 9.22068592e-06, 4.85799705e-06,
  1.04009349e-05, 3.77603547e-05,-2.16234710e-05,-4.02652077e-05,
  1.10617278e-05,-8.56101520e-07,-1.31970443e-05,-1.56784892e-05,
  2.64718256e-01, 9.03917590e-04, 8.43324031e-02, 3.52139776e-02,
 -1.25174939e-04, 3.79721412e-05,-9.80989085e+00,-1.18208157e-02,
 -2.39636744e-02, 5.81895747e-05]


--- Step 831 ---
qpos:
[-1.35476969e-02, 1.35253556e-02, 1.00729391e-02, 1.47244085e-02,
 -1.90648669e-02,-9.10815628e-03,-1.74391437e-02, 1.63227676e-02,
 -1.21539157e-02,-6.70198614e-03,-1.43090532e-02, 1.51192108e-02,
  1.40358229e+00, 3.19551467e-02, 2.83260737e-01,-3.22012038e-02,
  9.54266712e-02,-7.16958118e-02, 1.04540572e-01, 9.99895308e-01,
  1.12592851e-03,-3.12755196e-04,-1.44224825e-02]

qacc:
[ -9.98606641, -2.27356906,  8.91344336,-14.52637488,  1.05933581,
  -0.13860434,  2.76607061,-10.74439652,  7.29454952, -0.81553476,
   6.49706717,-20.96360534,  0.86376892,-14.64105837,-42.3971508 ,
 107.96382155,  0.90268621,  0.28534562,  0.32596991, -5.45136143,
  25.05193985,-15.59472018]

qfrc_actuator:
[ 4.97913240e-04,-5.84280366e-04,-1.21870462e-04,-5.65745881e-05,
 -6.49247842e-04,-6.43960611e-04,-2.44184859e-04,-4.29398031e-05,
 -4.69253003e-04,-5.48506549e-04,-2.09105957e-04,-6.84014077e-06,
  2.10000000e-01,-5.29319785e-03, 9.00000000e-02, 3.60340446e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38454662,  0.38112475,  0.0511862 ,  0.38112475,  0.39162325,
       -0.05269149,  0.0511862 , -0.05269149,  0.77687956,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.1517519599046394e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71487704e-01,  2.37074842e-01, -2.67574660e-03,  2.37073943e-01,
        9.71491389e-01,  6.52967395e-04,  2.75426692e-03, -1.08420217e-19,
       -9.99996207e-01])
  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([ 0.10392816, -0.09060844,  0.14131725])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009055311827163776
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.18899498e-01,  3.62553423e-01, -4.44925417e-01,  3.18569320e-01,
        9.31962990e-01,  1.73085450e-01,  4.77406745e-01, -2.77555756e-17,
       -8.78682423e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1036978 , -0.0897211 ,  0.15006422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.74042054, -10.39582849,  -2.69877444, -10.39582849,
        16.59056223, -22.53506953,  -2.69877444, -22.53506953,
        97.54675537,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046864883486066183
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96123382e-14,  2.96123382e-14,  1.00000000e+00, -8.76890575e-28,
        1.00000000e+00, -2.96123382e-14, -1.00000000e+00,  0.00000000e+00,
        2.96123382e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185558, -0.06249551,  0.06198008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.94281389e-05,-1.54220950e-05, 2.45358534e-05,-1.43482314e-05,
  6.34453507e-06, 6.86996761e-06,-1.29752540e-05,-2.45061928e-05,
  4.30817059e-05,-2.23025339e-05,-2.85018348e-05,-4.65332729e-05,
  2.64950538e-01, 1.02846943e-03, 8.51992926e-02, 3.49303249e-02,
 -7.24371332e-05, 2.44204311e-05,-9.80993907e+00,-1.18186083e-02,
 -2.39703549e-02, 6.08170791e-05]


--- Step 832 ---
qpos:
[-1.35489931e-02, 1.35244615e-02, 1.00740687e-02, 1.47238134e-02,
 -1.90652126e-02,-9.10711113e-03,-1.74400132e-02, 1.63228515e-02,
 -1.21527237e-02,-6.70294996e-03,-1.43100620e-02, 1.51192038e-02,
  1.40356266e+00, 3.19373126e-02, 2.83315860e-01,-3.21716253e-02,
  9.54201987e-02,-7.16959296e-02, 1.04541813e-01, 9.99894686e-01,
  1.07445606e-03,-3.80596256e-04,-1.44678111e-02]

qacc:
[ -9.12040392, -0.34815979,  1.73442666, -4.2990496 ,  0.63941355,
   1.58937187, -5.85740716,  7.8946706 ,  4.41991127, -0.13339078,
   2.84542134,-11.94249265,  1.04976965,-12.31000033,-39.42616748,
  97.5941576 ,  0.80355063,  0.15029057,  0.23485465, -5.06812342,
  23.50537793,-19.91306272]

qfrc_actuator:
[ 4.45441472e-04,-5.94215318e-04,-1.26402171e-04,-6.50742234e-05,
 -6.45517784e-04,-6.49278103e-04,-2.71672661e-04,-3.96596682e-05,
 -4.44390855e-04,-5.41403135e-04,-2.24317444e-04,-3.39776986e-05,
  2.10000000e-01,-5.26104570e-03, 9.00000000e-02, 3.59767117e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38407249,  0.37758396,  0.07029956,  0.37758396,  0.39463741,
       -0.05674497,  0.07029956, -0.05674497,  0.68885378,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.9316259966767915e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71473528e-01,  2.37130062e-01, -2.91863081e-03,  2.37128991e-01,
        9.71477912e-01,  7.12414657e-04,  3.00432030e-03, -1.08420217e-19,
       -9.99995487e-01])
  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([ 0.10391514, -0.09061568,  0.14131529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000901702484196224
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.81966214,  0.36216044, -0.44383983,  0.31846816,  0.93211578,
        0.17244771,  0.47616385,  0.        , -0.87935658])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10368   , -0.08972249,  0.15007824])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047229069817521924
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46919978e-14,  2.20379967e-14,  1.00000000e+00, -3.23782200e-28,
        1.00000000e+00, -2.20379967e-14, -1.00000000e+00,  0.00000000e+00,
        1.46919978e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818566 , -0.0625004 ,  0.06197992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.41750283e-05,-1.41190060e-05,-5.18632842e-06,-8.58776728e-06,
  3.88579800e-06,-5.18852161e-06,-2.85104887e-05, 2.64926538e-06,
  2.61330577e-05,-1.32555993e-05,-2.49475270e-05,-2.99882858e-05,
  2.65116957e-01, 1.15517057e-03, 8.61285952e-02, 3.46298956e-02,
 -3.84796476e-05, 1.31827781e-05,-9.80996973e+00,-1.18176028e-02,
 -2.39755697e-02, 6.16296418e-05]


--- Step 833 ---
qpos:
[-1.35498741e-02, 1.35236113e-02, 1.00750554e-02, 1.47234566e-02,
 -1.90658560e-02,-9.10617956e-03,-1.74408902e-02, 1.63233101e-02,
 -1.21515869e-02,-6.70361855e-03,-1.43114486e-02, 1.51191809e-02,
  1.40354242e+00, 3.19185208e-02, 2.83352974e-01,-3.21393440e-02,
  9.54165857e-02,-7.16959184e-02, 1.04543672e-01, 9.99893390e-01,
  1.01432229e-03,-4.03943255e-04,-1.45607723e-02]

qacc:
[ 3.59446888e+00, 9.41590498e-01,-4.29163697e+00, 8.62725302e+00,
 -2.58411041e+00, 6.46947539e-01,-4.09881514e+00, 1.06729042e+01,
 -4.97417520e-01, 1.41395350e+00,-4.40640909e+00, 4.51495001e+00,
  1.16030068e+00,-9.60783958e+00,-3.49624913e+01, 8.32994381e+01,
  7.14909187e-01, 3.22479439e-02, 1.54705631e-01,-4.66076509e+00,
  2.21563151e+01,-2.38409229e+01]

qfrc_actuator:
[ 4.68366087e-04,-5.82008832e-04,-1.29557010e-04,-5.20916424e-05,
 -6.60939425e-04,-6.52928502e-04,-2.69776678e-04,-2.00181719e-05,
 -4.48007611e-04,-5.01257325e-04,-2.32823651e-04,-3.21691474e-05,
  2.10000000e-01,-5.21601505e-03, 9.00000000e-02, 3.59103986e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38381537,  0.37449631,  0.08406398,  0.37449631,  0.39541388,
       -0.05167016,  0.08406398, -0.05167016,  0.61400054,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.072014821851577e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71459442e-01,  2.37185801e-01, -3.07384810e-03,  2.37184614e-01,
        9.71464305e-01,  7.50488845e-04,  3.16413901e-03,  0.00000000e+00,
       -9.99994994e-01])
  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([ 0.10390575, -0.09061949,  0.14131482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008991899292046295
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.20158757e-01,  3.62008638e-01, -4.43045550e-01,  3.18507402e-01,
        9.32174740e-01,  1.72056063e-01,  4.75281652e-01,  2.77555756e-17,
       -8.79833707e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10366752, -0.08972173,  0.15008958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004738571306946021
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46434304e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.46434304e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185704, -0.06250401,  0.06197986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.13784195e-05, 2.89790563e-06,-6.98985356e-06, 1.20360258e-05,
 -1.53384791e-05,-1.23132805e-05,-2.59221875e-06, 1.84847352e-05,
 -2.82393863e-06, 2.62651500e-05,-1.53679809e-05,-2.09755181e-07,
  2.65213751e-01, 1.27251069e-03, 8.70583181e-02, 3.43694734e-02,
 -2.51184509e-05, 8.40987228e-06,-9.80998342e+00,-1.18182859e-02,
 -2.39795991e-02, 6.07411424e-05]


--- Step 834 ---
qpos:
[-1.35501289e-02, 1.35229929e-02, 1.00758931e-02, 1.47232339e-02,
 -1.90666797e-02,-9.10554938e-03,-1.74413529e-02, 1.63236500e-02,
 -1.21505012e-02,-6.70398621e-03,-1.43130101e-02, 1.51195092e-02,
  1.40352270e+00, 3.18991960e-02, 2.83372616e-01,-3.21054176e-02,
  9.54155383e-02,-7.16961359e-02, 1.04545874e-01, 9.99891315e-01,
  9.45932839e-04,-3.85073939e-04,-1.47076729e-02]

qacc:
[ 5.41984677e+00, 9.88789917e-01,-3.66574666e+00, 6.07463737e+00,
 -1.54685586e+00,-1.79664356e+00, 6.33559197e+00,-8.83886582e+00,
 -4.57102277e-01, 1.61033981e+00,-6.64688839e+00, 1.27846439e+01,
  1.22430129e+00,-7.05619794e+00,-3.09419832e+01, 7.04456342e+01,
  6.41390911e-01,-5.71619401e-02, 8.59131606e-02,-4.44525248e+00,
  2.10182896e+01,-2.69922560e+01]

qfrc_actuator:
[ 4.99976748e-04,-5.56618627e-04,-1.31758896e-04,-4.43024312e-05,
 -6.69756321e-04,-6.73175851e-04,-2.50531247e-04,-2.63942749e-05,
 -4.50599379e-04,-4.77079550e-04,-2.37146001e-04,-1.33126075e-05,
  2.10000000e-01,-5.23416313e-03, 9.00000000e-02, 3.58915816e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38368114,  0.37244524,  0.09217243,  0.37244524,  0.39399013,
       -0.04165599,  0.09217243, -0.04165599,  0.55200234,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.508265640784679e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71445804e-01,  2.37240701e-01, -3.14634025e-03,  2.37239456e-01,
        9.71450899e-01,  7.68376420e-04,  3.23880522e-03,  1.08420217e-19,
       -9.99994755e-01])
  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([ 0.10389942, -0.09062106,  0.14131553])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008977484845394404
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.82044276,  0.36202151, -0.44250887,  0.31863074,  0.93216974,
        0.17185468,  0.47470847,  0.        , -0.8801431 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10365959, -0.08971969,  0.15009836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047373045134131014
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.85893846e-14, -1.46473462e-14,  1.00000000e+00,  8.58178997e-28,
        1.00000000e+00,  1.46473462e-14, -1.00000000e+00,  0.00000000e+00,
        5.85893846e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185701, -0.0625066 ,  0.06197986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.22480768e-05, 2.61202451e-05,-2.03822250e-06, 7.90680582e-06,
 -9.28808091e-06,-2.68581839e-05, 1.70305902e-05,-6.63162740e-06,
 -2.62242810e-06, 3.56432944e-05,-8.08459203e-07, 1.94441718e-05,
  2.65244190e-01, 1.30311907e-03, 8.79586308e-02, 3.42155046e-02,
 -3.51948314e-05, 1.47223008e-05,-9.80998068e+00,-1.18211093e-02,
 -2.39826375e-02, 5.82645141e-05]


--- Step 835 ---
qpos:
[-1.35500023e-02, 1.35226320e-02, 1.00766831e-02, 1.47227503e-02,
 -1.90676033e-02,-9.10508558e-03,-1.74418877e-02, 1.63239274e-02,
 -1.21494544e-02,-6.70406583e-03,-1.43146067e-02, 1.51197072e-02,
  1.40350450e+00, 3.18797620e-02, 2.83375535e-01,-3.20709492e-02,
  9.54168024e-02,-7.16968782e-02, 1.04548183e-01, 9.99888349e-01,
  8.69616536e-04,-3.25939381e-04,-1.49139641e-02]

qacc:
[ 3.29985195e+00,-7.03318743e-02, 1.83561533e+00,-6.45468270e+00,
 -8.66332436e-01,-1.45191819e-01, 4.64939561e-01,-1.31000947e+00,
 -3.45867993e-01, 2.10761985e-01, 3.52675626e-01,-2.76710483e+00,
  1.22262609e+00,-4.35344047e+00,-2.64666494e+01, 5.64670692e+01,
  5.77851297e-01,-1.31205463e-01, 2.64758751e-02,-4.27011345e+00,
  2.00438788e+01,-2.97161458e+01]

qfrc_actuator:
[ 5.18669353e-04,-5.41276135e-04,-1.33325628e-04,-5.73729388e-05,
 -6.74608854e-04,-6.85395500e-04,-2.56800036e-04,-3.02845780e-05,
 -4.52558008e-04,-4.62606376e-04,-2.39009869e-04,-2.00934566e-05,
  2.10000000e-01,-5.23700227e-03, 9.00000000e-02, 3.58657339e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38361665,  0.37114517,  0.09702057,  0.37114517,  0.39159061,
       -0.03050383,  0.09702057, -0.03050383,  0.50030683,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1861538504101695e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71432910e-01,  2.37293573e-01, -3.14036972e-03,  2.37292334e-01,
        9.71437986e-01,  7.67099458e-04,  3.23270221e-03,  1.08420217e-19,
       -9.99994775e-01])
  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([ 0.10389569, -0.0906213 ,  0.14131715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008972085678778046
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.20556939e-01,  3.62140001e-01, -4.42200101e-01,  3.18795119e-01,
        9.32123715e-01,  1.71799454e-01,  4.74400656e-01, -2.77555756e-17,
       -8.80309047e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10365557, -0.08971703,  0.15010473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004722418994011837
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -4.4080548e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  4.4080548e-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([ 0.0818566 , -0.06250837,  0.06197993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.96445974e-05, 2.98863082e-05, 3.85327981e-06,-1.18685959e-05,
 -5.14796184e-06,-2.39784339e-05,-9.93795132e-06,-4.57873102e-06,
 -1.99128381e-06, 3.50336310e-05, 6.06108906e-06,-4.90501005e-06,
  2.65217947e-01, 1.32745189e-03, 8.88320733e-02, 3.41073874e-02,
 -7.15252822e-05, 3.61714391e-05,-9.80996195e+00,-1.18264274e-02,
 -2.39848198e-02, 5.42827652e-05]


--- Step 836 ---
qpos:
[-1.35499970e-02, 1.35224717e-02, 1.00774447e-02, 1.47224651e-02,
 -1.90685781e-02,-9.10472288e-03,-1.74428206e-02, 1.63245161e-02,
 -1.21480941e-02,-6.70377562e-03,-1.43162788e-02, 1.51201599e-02,
  1.40348860e+00, 3.18606075e-02, 2.83362197e-01,-3.20368213e-02,
  9.54201798e-02,-7.16983454e-02, 1.04550396e-01, 9.99884388e-01,
  7.85329474e-04,-2.28116008e-04,-1.51836308e-02]

qacc:
[-1.05533850e+00, 7.55124998e-01,-3.14231227e+00, 6.47141251e+00,
 -4.56005561e-01, 1.61961296e+00,-7.28159826e+00, 1.33770972e+01,
  2.72872818e+00, 1.21863948e+00,-4.72091769e+00, 8.98859757e+00,
  1.16116910e+00,-1.76803529e+00,-2.30746033e+01, 4.56748551e+01,
  5.28345738e-01,-1.81212635e-01,-2.38803493e-02,-4.28333181e+00,
  1.92550917e+01,-3.17071452e+01]

qfrc_actuator:
[ 5.11852857e-04,-5.32080846e-04,-1.34553058e-04,-4.71125315e-05,
 -6.77091061e-04,-6.92812979e-04,-2.78056792e-04,-1.49396975e-05,
 -4.36375901e-04,-4.36310810e-04,-2.39468532e-04,-6.41026800e-06,
  2.10000000e-01,-5.23086673e-03, 9.00000000e-02, 3.58893706e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38359385,  0.37047223,  0.09947143,  0.37047223,  0.38887788,
       -0.0196799 ,  0.09947143, -0.0196799 ,  0.45688983,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.060242602899938e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71420972e-01,  2.37343495e-01, -3.05957805e-03,  2.37342318e-01,
        9.71425790e-01,  7.47531058e-04,  3.14957466e-03,  0.00000000e+00,
       -9.99995040e-01])
  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([ 0.10389414, -0.09062099,  0.14131943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008974654536363868
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.82053692,  0.36231447, -0.44209432,  0.31896412,  0.93205591,
        0.1718536 ,  0.47432167,  0.        , -0.88035161])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10365492, -0.08971432,  0.1501088 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046967708390142915
  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([ 0.08185589, -0.0625095 ,  0.06198004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.23428741e-06, 2.61971946e-05, 5.00811884e-06, 1.14423663e-05,
 -2.64938454e-06,-2.30433065e-05,-2.75811827e-05, 1.38866248e-05,
  1.61583271e-05, 4.68914161e-05, 7.34417649e-06, 1.52967703e-05,
  2.65141540e-01, 1.33923294e-03, 8.96679967e-02, 3.41038846e-02,
 -1.37002687e-04, 7.60303644e-05,-9.80992768e+00,-1.18344647e-02,
 -2.39862645e-02, 4.88629085e-05]


--- Step 837 ---
qpos:
[-1.35507630e-02, 1.35226049e-02, 1.00775714e-02, 1.47226807e-02,
 -1.90695752e-02,-9.10446748e-03,-1.74440006e-02, 1.63249291e-02,
 -1.21458601e-02,-6.70346932e-03,-1.43177898e-02, 1.51208021e-02,
  1.40347560e+00, 3.18420787e-02, 2.83332895e-01,-3.20037423e-02,
  9.54255117e-02,-7.17006677e-02, 1.04552346e-01, 9.99879319e-01,
  6.92756165e-04,-9.29105352e-05,-1.55196553e-02]

qacc:
[ -6.71004453,  3.20790775,-12.96654397, 22.40946367, -0.19977338,
   0.18742745, -0.13186413, -2.43462438,  7.62972738, -0.05332199,
  -0.60519738,  3.64481099,  1.06601834,  0.61113699,-20.47174935,
  37.26180811,  0.48863799, -0.2138011 , -0.06582521, -4.43357725,
  18.59979984,-33.19721246]

qfrc_actuator:
[ 4.72328336e-04,-5.26619821e-04,-1.71082446e-04,-2.32086553e-05,
 -6.78159664e-04,-6.97347892e-04,-2.90198836e-04,-2.39075544e-05,
 -3.91893680e-04,-4.56376716e-04,-2.39029602e-04, 1.46573972e-06,
  2.10000000e-01,-5.25519652e-03, 9.00000000e-02, 3.59433636e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38359971,  0.37043193,  0.099644  ,  0.37043193,  0.38629531,
       -0.01002104,  0.099644  , -0.01002104,  0.42085346,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0933443625141096e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71410183e-01,  2.37389565e-01, -2.90702232e-03,  2.37388502e-01,
        9.71414533e-01,  7.10403993e-04,  2.99256622e-03,  1.08420217e-19,
       -9.99995522e-01])
  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([ 0.10389447, -0.09062067,  0.14132218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008984248639677901
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.20409611e-01,  3.62510455e-01, -4.42169923e-01,  3.19113238e-01,
        9.31979705e-01,  1.71990033e-01,  4.74441580e-01,  2.77555756e-17,
       -8.80286992e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10365721, -0.08971194,  0.15011065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004662812904298666
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.97626949e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.97626949e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185496, -0.06251012,  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:
[-3.96983180e-05, 2.16334490e-05,-3.01043672e-05, 2.54227957e-05,
 -1.15591848e-06,-2.24880657e-05,-1.98072207e-05,-1.06371944e-05,
  4.49684591e-05, 8.28538548e-06, 1.15434454e-05, 1.04337254e-05,
  2.65026476e-01, 1.30079698e-03, 9.04804753e-02, 3.41748494e-02,
 -2.33487805e-04, 1.36476755e-04,-9.80987810e+00,-1.18453659e-02,
 -2.39870745e-02, 4.20403128e-05]


--- Step 838 ---
qpos:
[-1.35516520e-02, 1.35228868e-02, 1.00767479e-02, 1.47232225e-02,
 -1.90702328e-02,-9.10406236e-03,-1.74457009e-02, 1.63245266e-02,
 -1.21437998e-02,-6.70319664e-03,-1.43191860e-02, 1.51208533e-02,
  1.40347615e+00, 3.18265936e-02, 2.83385284e-01,-3.19859569e-02,
  9.54238668e-02,-7.17060032e-02, 1.04553190e-01, 9.99875252e-01,
  6.62354023e-04,-5.64549006e-05,-1.57809814e-02]

qacc:
[-1.09865184e+00, 3.52735020e+00,-1.36648628e+01, 2.07163323e+01,
  2.92972447e+00,-3.22601432e-02, 3.83573889e+00,-1.72181414e+01,
 -1.51177661e+00,-1.57933264e+00, 8.06795228e+00,-1.84637085e+01,
  9.83505939e-01, 2.23016362e+01, 1.67391991e+02,-4.09613927e+02,
 -1.74422497e+00,-7.53267659e-01,-2.76442324e-01, 3.18512386e+01,
 -4.88606038e+01, 3.73838124e+01]

qfrc_actuator:
[ 4.67135362e-04,-5.41325266e-04,-2.28175073e-04,-9.25306731e-06,
 -6.60635939e-04,-6.82353983e-04,-3.14616455e-04,-6.48533649e-05,
 -4.02127324e-04,-4.68548443e-04,-2.38258433e-04,-2.96845512e-05,
  2.10000000e-01,-5.22725300e-03, 9.00000000e-02, 3.59276519e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38362952,  0.3827133 ,  0.02649795,  0.3827133 ,  0.3884786 ,
       -0.07003589,  0.02649795, -0.07003589,  1.39516695,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2541340506857194e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71400709e-01,  2.37430941e-01, -2.68533517e-03,  2.37430034e-01,
        9.71404421e-01,  6.56350377e-04,  2.76438435e-03,  0.00000000e+00,
       -9.99996179e-01])
  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([ 0.10389645, -0.09062075,  0.14132521])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009000026221302608
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.82019581,  0.36270442, -0.44240743,  0.31922663,  0.93190423,
        0.17218843,  0.47473486,  0.        , -0.88012886])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10366213, -0.08971014,  0.15011041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.7394641 ,  9.55359507,  4.9055999 ,  9.55359507, 13.30096336,
       -4.98848811,  4.9055999 , -4.98848811, 20.45448293,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046858046876459974
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96166587e-14, -7.40416467e-14,  1.00000000e+00,  2.19286618e-27,
        1.00000000e+00,  7.40416467e-14, -1.00000000e+00,  0.00000000e+00,
        2.96166587e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09985992, -0.05325706,  0.06198008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.33690290e-06,-7.72249356e-06,-5.54412099e-05, 1.43392004e-05,
  1.74875045e-05,-2.09259020e-06,-3.18589089e-05,-4.27996345e-05,
 -8.93855504e-06,-4.77178735e-06, 4.23872033e-06,-3.01994818e-05,
  2.64881822e-01, 1.29699919e-03, 9.12783290e-02, 3.42115173e-02,
 -3.62383763e-04, 2.18913745e-04,-9.80981329e+00,-1.18592060e-02,
 -2.39873716e-02, 3.38270228e-05]


--- Step 839 ---
qpos:
[-1.35519070e-02, 1.35230628e-02, 1.00756198e-02, 1.47235707e-02,
 -1.90703303e-02,-9.10339012e-03,-1.74477828e-02, 1.63232663e-02,
 -1.21422226e-02,-6.70293023e-03,-1.43203098e-02, 1.51208618e-02,
  1.40348179e+00, 3.18114874e-02, 2.83498527e-01,-3.19781336e-02,
  9.54162495e-02,-7.17135840e-02, 1.04553155e-01, 9.99872642e-01,
  6.75796984e-04,-1.20211443e-04,-1.59445369e-02]

qacc:
[ 5.48816027e+00, 3.01868396e-01,-4.80406007e-01,-2.28591219e+00,
  4.84527934e+00,-3.56198044e-01, 5.38860968e+00,-1.98066497e+01,
 -4.20770713e+00,-8.48599824e-01, 3.20817965e+00,-4.39255202e+00,
  3.27794103e-01, 5.87945547e+00, 1.20269526e+02,-2.89884906e+02,
 -1.49308444e+00,-5.61341513e-01,-2.19870390e-01, 2.27128173e+01,
 -4.97214585e+01, 4.89226186e+01]

qfrc_actuator:
[ 4.99954277e-04,-5.50350537e-04,-2.43778431e-04,-1.90447760e-05,
 -6.32309843e-04,-6.55856886e-04,-3.28274631e-04,-1.06523213e-04,
 -4.26740077e-04,-4.58187736e-04,-2.19553615e-04,-3.02879031e-05,
  2.10000000e-01,-5.20611910e-03, 9.00000000e-02, 3.59202869e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38358909,  0.36122352, -0.12906648,  0.36122352,  0.37702447,
       -0.01837266, -0.12906648, -0.01837266,  0.33216879,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0329676743722094e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71381538e-01,  2.37510001e-01, -2.62822350e-03,  2.37509132e-01,
        9.71385093e-01,  6.42617815e-04,  2.70564528e-03,  0.00000000e+00,
       -9.99996340e-01])
  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([ 0.1038886 , -0.09063007,  0.1413264 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36210648,  0.35416814,  0.07540576,  0.35416814,  0.39821651,
       -0.16960273,  0.07540576, -0.16960273,  1.15870189,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009036084933524738
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.82049605,  0.36204554, -0.44239039,  0.31867577,  0.93216041,
        0.17182179,  0.47458612,  0.        , -0.88020907])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10365426, -0.08971673,  0.15011095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.7478672 , -10.2170645 ,  -3.33590203, -10.2170645 ,
        15.06508579, -13.22260079,  -3.33590203, -13.22260079,
        51.24550896,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004691803947861131
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.3310455e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.3310455e-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([ 0.09986467, -0.05326747,  0.06198006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.26333604e-05,-2.41515292e-05,-2.35208118e-05,-1.17597091e-05,
  2.88381107e-05, 1.69423066e-05,-1.94890214e-05,-4.36942079e-05,
 -2.48630913e-05, 7.19658150e-06, 1.71736865e-05,-1.25291330e-06,
  2.64203524e-01, 1.16709734e-03, 8.71936997e-02, 3.49688247e-02,
 -1.81893407e-04, 1.05831316e-04,-9.80996423e+00,-1.18415532e-02,
 -2.39709584e-02, 3.27191307e-05]


--- Step 840 ---
qpos:
[-1.35521112e-02, 1.35228141e-02, 1.00750073e-02, 1.47234375e-02,
 -1.90704321e-02,-9.10265933e-03,-1.74494483e-02, 1.63218324e-02,
 -1.21409527e-02,-6.70259152e-03,-1.43212138e-02, 1.51205106e-02,
  1.40347858e+00, 3.17918361e-02, 2.83622698e-01,-3.19728197e-02,
  9.54026848e-02,-7.17233884e-02, 1.04552092e-01, 9.99871503e-01,
  7.27499771e-04,-2.85890799e-04,-1.60114719e-02]

qacc:
[ 4.63276440e-01,-2.99541470e+00, 1.18961756e+01,-2.07375067e+01,
 -2.49547016e-02,-1.44292136e+00, 5.99049129e+00,-9.70380457e+00,
 -2.67722911e+00,-1.25376915e+00, 6.13705193e+00,-1.27773571e+01,
  1.44835183e-01,-2.72116194e+01, 2.34958803e+01,-5.94003468e+01,
 -1.48685609e+00,-5.55909209e-01,-2.56705547e-01, 1.99453435e+01,
 -5.06171626e+01, 4.83479803e+01]

qfrc_actuator:
[ 5.01614608e-04,-5.73525211e-04,-2.17001228e-04,-4.26955395e-05,
 -6.33363793e-04,-6.40387797e-04,-2.99902631e-04,-1.12753622e-04,
 -4.41848790e-04,-4.52074126e-04,-2.08044559e-04,-4.83803624e-05,
  2.10000000e-01,-5.20537621e-03, 9.00000000e-02, 3.59009632e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.3834959 ,  0.34519251, -0.16706657,  0.34519251,  0.32522402,
       -0.12040122, -0.16706657, -0.12040122,  0.13472321,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.39530877100336e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71356966e-01,  2.37609131e-01, -2.74677348e-03,  2.37608181e-01,
        9.71360850e-01,  6.71901137e-04,  2.82775807e-03,  0.00000000e+00,
       -9.99996002e-01])
  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([ 0.10387284, -0.09064638,  0.14132626])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36273803,  0.35470246,  0.07592787,  0.35470246,  0.36308479,
       -0.00161993,  0.07592787, -0.00161993,  0.37030566,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009080777388861792
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.82125304,  0.36074744, -0.44204608,  0.31765467,  0.93266354,
        0.17098019,  0.47396093,  0.        , -0.88054588])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10363558, -0.08972931,  0.15011417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.73380985, -10.25098136,  -3.18308891, -10.25098136,
        15.74789626, -16.14761879,  -3.18308891, -16.14761879,
        62.73642231,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046817587195592536
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.41056334e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.41056334e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09986867, -0.05327508,  0.0619801 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.60052746e-06,-4.20229340e-05, 1.84851016e-05,-2.57293713e-05,
 -2.12255849e-07, 1.90588697e-05, 2.79586702e-05,-7.03016382e-06,
 -1.58155738e-05, 1.35661263e-05, 1.50511041e-05,-1.72164953e-05,
  2.63949183e-01, 1.15122923e-03, 8.41510471e-02, 3.54476277e-02,
 -6.89821018e-05, 1.14124415e-05,-9.81000970e+00,-1.18304224e-02,
 -2.39667312e-02, 3.50598358e-05]


--- Step 841 ---
qpos:
[-1.35529831e-02, 1.35223234e-02, 1.00749380e-02, 1.47229960e-02,
 -1.90705451e-02,-9.10236575e-03,-1.74502663e-02, 1.63207138e-02,
 -1.21402191e-02,-6.70194254e-03,-1.43223550e-02, 1.51199463e-02,
  1.40347735e+00, 3.17724143e-02, 2.83736339e-01,-3.19612526e-02,
  9.53931498e-02,-7.17309863e-02, 1.04552106e-01, 9.99870213e-01,
  7.59132043e-04,-3.97287960e-04,-1.60879589e-02]

qacc:
[-5.76709377e+00,-2.46232281e+00, 9.63658714e+00,-1.56843181e+01,
 -6.39778805e-02,-2.29577157e+00, 6.01685694e+00,-1.59362875e+00,
 -4.69330488e+00, 6.43302791e-01,-7.83313177e-01,-2.77066889e+00,
  1.07923398e+00,-1.95268845e+00,-3.45698419e+01, 9.81797774e+01,
  1.00742252e+00, 5.51638529e-01, 2.68936329e-01,-1.04698476e+01,
  2.69734348e+01,-4.79346076e+00]

qfrc_actuator:
[ 4.67156750e-04,-5.69322996e-04,-1.83246627e-04,-5.65439251e-05,
 -6.33952908e-04,-6.84691687e-04,-2.64710475e-04,-9.80615460e-05,
 -4.68990196e-04,-4.30832182e-04,-2.18662024e-04,-5.88795559e-05,
  2.10000000e-01,-5.19434296e-03, 9.00000000e-02, 3.58887491e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.3440127 , -0.01160444, -0.34381692, -0.01160444,  2.32194887,
       -0.06675888, -0.34381692, -0.06675888,  0.34626593,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008138656593909784
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.82263224,  0.35872199, -0.44112893,  0.31613694,  0.93344445,
        0.16952551,  0.47258188,  0.        , -0.88128677])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10360694, -0.08974924,  0.15012436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.72032109,   9.38163609,   5.18750311,   9.38163609,
        18.44312622, -13.96674772,   5.18750311, -13.96674772,
        35.97928318,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046720765986685286
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.97036821e-14, -1.03962887e-13,  1.00000000e+00,  3.08808056e-27,
        1.00000000e+00,  1.03962887e-13, -1.00000000e+00,  0.00000000e+00,
        2.97036821e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818577 , -0.06251785,  0.06198014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.43807195e-05,-1.65746959e-05, 2.64618776e-05,-1.55101595e-05,
 -5.93215659e-07,-2.81689200e-05, 4.23308376e-05, 1.63397018e-05,
 -2.75905206e-05, 3.11477054e-05,-6.57060366e-06,-9.73408978e-06,
  2.64390868e-01, 1.39202976e-03, 8.36047960e-02, 3.55609114e-02,
 -6.02306417e-05,-3.34540876e-05,-9.80996103e+00,-1.18278688e-02,
 -2.39723463e-02, 4.08816362e-05]


--- Step 842 ---
qpos:
[-1.35539164e-02, 1.35220438e-02, 1.00750597e-02, 1.47227026e-02,
 -1.90703197e-02,-9.10221048e-03,-1.74509617e-02, 1.63194469e-02,
 -1.21401615e-02,-6.70115456e-03,-1.43238793e-02, 1.51199837e-02,
  1.40347786e+00, 3.17533399e-02, 2.83835376e-01,-3.19437347e-02,
  9.53872853e-02,-7.17369033e-02, 1.04552870e-01, 9.99868643e-01,
  7.71996472e-04,-4.57758672e-04,-1.61830792e-02]

qacc:
[-5.29937454e-01, 5.11914043e-02,-4.00990537e-01, 2.50093402e+00,
  2.94544751e+00,-8.36180390e-01, 3.33239999e+00,-5.98178983e+00,
 -5.91492894e+00, 2.50360525e+00,-1.11807785e+01, 2.20821002e+01,
  9.35583523e-01,-1.15025437e+00,-3.96710099e+01, 1.07303828e+02,
  9.17640438e-01, 4.20218737e-01, 1.87521062e-01,-9.79594996e+00,
  2.53018235e+01,-9.33334486e+00]

qfrc_actuator:
[ 4.64984013e-04,-5.30954987e-04,-1.63292101e-04,-4.67387583e-05,
 -6.16501756e-04,-6.93376496e-04,-2.61529019e-04,-1.06740652e-04,
 -5.02999391e-04,-4.36285406e-04,-2.42186335e-04,-2.93202740e-05,
  2.10000000e-01,-5.14458665e-03, 9.00000000e-02, 3.58907944e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008175107943530277
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.82355011,  0.35727237, -0.4405924 ,  0.31502315,  0.93400024,
        0.16853474,  0.47172622,  0.        , -0.88174507])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10358577, -0.08976323,  0.15013055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046969270315713046
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.95465263e-14, -1.32959368e-13,  1.00000000e+00,  3.92848747e-27,
        1.00000000e+00,  1.32959368e-13, -1.00000000e+00,  0.00000000e+00,
        2.95465263e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185969, -0.06252125,  0.06198004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.15086647e-06, 3.39186664e-05, 1.92642312e-05, 9.71185330e-06,
  1.74232927e-05,-1.49891410e-05, 3.14439764e-06,-8.10308549e-06,
 -3.47968517e-05, 1.01532933e-05,-1.82435831e-05, 3.04769361e-05,
  2.64291047e-01, 1.43264203e-03, 8.41312999e-02, 3.52503096e-02,
 -3.52287201e-05,-1.67595805e-05,-9.80998926e+00,-1.18279246e-02,
 -2.39774504e-02, 4.55532187e-05]


--- Step 843 ---
qpos:
[-1.35545237e-02, 1.35219941e-02, 1.00751238e-02, 1.47225433e-02,
 -1.90698869e-02,-9.10177775e-03,-1.74520720e-02, 1.63180699e-02,
 -1.21405121e-02,-6.70057437e-03,-1.43257954e-02, 1.51204209e-02,
  1.40348020e+00, 3.17348346e-02, 2.83917557e-01,-3.19210684e-02,
  9.53847237e-02,-7.17416742e-02, 1.04554096e-01, 9.99866637e-01,
  7.67780010e-04,-4.70416445e-04,-1.63063781e-02]

qacc:
[  2.81953993,  0.73575261, -2.75842213,  5.01293034,  1.78193376,
   1.29532924, -3.62769116,  2.18675027, -3.57193014,  1.65059857,
  -7.96064301, 15.64936168,  0.78995451,  0.42768142,-40.55404198,
 105.60600158,  0.82570384,  0.28652031,  0.11562392, -8.93248528,
  23.75414195,-14.1054446 ]

qfrc_actuator:
[ 4.81843165e-04,-5.25701675e-04,-1.69235288e-04,-4.08271252e-05,
 -6.06324375e-04,-6.63061239e-04,-2.77168237e-04,-1.11352446e-04,
 -5.23022306e-04,-4.75461197e-04,-2.73214074e-04,-1.19605795e-05,
  2.10000000e-01,-5.07180631e-03, 9.00000000e-02, 3.58636914e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008227559533695007
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.82407594,  0.35630147, -0.44039539,  0.3142429 ,  0.93437105,
        0.16793492,  0.47132816,  0.        , -0.88195791])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10357124, -0.08977232,  0.15013308])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047036081157710713
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.95045579e-14,  7.37613948e-14,  1.00000000e+00,  2.17629734e-27,
        1.00000000e+00, -7.37613948e-14, -1.00000000e+00,  0.00000000e+00,
       -2.95045579e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186089, -0.06252369,  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:
[ 1.67883289e-05, 2.86483802e-05, 3.78293811e-06, 8.22287017e-06,
  1.06793899e-05, 2.22335035e-05,-1.86316822e-05,-5.30423472e-06,
 -2.10273866e-05,-3.59755745e-05,-3.01216558e-05, 1.77580826e-05,
  2.64203518e-01, 1.49011030e-03, 8.48614850e-02, 3.49256777e-02,
 -2.73713726e-05,-1.63922674e-06,-9.81000239e+00,-1.18288524e-02,
 -2.39806430e-02, 4.78776592e-05]


--- Step 844 ---
qpos:
[-1.35552690e-02, 1.35220955e-02, 1.00746061e-02, 1.47225033e-02,
 -1.90696800e-02,-9.10137586e-03,-1.74530690e-02, 1.63180323e-02,
 -1.21407556e-02,-6.70016176e-03,-1.43280804e-02, 1.51210568e-02,
  1.40348465e+00, 3.17171629e-02, 2.83981856e-01,-3.18943654e-02,
  9.53851102e-02,-7.17457991e-02, 1.04555535e-01, 9.99864032e-01,
  7.48183838e-04,-4.38094655e-04,-1.64671118e-02]

qacc:
[-1.21547424e+00, 2.07420396e+00,-7.60511522e+00, 1.04845014e+01,
 -1.95603580e+00, 2.40301064e+00,-1.42772239e+01, 3.72961347e+01,
  9.27559672e-01, 1.21649058e+00,-5.50112142e+00, 9.65682738e+00,
  6.57066502e-01, 2.33057640e+00,-3.86840192e+01, 9.69167764e+01,
  7.37041769e-01, 1.61512121e-01, 5.34129073e-02,-8.06413165e+00,
  2.23468767e+01,-1.87334958e+01]

qfrc_actuator:
[ 4.74253445e-04,-5.40420268e-04,-2.08297454e-04,-3.72968804e-05,
 -6.18268032e-04,-6.62964277e-04,-2.68106086e-04,-4.24920878e-05,
 -5.16898198e-04,-4.81321438e-04,-2.90829120e-04,-1.95960618e-06,
  2.10000000e-01,-5.05658274e-03, 9.00000000e-02, 3.58175214e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008290354699649835
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.82428086,  0.35570848, -0.44049126,  0.31372207,  0.93459696,
        0.16765139,  0.47131681,  0.        , -0.88196398])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10356254, -0.0897777 ,  0.15013237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004695565658077022
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.32997917e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.32997917e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186148, -0.06252536,  0.06198004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.09461601e-06, 2.46338449e-06,-3.23874548e-05, 5.04947315e-06,
 -1.16270547e-05, 8.44214297e-06, 1.11703291e-05, 6.90637238e-05,
  5.51017413e-06,-3.14332886e-05,-2.81357344e-05, 7.76445071e-06,
  2.64111483e-01, 1.47862356e-03, 8.57042306e-02, 3.46220880e-02,
 -3.81024394e-05, 1.65717840e-05,-9.81000033e+00,-1.18312351e-02,
 -2.39823125e-02, 4.80377411e-05]


--- Step 845 ---
qpos:
[-1.35560993e-02, 1.35224201e-02, 1.00738513e-02, 1.47224733e-02,
 -1.90699627e-02,-9.10108594e-03,-1.74532916e-02, 1.63180934e-02,
 -1.21409237e-02,-6.70005456e-03,-1.43299705e-02, 1.51217721e-02,
  1.40349225e+00, 3.17008788e-02, 2.84030188e-01,-3.18639033e-02,
  9.53881433e-02,-7.17496994e-02, 1.04556973e-01, 9.99860672e-01,
  7.14678846e-04,-3.63154722e-04,-1.66731574e-02]

qacc:
[-7.48838957e-01, 9.80195659e-01,-3.10634814e+00, 3.49060414e+00,
 -4.22494045e+00,-2.10028852e+00, 6.87233502e+00,-6.33675526e+00,
  6.74831604e-01,-1.34519741e+00, 3.87382079e+00,-2.90578660e+00,
  5.22705566e-01, 6.12477491e+00,-3.49645627e+01, 8.81280890e+01,
  6.61629458e-01, 5.61404461e-02,-5.40391084e-04,-7.31400631e+00,
  2.11745394e+01,-2.26719563e+01]

qfrc_actuator:
[ 4.70080411e-04,-5.13877490e-04,-2.13426085e-04,-3.52343292e-05,
 -6.43134116e-04,-6.63048361e-04,-2.26832625e-04,-3.74697478e-05,
 -5.13190715e-04,-4.84902081e-04,-2.64757521e-04, 3.66739798e-06,
  2.10000000e-01,-5.07638534e-03, 9.00000000e-02, 3.57944688e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008075663502453544
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.8242217 ,  0.35540185, -0.4408493 ,  0.31339002,  0.93471361,
        0.1676221 ,  0.47164105,  0.        , -0.88179063])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10355881, -0.08978034,  0.15012861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004675765603397858
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.42006175e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.42006175e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186156, -0.06252642,  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:
[-4.37318230e-06, 2.14707908e-05,-8.42559466e-06, 1.14758296e-06,
 -2.52040781e-05, 9.89195542e-06, 4.67811915e-05, 7.11478476e-06,
  3.86551877e-06,-2.66254407e-05, 1.63861439e-05, 3.45807567e-06,
  2.64005106e-01, 1.41854885e-03, 8.65982686e-02, 3.43971935e-02,
 -7.00805204e-05, 4.28971077e-05,-9.80998298e+00,-1.18356120e-02,
 -2.39828035e-02, 4.62114778e-05]


--- Step 846 ---
qpos:
[-1.35562839e-02, 1.35230671e-02, 1.00732522e-02, 1.47220819e-02,
 -1.90701971e-02,-9.10036666e-03,-1.74534334e-02, 1.63171565e-02,
 -1.21410456e-02,-6.70033482e-03,-1.43311857e-02, 1.51221944e-02,
  1.40350104e+00, 3.16853902e-02, 2.84054884e-01,-3.18335635e-02,
  9.53935138e-02,-7.17537221e-02, 1.04558237e-01, 9.99856387e-01,
  6.68144669e-04,-2.47987578e-04,-1.69321472e-02]

qacc:
[ 5.59738187e+00,-7.64497739e-01, 4.85049754e+00,-1.15695232e+01,
  4.14171672e-01,-1.71242683e+00, 1.11423231e+01,-2.88597363e+01,
  4.30355603e-01,-3.00140345e+00, 1.11944654e+01,-1.70568758e+01,
  3.06819194e-01, 2.76290217e+00,-3.45876505e+01, 7.02720659e+01,
  5.84382252e-01,-3.06090206e-02,-4.33070360e-02,-6.85832494e+00,
  1.99830973e+01,-2.64881906e+01]

qfrc_actuator:
[ 5.03465043e-04,-4.80462916e-04,-1.98306323e-04,-5.17433643e-05,
 -6.39894303e-04,-6.27642335e-04,-2.20196912e-04,-8.77978518e-05,
 -5.10944155e-04,-5.04662729e-04,-2.30842872e-04,-1.10426986e-05,
  2.10000000e-01,-5.06483314e-03, 9.00000000e-02, 3.58017022e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009128874836842229
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.82395331,  0.35530381, -0.44142966,  0.31318907,  0.93475088,
        0.16778978,  0.4722431 ,  0.        , -0.88146835])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10355942, -0.08978123,  0.1501222 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000464674659815173
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.97312012e-14, -5.97312012e-14,  1.00000000e+00,  3.56781640e-27,
        1.00000000e+00,  5.97312012e-14, -1.00000000e+00,  0.00000000e+00,
        5.97312012e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186127, -0.06252699,  0.06198025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.32634738e-05, 4.37587484e-05, 1.85663213e-05,-1.58562088e-05,
  2.50730670e-06, 5.09067318e-05, 1.46922217e-05,-4.81452176e-05,
  2.36380939e-06,-3.11078650e-05, 3.05565711e-05,-1.52163092e-05,
  2.63847839e-01, 1.36183139e-03, 8.73963732e-02, 3.42164498e-02,
 -1.26073741e-04, 8.17963933e-05,-9.80995029e+00,-1.18424169e-02,
 -2.39823765e-02, 4.25491518e-05]


--- Step 847 ---
qpos:
[-1.35560670e-02, 1.35239558e-02, 1.00725634e-02, 1.47218683e-02,
 -1.90703916e-02,-9.09904288e-03,-1.74539157e-02, 1.63163211e-02,
 -1.21407947e-02,-6.70051216e-03,-1.43324662e-02, 1.51227706e-02,
  1.40351918e+00, 3.16723761e-02, 2.84150223e-01,-3.18189372e-02,
  9.53923484e-02,-7.17605389e-02, 1.04558424e-01, 9.99853385e-01,
  6.73362762e-04,-2.32447054e-04,-1.71085130e-02]

qacc:
[ 3.47293517e+00, 9.29419242e-01,-3.61249529e+00, 6.66649816e+00,
  3.25554257e-01, 1.95791562e+00,-6.25219350e+00, 8.11072212e+00,
  3.25152204e+00, 6.28910562e-01,-2.70573159e+00, 5.40923664e+00,
 -1.52724600e-01, 2.05950057e+01, 1.52332521e+02,-3.80619827e+02,
 -1.63399752e+00,-6.98489385e-01,-2.69461114e-01, 2.67256816e+01,
 -4.93402563e+01, 4.13438750e+01]

qfrc_actuator:
[ 5.23182175e-04,-4.78619067e-04,-2.06840952e-04,-4.35228519e-05,
 -6.37885658e-04,-5.89191405e-04,-2.33959782e-04,-8.15159126e-05,
 -4.91822489e-04,-4.80669277e-04,-2.28165579e-04,-2.10932551e-06,
  2.10000000e-01,-5.08768903e-03, 9.00000000e-02, 3.57407218e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38343248,  0.38269197, -0.02381845,  0.38269197,  0.38659792,
        0.05085927, -0.02381845,  0.05085927,  1.20059023,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.770443855519045e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71197508e-01,  2.38257000e-01, -3.00044166e-03,  2.38255863e-01,
        9.71202143e-01,  7.36073569e-04,  3.08941005e-03,  1.08420217e-19,
       -9.99995228e-01])
  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([ 0.10380641, -0.09070818,  0.14133776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009195120118186494
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.23552117e-01,  3.55326520e-01, -4.42159445e-01,  3.13059465e-01,
        9.34742245e-01,  1.68079465e-01,  4.73028204e-01,  5.55111512e-17,
       -8.81047285e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10356382, -0.0897814 ,  0.15011408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.65277893,  9.51981037,  4.78068086,  9.51981037, 13.69816631,
       -6.06430572,  4.78068086, -6.06430572, 22.72868238,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004622946692879881
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00193550e-14, -2.25145163e-14,  1.00000000e+00,  6.75871258e-28,
        1.00000000e+00,  2.25145163e-14, -1.00000000e+00,  0.00000000e+00,
        3.00193550e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09989403, -0.05332271,  0.06198035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06760698e-05, 2.94895149e-05, 2.24344094e-06, 1.04285152e-05,
  2.07764247e-06, 6.78988150e-05,-3.10146697e-06, 8.03524113e-06,
  1.92013333e-05, 1.22648249e-05,-5.08065396e-07, 8.36195212e-06,
  2.63787783e-01, 1.29982676e-03, 8.85779627e-02, 3.41615478e-02,
 -2.10192532e-04, 1.37679802e-04,-9.80990214e+00,-1.18519594e-02,
 -2.39813142e-02, 3.71655247e-05]


--- Step 848 ---
qpos:
[-1.35563050e-02, 1.35248915e-02, 1.00715794e-02, 1.47221401e-02,
 -1.90705609e-02,-9.09753545e-03,-1.74543971e-02, 1.63155980e-02,
 -1.21399712e-02,-6.70055563e-03,-1.43337779e-02, 1.51241331e-02,
  1.40353424e+00, 3.16576842e-02, 2.84276705e-01,-3.18127298e-02,
  9.53851517e-02,-7.17697225e-02, 1.04557582e-01, 9.99851913e-01,
  7.18717126e-04,-3.18110762e-04,-1.71910884e-02]

qacc:
[  -3.95307048,   1.89517933,  -8.70316495,  17.52796742,   0.21515009,
    0.47075336,  -1.80111217,   3.60816737,   4.994315  ,   1.87294645,
   -9.75911285,  23.34029225,  -0.66379876,  -6.38372708,  71.53859257,
 -183.46016683,  -1.50782103,  -0.59173168,  -0.25704249,  20.94130539,
  -50.21960616,  46.93078537]

qfrc_actuator:
[ 4.99179610e-04,-4.95765823e-04,-2.29385041e-04,-2.08590789e-05,
 -6.36626609e-04,-6.02518331e-04,-2.41820326e-04,-7.74735203e-05,
 -4.62921017e-04,-4.66264028e-04,-2.26007780e-04, 3.84331881e-05,
  2.10000000e-01,-5.04442365e-03, 9.00000000e-02, 3.57254638e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38346034,  0.34742464, -0.16228972,  0.34742464,  0.33744073,
       -0.0985173 , -0.16228972, -0.0985173 ,  0.17255765,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.054662020048529e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71169425e-01,  2.38371848e-01, -2.96801802e-03,  2.38370735e-01,
        9.71173961e-01,  7.28491466e-04,  3.05611368e-03,  0.00000000e+00,
       -9.99995330e-01])
  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([ 0.10379808, -0.09071537,  0.14133955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36406957,  0.35684272,  0.07217976,  0.35684272,  0.37360107,
       -0.04712193,  0.07217976, -0.04712193,  0.59703123,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009182422164694422
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.23652874e-01,  3.54582195e-01, -4.42569101e-01,  3.12347469e-01,
        9.35024848e-01,  1.67832036e-01,  4.73323358e-01,  2.77555756e-17,
       -8.80888755e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1035563 , -0.08978901,  0.15010799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.64938516, -10.14274473,  -3.24563302, -10.14274473,
        15.89352356, -16.38816121,  -3.24563302, -16.38816121,
        61.86310369,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004620449053106615
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00355824e-14, -5.25622691e-14,  1.00000000e+00,  1.57873836e-27,
        1.00000000e+00,  5.25622691e-14, -1.00000000e+00,  0.00000000e+00,
        3.00355824e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09989808, -0.05333056,  0.06198036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34201693e-05, 2.55802292e-07,-1.58185377e-05, 2.42067271e-05,
  1.30178152e-06, 2.43534049e-05, 6.06235470e-06, 7.00140951e-06,
  2.94755057e-05, 2.15164993e-05, 4.91562546e-06, 4.12120598e-05,
  2.63320172e-01, 1.22139090e-03, 8.50458356e-02, 3.49319798e-02,
 -7.34048105e-05, 4.59414309e-05,-9.80999825e+00,-1.18374624e-02,
 -2.39721260e-02, 3.76886893e-05]


--- Step 849 ---
qpos:
[-1.35554497e-02, 1.35255157e-02, 1.00707658e-02, 1.47230412e-02,
 -1.90707145e-02,-9.09613716e-03,-1.74548084e-02, 1.63149627e-02,
 -1.21391520e-02,-6.70060544e-03,-1.43349847e-02, 1.51259793e-02,
  1.40354531e+00, 3.16425086e-02, 2.84366783e-01,-3.18066082e-02,
  9.53817239e-02,-7.17770090e-02, 1.04557351e-01, 9.99850207e-01,
  7.44545147e-04,-3.51863848e-04,-1.72882818e-02]

qacc:
[ 9.48907965e+00, 3.89661065e-01,-4.67582093e+00, 1.55600965e+01,
  1.40746329e-01,-1.59519281e-01,-1.17463636e-02, 1.50040462e+00,
 -3.38860635e-02, 6.93921020e-01,-4.52845357e+00, 1.27361471e+01,
 -5.21574900e-01,-3.99699595e+00,-5.36330736e+01, 1.09370546e+02,
  9.42207326e-01, 4.74269800e-01, 1.52583235e-01,-1.02101667e+01,
  2.57783378e+01,-7.32546169e+00]

qfrc_actuator:
[ 5.56156747e-04,-5.24208991e-04,-2.24588124e-04, 1.00918506e-05,
 -6.35818513e-04,-6.28980279e-04,-2.46344600e-04,-7.48261727e-05,
 -4.64005669e-04,-4.75436432e-04,-2.24169704e-04, 6.17418447e-05,
  2.10000000e-01,-4.97607575e-03, 9.00000000e-02, 3.57898878e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38343771,  0.37775309,  0.06578055,  0.37775309,  0.38382819,
       -0.00224242,  0.06578055, -0.00224242,  0.39631509,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.6233288778110586e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71142919e-01,  2.38477938e-01, -3.11495528e-03,  2.38476712e-01,
        9.71147915e-01,  7.64917581e-04,  3.20749830e-03,  0.00000000e+00,
       -9.99994856e-01])
  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([ 0.10378264, -0.0907315 ,  0.14134002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36467479,  0.3642118 ,  0.0183704 ,  0.3642118 ,  0.37238381,
       -0.15283908,  0.0183704 , -0.15283908,  3.39486383,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009232799511317655
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.82432075,  0.35312634, -0.44248966,  0.31113398,  0.93557564,
        0.16701456,  0.47295978,  0.        , -0.88108402])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10353832, -0.08980365,  0.15010723])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.65878938,   9.33714321,   5.14077306,   9.33714321,
        18.45289561, -14.15637011,   5.14077306, -14.15637011,
        36.3708863 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046273631661273434
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49953519e-13, -1.49953519e-13,  1.00000000e+00,  2.24860579e-26,
        1.00000000e+00,  1.49953519e-13, -1.00000000e+00,  0.00000000e+00,
        1.49953519e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186352, -0.06253225,  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:
[ 5.62784643e-05,-3.05279366e-05, 3.74274824e-06, 3.08871908e-05,
  8.06035022e-07,-1.12847529e-05, 1.49700575e-06, 4.03731587e-06,
 -2.20947202e-07, 5.62270405e-06, 8.30437257e-06, 2.51997870e-05,
  2.63473539e-01, 1.37621629e-03, 8.34887579e-02, 3.54173746e-02,
 -2.20443107e-05,-1.23205890e-05,-9.80999883e+00,-1.18303597e-02,
 -2.39734764e-02, 4.16530280e-05]


--- Step 850 ---
qpos:
[-1.35528841e-02, 1.35257750e-02, 1.00703548e-02, 1.47242971e-02,
 -1.90712027e-02,-9.09510358e-03,-1.74551610e-02, 1.63150892e-02,
 -1.21390415e-02,-6.70051034e-03,-1.43361838e-02, 1.51277326e-02,
  1.40355339e+00, 3.16271777e-02, 2.84421278e-01,-3.18001936e-02,
  9.53816455e-02,-7.17829361e-02, 1.04557488e-01, 9.99848082e-01,
  7.52107047e-04,-3.37335676e-04,-1.74107510e-02]

qacc:
[ 1.48453565e+01,-9.05898326e-01, 9.82139768e-01, 4.83769556e+00,
 -2.89670726e+00, 9.27201225e-01,-7.21303718e+00, 2.05641144e+01,
 -6.18836567e+00,-8.90158287e-03, 7.22803190e-01,-2.47205730e+00,
 -3.92943225e-01,-2.25156462e+00,-5.35536498e+01, 1.10886154e+02,
  8.37379066e-01, 3.39878254e-01, 9.20103556e-02,-9.55333264e+00,
  2.39696340e+01,-1.26544531e+01]

qfrc_actuator:
[ 6.42602790e-04,-5.41337705e-04,-2.03734170e-04, 2.79243520e-05,
 -6.53034283e-04,-6.63103916e-04,-2.48936673e-04,-3.75310574e-05,
 -5.00486815e-04,-4.63163519e-04,-2.22647131e-04, 5.69457637e-05,
  2.10000000e-01,-4.94645920e-03, 9.00000000e-02, 3.58261451e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.38344067, 0.37625558, 0.07388155, 0.37625558, 0.3831191 ,
       0.00163766, 0.07388155, 0.00163766, 0.37510059, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -8.066116366091668e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71121643e-01,  2.38563848e-01, -3.16939241e-03,  2.38562578e-01,
        9.71126815e-01,  7.78582610e-04,  3.26362362e-03,  0.00000000e+00,
       -9.99994674e-01])
  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([ 0.10377282, -0.09074193,  0.1413416 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009284345121501937
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.24656807e-01,  3.52130307e-01, -4.42657202e-01,  3.10258399e-01,
        9.35950985e-01,  1.66539721e-01,  4.72949128e-01,  2.77555756e-17,
       -8.81089736e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10352774, -0.08981385,  0.15010443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004634267187190247
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99460244e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.99460244e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186495, -0.06253487,  0.0619803 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.80418642e-05,-3.21134945e-05, 1.60653202e-05, 1.72507945e-05,
 -1.72412855e-05,-3.99459430e-05,-4.59707621e-06, 3.69422274e-05,
 -3.64751320e-05, 1.81836216e-05, 4.57028339e-06,-3.77926844e-06,
  2.63672740e-01, 1.43184543e-03, 8.53089150e-02, 3.54579205e-02,
 -1.93836897e-05, 4.20400335e-06,-9.81000651e+00,-1.18313354e-02,
 -2.39756312e-02, 4.39548723e-05]


--- Step 851 ---
qpos:
[-1.35510259e-02, 1.35258679e-02, 1.00698841e-02, 1.47254181e-02,
 -1.90718943e-02,-9.09417898e-03,-1.74558827e-02, 1.63153135e-02,
 -1.21390244e-02,-6.70010402e-03,-1.43374195e-02, 1.51290509e-02,
  1.40355957e+00, 3.16120714e-02, 2.84442121e-01,-3.17936280e-02,
  9.53845145e-02,-7.17880259e-02, 1.04557779e-01, 9.99845340e-01,
  7.42917283e-04,-2.77782136e-04,-1.75689051e-02]

qacc:
[-6.13160164e+00,-3.19145004e-01, 1.40885521e+00,-3.54776761e+00,
 -1.77556279e+00, 1.09203051e+00,-4.50985208e+00, 6.86634133e+00,
 -8.20681845e-01,-3.80509118e-01, 3.79284085e+00,-1.14946264e+01,
 -3.14026729e-01, 1.18213848e-02,-5.02440348e+01, 1.03509779e+02,
  7.36847330e-01, 2.09297512e-01, 3.85896410e-02,-8.77230973e+00,
  2.23499121e+01,-1.78591528e+01]

qfrc_actuator:
[ 6.03654825e-04,-5.51499743e-04,-2.09051538e-04, 2.01559903e-05,
 -6.62967707e-04,-6.66020067e-04,-2.68138832e-04,-3.34143581e-05,
 -5.04241812e-04,-4.38172135e-04,-2.21258499e-04, 3.56699045e-05,
  2.10000000e-01,-4.90471108e-03, 9.00000000e-02, 3.58274053e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.38346527, 0.37512363, 0.07954794, 0.37512363, 0.38231503,
       0.00542418, 0.07954794, 0.00542418, 0.35788649, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -1.1081382913771094e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71105571e-01,  2.38629678e-01, -3.13788150e-03,  2.38628432e-01,
        9.71110641e-01,  7.71067291e-04,  3.23122966e-03,  0.00000000e+00,
       -9.99994780e-01])
  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([ 0.10376786, -0.09074809,  0.14134399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009333499057897423
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.24727596e-01,  3.51498965e-01, -4.43026940e-01,  3.09650212e-01,
        9.36188270e-01,  1.66337814e-01,  4.73224194e-01, -2.77555756e-17,
       -8.80942031e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10352356, -0.08982065,  0.15009992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046274871251122257
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99899004e-14, -2.99899004e-14,  1.00000000e+00,  8.99394127e-28,
        1.00000000e+00,  2.99899004e-14, -1.00000000e+00,  0.00000000e+00,
        2.99899004e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186575, -0.06253671,  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:
[-3.64289481e-05,-2.41238973e-05,-9.40879106e-06,-8.26207703e-06,
 -1.04788424e-05,-2.46085559e-05,-2.67346015e-05, 2.96662902e-06,
 -4.78677937e-06, 3.59256079e-05, 5.57774904e-06,-2.04109063e-05,
  2.63821632e-01, 1.48247293e-03, 8.70879673e-02, 3.54445052e-02,
 -3.47038983e-05, 2.33173727e-05,-9.80999947e+00,-1.18337335e-02,
 -2.39761204e-02, 4.40122724e-05]


--- Step 852 ---
qpos:
[-1.35499932e-02, 1.35260576e-02, 1.00689710e-02, 1.47260849e-02,
 -1.90727006e-02,-9.09316508e-03,-1.74563547e-02, 1.63148259e-02,
 -1.21390527e-02,-6.69923807e-03,-1.43392362e-02, 1.51294321e-02,
  1.40356500e+00, 3.15975943e-02, 2.84432045e-01,-3.17875128e-02,
  9.53899532e-02,-7.17927721e-02, 1.04558038e-01, 9.99841780e-01,
  7.18587749e-04,-1.76105093e-04,-1.77726472e-02]

qacc:
[-7.17164438e+00, 4.43238238e-01, 5.47604390e-01,-7.80068137e+00,
 -9.89632142e-01,-2.04262886e+00, 1.04645175e+01,-2.32560918e+01,
 -4.24504871e-01, 3.02873529e-01, 3.76004824e+00,-1.93915934e+01,
 -2.73320943e-01, 2.58495325e+00,-4.43556157e+01, 8.88391330e+01,
  6.42406557e-01, 8.59326572e-02,-7.92480883e-03,-7.94477430e+00,
  2.09084515e+01,-2.28112203e+01]

qfrc_actuator:
[ 5.62214581e-04,-5.39781603e-04,-2.29770532e-04,-2.62515224e-06,
 -6.68529088e-04,-6.32568948e-04,-2.43644627e-04,-6.65979822e-05,
 -5.06445733e-04,-4.23526552e-04,-2.55414447e-04,-1.28672612e-05,
  2.10000000e-01,-4.89150700e-03, 9.00000000e-02, 3.57721866e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.38352203, 0.37458521, 0.08231083, 0.37458521, 0.38156246,
       0.00891773, 0.08231083, 0.00891773, 0.34293866, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -1.5999945069298248e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71094478e-01,  2.38676260e-01, -3.02611773e-03,  2.38675101e-01,
        9.71099193e-01,  7.43757657e-04,  3.11617778e-03,  0.00000000e+00,
       -9.99995145e-01])
  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([ 0.10376701, -0.09075133,  0.14134694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009379311134133615
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.82459237,  0.35114038, -0.44356269,  0.30923915,  0.93632283,
        0.16634516,  0.47372837,  0.        , -0.88067101])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10352481, -0.08982508,  0.1500939 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004609782084501468
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01050843e-14, -1.50525421e-14,  1.00000000e+00,  4.53158049e-28,
        1.00000000e+00,  1.50525421e-14, -1.00000000e+00,  0.00000000e+00,
        3.01050843e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186603, -0.06253791,  0.06198041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.24989772e-05,-4.14973759e-06,-2.71673926e-05,-2.43037688e-05,
 -5.89634657e-06, 1.43165860e-05, 1.62291237e-05,-3.51035728e-05,
 -2.33107683e-06, 3.50101050e-05,-2.67538998e-05,-4.72018301e-05,
  2.63915913e-01, 1.48488962e-03, 8.87702709e-02, 3.53816766e-02,
 -7.05822621e-05, 5.04467971e-05,-9.80997730e+00,-1.18381902e-02,
 -2.39753743e-02, 4.20035433e-05]


--- Step 853 ---
qpos:
[-1.35491208e-02, 1.35262531e-02, 1.00681051e-02, 1.47261055e-02,
 -1.90732230e-02,-9.09221181e-03,-1.74562513e-02, 1.63146309e-02,
 -1.21391075e-02,-6.69809848e-03,-1.43414164e-02, 1.51292381e-02,
  1.40357896e+00, 3.15853698e-02, 2.84493624e-01,-3.17945611e-02,
  9.53889881e-02,-7.18001162e-02, 1.04557424e-01, 9.99839681e-01,
  7.39288762e-04,-1.76336717e-04,-1.78895361e-02]

qacc:
[-1.38857329e+00,-1.45281025e+00, 7.92378958e+00,-1.91917060e+01,
  2.48331312e+00,-1.09031361e+00, 2.52774224e+00, 1.67000647e+00,
 -2.46190493e-01, 1.93356396e-01, 2.26524109e+00,-1.18437670e+01,
 -2.74889706e-01, 1.93913912e+01, 1.46098799e+02,-3.56663678e+02,
 -1.60093509e+00,-6.49510978e-01,-2.18270386e-01, 2.34244278e+01,
 -5.05147813e+01, 4.34653896e+01]

qfrc_actuator:
[ 5.55185263e-04,-5.32884651e-04,-2.23818528e-04,-3.40405913e-05,
 -6.53721998e-04,-6.30710047e-04,-2.11156518e-04,-5.03807007e-05,
 -5.07729373e-04,-4.15361370e-04,-2.74832634e-04,-4.15797483e-05,
  2.10000000e-01,-4.89592392e-03, 9.00000000e-02, 3.57191270e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.3836242 ,  0.38015893, -0.05144621,  0.38015893,  0.40031501,
        0.12333584, -0.05144621,  0.12333584,  1.29500759,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2262696717666004e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71088006e-01,  2.38704889e-01, -2.83904365e-03,  2.38703869e-01,
        9.71092156e-01,  6.97867442e-04,  2.92355739e-03,  0.00000000e+00,
       -9.99995726e-01])
  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([ 0.10376954, -0.09075286,  0.14135024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009422400206062735
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.24303490e-01,  3.50968170e-01, -4.44235411e-01,  3.08957906e-01,
        9.36387390e-01,  1.66504260e-01,  4.74414132e-01,  2.77555756e-17,
       -8.80301784e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10353057, -0.08982808,  0.15008652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.63820704,  9.53012559,  4.72738355,  9.53012559, 14.28106709,
       -7.34379037,  4.72738355, -7.34379037, 25.44285401,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046122025694559504
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.51339277e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.51339277e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09991552, -0.05336454,  0.0619804 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.25203451e-06,-2.12944454e-06, 8.96708195e-07,-3.30068539e-05,
  1.46129235e-05, 1.17398484e-05, 3.62393863e-05, 1.67112469e-05,
 -1.34611045e-06, 2.01931933e-05,-1.71141966e-05,-2.90563822e-05,
  2.63953851e-01, 1.44882531e-03, 9.03158951e-02, 3.53510643e-02,
 -1.30966402e-04, 9.11167295e-05,-9.80993982e+00,-1.18452142e-02,
 -2.39737366e-02, 3.81017581e-05]


--- Step 854 ---
qpos:
[-1.35483397e-02, 1.35263807e-02, 1.00675872e-02, 1.47260830e-02,
 -1.90735646e-02,-9.09123588e-03,-1.74562911e-02, 1.63143255e-02,
 -1.21388324e-02,-6.69707562e-03,-1.43428989e-02, 1.51297136e-02,
  1.40358702e+00, 3.15704497e-02, 2.84578050e-01,-3.18067732e-02,
  9.53818984e-02,-7.18097874e-02, 1.04555884e-01, 9.99839180e-01,
  7.96637537e-04,-2.79970757e-04,-1.79137077e-02]

qacc:
[  -0.78022266,  -1.14987219,   4.15462458,  -5.41150192,   1.56534811,
    0.20012823,  -0.20960371,  -1.48178842,   2.90255402,  -0.7310675 ,
   -0.45439715,  11.02566755,  -0.68238071, -13.21653977,  49.33781749,
 -123.78692217,  -1.53116799,  -0.58176159,  -0.23161188,  19.25343774,
  -51.33070062,  46.40047035]

qfrc_actuator:
[ 5.50714876e-04,-5.28828210e-04,-2.02176783e-04,-3.47578286e-05,
 -6.44799049e-04,-6.47692266e-04,-2.27555566e-04,-5.85005101e-05,
 -4.90709236e-04,-4.11082279e-04,-2.32135515e-04,-5.12654495e-06,
  2.10000000e-01,-4.94829377e-03, 9.00000000e-02, 3.57157612e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38366521,  0.34394709, -0.16999819,  0.34394709,  0.32864405,
       -0.11132098, -0.16999819, -0.11132098,  0.15843618,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.4326677044436645e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71074301e-01,  2.38760736e-01, -2.83050533e-03,  2.38759722e-01,
        9.71078427e-01,  6.95941253e-04,  2.91480611e-03,  0.00000000e+00,
       -9.99995752e-01])
  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([ 0.10376321, -0.09076205,  0.14135184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36709457,  0.35964   ,  0.07360361,  0.35964   ,  0.37279312,
       -0.02784411,  0.07360361, -0.02784411,  0.50314569,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009478563640307452
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.24497972e-01,  3.50100328e-01, -4.44559170e-01,  3.08159761e-01,
        9.36712208e-01,  1.66155955e-01,  4.74595256e-01, -2.77555756e-17,
       -8.80204149e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10352447, -0.08983763,  0.15008161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.63602154, -10.19675921,  -3.02507122, -10.19675921,
        15.98040073, -18.01456683,  -3.02507122, -18.01456683,
        71.35862501,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046105866612340674
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00998307e-14, -1.50499154e-14,  1.00000000e+00,  4.52999905e-28,
        1.00000000e+00,  1.50499154e-14, -1.00000000e+00,  0.00000000e+00,
        3.00998307e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09991893, -0.05337112,  0.0619804 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.70481983e-06, 1.60169415e-06, 2.01596648e-05,-1.42156079e-06,
  9.31023982e-06,-2.19177491e-06,-8.92615476e-06,-6.03688538e-06,
  1.69751897e-05, 1.07911131e-05, 4.37563658e-05, 3.61612342e-05,
  2.63527336e-01, 1.28505704e-03, 8.67330503e-02, 3.60058427e-02,
 -2.78448441e-05, 1.80760689e-05,-9.81000501e+00,-1.18334061e-02,
 -2.39687407e-02, 3.94464999e-05]


--- Step 855 ---
qpos:
[-1.35479632e-02, 1.35265664e-02, 1.00669909e-02, 1.47264103e-02,
 -1.90741419e-02,-9.09033052e-03,-1.74564715e-02, 1.63139380e-02,
 -1.21387008e-02,-6.69626493e-03,-1.43434710e-02, 1.51302737e-02,
  1.40359197e+00, 3.15551932e-02, 2.84629479e-01,-3.18181103e-02,
  9.53784755e-02,-7.18174206e-02, 1.04555109e-01, 9.99838404e-01,
  8.34832040e-04,-3.31044702e-04,-1.79543688e-02]

qacc:
[ -3.51032689,  1.02358438, -5.00347059, 11.12907725, -2.0494993 ,
   0.13425803, -0.26012305, -0.89314164, -1.21934745, -2.64748195,
   8.6807166 , -8.52245195, -0.31639852, -3.39422819,-51.50266897,
 109.23290494,  0.91670753,  0.50951892,  0.19117046,-10.04856759,
  26.09765314, -8.26412746]

qfrc_actuator:
[ 5.30022417e-04,-5.26404639e-04,-2.06945936e-04,-1.74005942e-05,
 -6.57169782e-04,-6.58285565e-04,-2.37293083e-04,-6.31840643e-05,
 -4.98557664e-04,-4.26606554e-04,-1.88590272e-04,-1.59925540e-06,
  2.10000000e-01,-4.98988292e-03, 9.00000000e-02, 3.57039723e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38356325,  0.38053742,  0.04808371,  0.38053742,  0.38398847,
       -0.00336523,  0.04808371, -0.00336523,  0.41019591,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8780128697410706e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71063694e-01,  2.38801716e-01, -3.00721642e-03,  2.38800571e-01,
        9.71068350e-01,  7.39524093e-04,  3.09681231e-03,  0.00000000e+00,
       -9.99995205e-01])
  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([ 0.10374987, -0.09078062,  0.14135208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36738734,  0.36241733,  0.06022573,  0.36241733,  0.43800597,
       -0.42495812,  0.06022573, -0.42495812,  2.92463634,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009516423894416063
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.25295803e-01,  3.48518028e-01, -4.44321979e-01,  3.06870616e-01,
        9.37302077e-01,  1.65212714e-01,  4.74043524e-01, -2.77555756e-17,
       -8.80501413e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10350779, -0.08985423,  0.1500831 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.6480565 ,   9.3642295 ,   5.06875853,   9.3642295 ,
        17.15866626, -12.02796378,   5.06875853, -12.02796378,
        32.86900323,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046194704561852706
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.00419452e-14,  3.00419452e-14,  1.00000000e+00,  9.02518469e-28,
        1.00000000e+00, -3.00419452e-14, -1.00000000e+00,  0.00000000e+00,
       -3.00419452e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187027, -0.06254594,  0.06198036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.08268897e-05, 7.39262735e-06,-2.01379509e-06, 1.80941448e-05,
 -1.21371146e-05,-1.39056780e-05,-1.14950716e-05,-5.20347412e-06,
 -7.38248405e-06, 1.09205879e-06, 5.24119456e-05, 6.20629864e-06,
  2.63821864e-01, 1.37989863e-03, 8.55906252e-02, 3.62522336e-02,
 -1.74311884e-05,-1.43446220e-05,-9.80997799e+00,-1.18296759e-02,
 -2.39733392e-02, 4.42022499e-05]


--- Step 856 ---
qpos:
[-1.35481823e-02, 1.35264843e-02, 1.00664980e-02, 1.47269728e-02,
 -1.90745185e-02,-9.08970202e-03,-1.74566959e-02, 1.63138629e-02,
 -1.21386645e-02,-6.69561088e-03,-1.43436824e-02, 1.51298673e-02,
  1.40359470e+00, 3.15398975e-02, 2.84648822e-01,-3.18283873e-02,
  9.53782997e-02,-7.18236028e-02, 1.04554840e-01, 9.99837163e-01,
  8.55112081e-04,-3.33452040e-04,-1.80223519e-02]

qacc:
[ -5.1552674 , -0.148674  , -0.95914355,  5.04280368,  1.74601019,
   0.39653322, -3.27020667,  8.95882166, -0.81902969, -3.20269081,
  15.20324492,-32.39661541, -0.21840454, -1.75668117,-50.70073816,
 108.41740131,  0.81179554,  0.36271659,  0.1265791 , -9.3970011 ,
  24.1570675 ,-13.68035382]

qfrc_actuator:
[ 4.99946452e-04,-5.60564933e-04,-2.09521863e-04,-7.32711246e-06,
 -6.46467282e-04,-6.82713985e-04,-2.42979111e-04,-4.80372471e-05,
 -5.03233358e-04,-4.53870730e-04,-1.80533081e-04,-5.30154935e-05,
  2.10000000e-01,-4.93752139e-03, 9.00000000e-02, 3.56831560e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 3.83532380e-01,  3.79000840e-01,  5.87830722e-02,  3.79000840e-01,
        3.83544684e-01, -7.93305601e-05,  5.87830722e-02, -7.93305601e-05,
        3.84043860e-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: -1.6741358519882027e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71057188e-01,  2.38827112e-01, -3.08997283e-03,  2.38825903e-01,
        9.71062104e-01,  7.59960958e-04,  3.18205480e-03,  1.08420217e-19,
       -9.99994937e-01])
  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([ 0.10374196, -0.09079331,  0.14135336])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009554178263146488
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.25757608e-01,  3.47407947e-01, -4.44333311e-01,  3.05929875e-01,
        9.37714092e-01,  1.64618325e-01,  4.73847322e-01, -2.77555756e-17,
       -8.80607015e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10349835, -0.08986621,  0.15008247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046343435497098184
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.98910618e-14,  1.49727655e-14,  1.00000000e+00,  8.96734822e-28,
        1.00000000e+00, -1.49727655e-14, -1.00000000e+00,  0.00000000e+00,
       -5.98910618e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187236, -0.06254955,  0.0619803 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.06751977e-05,-2.96877161e-05,-6.74705600e-07, 1.06727507e-05,
  1.03189619e-05,-3.47850041e-05,-1.01471075e-05, 1.40536746e-05,
 -4.91305978e-06,-1.55709061e-05, 1.49520539e-05,-4.94351372e-05,
  2.63976985e-01, 1.45005171e-03, 8.72403322e-02, 3.61876174e-02,
 -4.81330438e-06,-4.96662360e-06,-9.80999810e+00,-1.18283681e-02,
 -2.39752614e-02, 4.76268845e-05]


--- Step 857 ---
qpos:
[-1.35487603e-02, 1.35260324e-02, 1.00663372e-02, 1.47276495e-02,
 -1.90747643e-02,-9.08947399e-03,-1.74568771e-02, 1.63132895e-02,
 -1.21383402e-02,-6.69493617e-03,-1.43441405e-02, 1.51292135e-02,
  1.40359624e+00, 3.15249401e-02, 2.84638128e-01,-3.18378366e-02,
  9.53809787e-02,-7.18288873e-02, 1.04554846e-01, 9.99835264e-01,
  8.58958226e-04,-2.90594324e-04,-1.81279486e-02]

qacc:
[-3.09409556e+00,-1.17608460e+00, 3.01282539e+00,-1.30757991e+00,
  1.14356531e+00,-1.67703302e+00, 7.31244372e+00,-1.57082333e+01,
  2.50579087e+00, 2.02652183e-01, 3.52863830e-01,-4.24528298e+00,
 -1.73684545e-01, 5.77825369e-01,-4.69446897e+01, 9.97321751e+01,
  7.13685841e-01, 2.24449671e-01, 6.89771675e-02,-8.62949131e+00,
  2.24645622e+01,-1.88262277e+01]

qfrc_actuator:
[ 4.82345872e-04,-5.80867538e-04,-1.93179669e-04,-1.64914058e-06,
 -6.40015559e-04,-7.15208950e-04,-2.46274610e-04,-7.46118579e-05,
 -4.88243440e-04,-4.52644240e-04,-1.93583279e-04,-6.53701560e-05,
  2.10000000e-01,-4.88221000e-03, 9.00000000e-02, 3.56386359e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.38354205, 0.37681609, 0.07151319, 0.37681609, 0.38307203,
       0.00247659, 0.07151319, 0.00247659, 0.37049246, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -1.740554411898327e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71054811e-01,  2.38836830e-01, -3.08585697e-03,  2.38835624e-01,
        9.71059714e-01,  7.58981435e-04,  3.17782411e-03,  1.08420217e-19,
       -9.99994951e-01])
  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([ 0.10373871, -0.09080159,  0.14135542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009529491353623175
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.82595277,  0.34666925, -0.44454747,  0.30526254,  0.93798744,
        0.16429957,  0.47393755,  0.        , -0.88055846])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10349512, -0.08987469,  0.15008006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000463398665933451
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99478372e-14, -1.19791349e-13,  1.00000000e+00,  3.58749181e-27,
        1.00000000e+00,  1.19791349e-13, -1.00000000e+00,  0.00000000e+00,
        2.99478372e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187367, -0.06255217,  0.0619803 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84885217e-05,-3.65896881e-05, 1.04991818e-05, 4.59188801e-06,
  6.71650147e-06,-5.34230308e-05,-1.12400904e-05,-2.81424341e-05,
  1.48249111e-05,-6.51552564e-06,-1.61359302e-05,-1.34664976e-05,
  2.64087740e-01, 1.50765311e-03, 8.88443733e-02, 3.60900321e-02,
 -8.23643974e-06, 6.00083976e-06,-9.81000269e+00,-1.18285867e-02,
 -2.39754935e-02, 4.88059294e-05]


--- Step 858 ---
qpos:
[-1.35485105e-02, 1.35255402e-02, 1.00665257e-02, 1.47283449e-02,
 -1.90752757e-02,-9.08947503e-03,-1.74571697e-02, 1.63123911e-02,
 -1.21374943e-02,-6.69408374e-03,-1.43448106e-02, 1.51277033e-02,
  1.40359769e+00, 3.15107795e-02, 2.84600083e-01,-3.18466138e-02,
  9.53861870e-02,-7.18337305e-02, 1.04554926e-01, 9.99832532e-01,
  8.47637146e-04,-2.05243410e-04,-1.82796936e-02]

qacc:
[ 7.18665904e+00,-1.00524965e+00, 3.40331481e+00,-3.58099369e+00,
 -2.30684745e+00,-6.56133414e-01, 3.28057682e+00,-8.56823352e+00,
  4.54166640e+00,-9.44729077e-01, 7.31062751e+00,-2.19107264e+01,
 -1.91879106e-01, 3.57229461e+00,-4.24669241e+01, 8.99137104e+01,
  6.32326619e-01, 1.10327749e-01, 1.81842298e-02,-7.97386782e+00,
  2.10856821e+01,-2.30939940e+01]

qfrc_actuator:
[ 5.25489900e-04,-5.57141235e-04,-1.65756650e-04, 1.41850843e-06,
 -6.53877326e-04,-7.16804223e-04,-2.48205237e-04,-9.00282698e-05,
 -4.61799402e-04,-4.34437992e-04,-2.01082116e-04,-1.07878325e-04,
  2.10000000e-01,-4.89650117e-03, 9.00000000e-02, 3.56329594e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38358546,  0.37150357,  0.0955139 ,  0.37150357,  0.38376733,
       -0.00070736,  0.0955139 , -0.00070736,  0.38633676,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0119461677255286e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71056346e-01,  2.38831671e-01, -3.00087049e-03,  2.38830531e-01,
        9.71060983e-01,  7.38061695e-04,  3.09030076e-03,  0.00000000e+00,
       -9.99995225e-01])
  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([ 0.10373936, -0.09080683,  0.14135801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009294825664706272
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.82593948,  0.34620799, -0.44493145,  0.30479612,  0.93815778,
        0.16419288,  0.47426079,  0.        , -0.88038441])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10349713, -0.08988072,  0.15007607])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004621373808196827
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00295721e-14, -1.20118288e-13,  1.00000000e+00,  3.60710081e-27,
        1.00000000e+00,  1.20118288e-13, -1.00000000e+00,  0.00000000e+00,
        3.00295721e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187436, -0.06255399,  0.06198036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.26142054e-05, 5.64359048e-06, 2.13238271e-05, 1.95439795e-06,
 -1.36902589e-05,-3.49856362e-05,-1.53211663e-05,-1.86421005e-05,
  2.68499825e-05, 1.06445894e-05,-1.13027731e-05,-4.36090800e-05,
  2.64147269e-01, 1.47617113e-03, 9.03458937e-02, 3.60428749e-02,
 -3.04026100e-05, 2.41273955e-05,-9.80999154e+00,-1.18309573e-02,
 -2.39744796e-02, 4.79211926e-05]


--- Step 859 ---
qpos:
[-1.35474007e-02, 1.35252310e-02, 1.00666609e-02, 1.47290701e-02,
 -1.90756046e-02,-9.08956889e-03,-1.74573164e-02, 1.63116242e-02,
 -1.21363381e-02,-6.69339538e-03,-1.43454515e-02, 1.51257227e-02,
  1.40359950e+00, 3.14975744e-02, 2.84535569e-01,-3.18551866e-02,
  9.53936358e-02,-7.18384562e-02, 1.04554919e-01, 9.99828803e-01,
  8.21610408e-04,-7.98976975e-05,-1.84846498e-02]

qacc:
[ 7.45085524e+00, 4.37684172e-01,-1.36086694e+00, 1.85523993e+00,
  1.59206768e+00,-2.62312186e-01, 1.96616854e-01, 1.92086793e+00,
  2.71271889e+00,-1.27191711e+00, 6.19755855e+00,-1.42550024e+01,
 -1.69215090e-01, 4.57041658e+00,-3.97355748e+01, 8.22779437e+01,
  5.60110882e-01, 2.93483675e-02,-2.16935249e-02,-7.72218269e+00,
  1.98369896e+01,-2.66256534e+01]

qfrc_actuator:
[ 5.68532442e-04,-5.42684385e-04,-1.67340458e-04, 2.96967217e-06,
 -6.44077738e-04,-6.99870895e-04,-2.31427209e-04,-8.09711156e-05,
 -4.46584206e-04,-4.59467114e-04,-2.05186186e-04,-1.32265243e-04,
  2.10000000e-01,-4.89988965e-03, 9.00000000e-02, 3.57214243e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.38366717, 0.37585574, 0.07702569, 0.37585574, 0.38163751,
       0.00990393, 0.07702569, 0.00990393, 0.33533981, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -2.4421052225403962e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71061338e-01,  2.38813343e-01, -2.83985997e-03,  2.38812322e-01,
        9.71065491e-01,  6.98404443e-04,  2.92447831e-03,  0.00000000e+00,
       -9.99995724e-01])
  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([ 0.10374326, -0.09081007,  0.14136096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009601679470068623
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.25760472e-01,  3.45948629e-01, -4.45465138e-01,  3.04470718e-01,
        9.38253455e-01,  1.64249919e-01,  4.74781239e-01, -2.77555756e-17,
       -8.80103843e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10350355, -0.08988509,  0.1500705 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004599063285728802
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.03504972e-14, -1.50876243e-14,  1.00000000e+00, -9.10545629e-28,
        1.00000000e+00,  1.50876243e-14, -1.00000000e+00,  0.00000000e+00,
       -6.03504972e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187456, -0.06255518,  0.06198045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.42865964e-05, 2.21059660e-05, 2.27121008e-06, 2.56663778e-06,
  9.40008578e-06,-6.58021507e-06, 7.02574853e-06, 6.66666264e-06,
  1.59705596e-05,-2.33030510e-05,-4.81754156e-06,-2.51733572e-05,
  2.64152171e-01, 1.43213176e-03, 9.17129956e-02, 3.60976329e-02,
 -7.47020190e-05, 5.43392362e-05,-9.80996452e+00,-1.18359383e-02,
 -2.39725712e-02, 4.51250607e-05]


--- Step 860 ---
qpos:
[-1.35468175e-02, 1.35250947e-02, 1.00667750e-02, 1.47298074e-02,
 -1.90761583e-02,-9.08970794e-03,-1.74570188e-02, 1.63109440e-02,
 -1.21360429e-02,-6.69312810e-03,-1.43460694e-02, 1.51245352e-02,
  1.40361047e+00, 3.14868225e-02, 2.84546147e-01,-3.18759227e-02,
  9.53944285e-02,-7.18458130e-02, 1.04554094e-01, 9.99826536e-01,
  8.41662754e-04,-5.78600831e-05,-1.86060766e-02]

qacc:
[-4.56783191e+00, 3.21401770e-01,-8.49484641e-01, 9.46466352e-01,
 -1.93804633e+00,-1.11903507e+00, 3.54442986e+00,-2.72963198e+00,
 -7.50711170e+00, 1.02660586e+00,-7.79160352e+00, 2.17651430e+01,
 -2.34916626e-01, 2.06564147e+01, 1.48166189e+02,-3.56489004e+02,
 -1.66400622e+00,-6.57744164e-01,-2.04390870e-01, 2.39931417e+01,
 -5.11849562e+01, 4.18116358e+01]

qfrc_actuator:
[ 5.40140138e-04,-5.33996387e-04,-1.68312903e-04, 3.59235339e-06,
 -6.55928669e-04,-6.89617666e-04,-2.03636527e-04,-7.53089824e-05,
 -4.91361713e-04,-4.92414117e-04,-2.07409806e-04,-9.25650574e-05,
  2.10000000e-01,-4.84395610e-03, 9.00000000e-02, 3.58133150e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38379061,  0.37914721, -0.05951999,  0.37914721,  0.40520982,
        0.13644212, -0.05951999,  0.13644212,  1.25293819,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9761194969402085e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71069830e-01,  2.38781463e-01, -2.60747848e-03,  2.38780603e-01,
        9.71073330e-01,  6.41164274e-04,  2.68515095e-03, -1.08420217e-19,
       -9.99996395e-01])
  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([ 0.10374991, -0.09081222,  0.14136406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009633667185228314
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.82545991,  0.34583044, -0.4461135 ,  0.30424178,  0.93829703,
        0.16442514,  0.47545019,  0.        , -0.87974264])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1035137 , -0.08988848,  0.15006366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.63946103,  9.53192413,  4.72657946,  9.53192413, 14.05045884,
       -6.87883756,  4.72657946, -6.87883756, 24.51176726,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004613129212307776
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.51248616e-14, -3.38436462e-14,  1.00000000e+00,  1.52718985e-27,
        1.00000000e+00,  3.38436462e-14, -1.00000000e+00,  0.00000000e+00,
        4.51248616e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09993735, -0.0534078 ,  0.06198039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.70996430e-05, 2.16035836e-05, 3.94769420e-06, 1.69431753e-06,
 -1.15762698e-05, 8.32568772e-06, 2.75311630e-05, 5.75337029e-06,
 -4.43399999e-05,-4.80893464e-05,-8.51538238e-06, 3.80421013e-05,
  2.64134235e-01, 1.43894582e-03, 9.30358898e-02, 3.61791788e-02,
 -1.44658261e-04, 1.00456739e-04,-9.80992151e+00,-1.18438147e-02,
 -2.39700969e-02, 4.05124096e-05]


--- Step 861 ---
qpos:
[-1.35465786e-02, 1.35250560e-02, 1.00672262e-02, 1.47298403e-02,
 -1.90768497e-02,-9.08970349e-03,-1.74567143e-02, 1.63099973e-02,
 -1.21355970e-02,-6.69309034e-03,-1.43467721e-02, 1.51238155e-02,
  1.40361738e+00, 3.14741121e-02, 2.84588178e-01,-3.19007394e-02,
  9.53889919e-02,-7.18554399e-02, 1.04552433e-01, 9.99825940e-01,
  8.97969186e-04,-1.40263877e-04,-1.86350294e-02]

qacc:
[  -2.97730247,  -2.25844438,  11.22319729, -24.03447939,  -1.19802529,
   -0.37525512,   2.74223905,  -7.47421825,   1.31744471,   0.89360619,
   -5.60589396,  14.01072417,  -0.74748303,  -8.14857473,  58.84151673,
 -138.42307258,  -1.55735113,  -0.56755322,  -0.20889277,  19.09749343,
  -51.8354084 ,  46.28740955]

qfrc_actuator:
[ 5.23187352e-04,-5.28832787e-04,-1.51176625e-04,-3.18413637e-05,
 -6.62682802e-04,-6.83383002e-04,-2.05100455e-04,-8.94442084e-05,
 -4.82324402e-04,-4.94283959e-04,-2.08510594e-04,-6.87458201e-05,
  2.10000000e-01,-4.80756716e-03, 9.00000000e-02, 3.58840419e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38381643,  0.34902306, -0.15968079,  0.34902306,  0.33919431,
       -0.09753301, -0.15968079, -0.09753301,  0.17063319,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.076051972204225e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71070127e-01,  2.38780812e-01, -2.55595827e-03,  2.38779985e-01,
        9.71073490e-01,  6.28493926e-04,  2.63209560e-03,  0.00000000e+00,
       -9.99996536e-01])
  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([ 0.10374725, -0.09082231,  0.14136537])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36612991,  0.35822365,  0.07567646,  0.35822365,  0.37455922,
       -0.03990115,  0.07567646, -0.03990115,  0.5550068 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000936938601154291
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.25657946e-01,  3.44992983e-01, -4.46395338e-01,  3.03478159e-01,
        9.38605264e-01,  1.64076705e-01,  4.75594326e-01, -2.77555756e-17,
       -8.79664730e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10351153, -0.08989863,  0.1500594 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.64303964, -10.20958121,  -3.00645046, -10.20958121,
        15.84923859, -17.67968965,  -3.00645046, -17.67968965,
        70.68135719,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004615771509962688
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50330100e-14,  2.51802917e-13,  1.00000000e+00, -3.78535575e-27,
        1.00000000e+00, -2.51802917e-13, -1.00000000e+00,  0.00000000e+00,
        1.50330100e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09994073, -0.05341461,  0.06198038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.77250896e-05, 1.81018594e-05, 2.21381391e-05,-3.43383976e-05,
 -7.08279870e-06, 1.68396310e-05, 3.85325963e-06,-1.27120541e-05,
  7.74944486e-06,-2.89163041e-05,-1.07675863e-05, 2.22056943e-05,
  2.63676169e-01, 1.35281544e-03, 8.92810423e-02, 3.68580031e-02,
 -3.19908038e-05, 2.60939726e-05,-9.81000072e+00,-1.18308510e-02,
 -2.39639399e-02, 4.14054825e-05]


--- Step 862 ---
qpos:
[-1.35462003e-02, 1.35251152e-02, 1.00678902e-02, 1.47294571e-02,
 -1.90772720e-02,-9.08960084e-03,-1.74564281e-02, 1.63092418e-02,
 -1.21336671e-02,-6.69302697e-03,-1.43475889e-02, 1.51230102e-02,
  1.40361872e+00, 3.14592486e-02, 2.84631793e-01,-3.19281948e-02,
  9.53822386e-02,-7.18648766e-02, 1.04551863e-01, 9.99826284e-01,
  9.70086905e-04,-2.48688998e-04,-1.86118107e-02]

qacc:
[  1.21327516, -1.32526715,  6.66581707,-14.27724705,  2.33475914,
   0.56934147, -2.65696697,  5.93128104, 12.94813222,  0.15171475,
  -0.1747402 , -1.09355867, -0.52311577,-11.69337893, 10.23490125,
 -32.6460841 , -0.32915056,  0.04756693,  0.27245367,  8.14995819,
 -12.83758683, 26.10058897]

qfrc_actuator:
[ 5.30879420e-04,-5.25777773e-04,-1.41277667e-04,-5.26922300e-05,
 -6.48623456e-04,-6.79730072e-04,-2.06104671e-04,-7.96342109e-05,
 -4.06160323e-04,-4.77530619e-04,-2.08839171e-04,-7.21996319e-05,
  2.10000000e-01,-4.81497979e-03, 9.00000000e-02, 3.58678426e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38367146,  0.35798049, -0.13803535,  0.35798049,  0.35909348,
       -0.06374046, -0.13803535, -0.06374046,  0.21836714,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.462622660393625e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71071296e-01,  2.38774560e-01, -2.69194825e-03,  2.38773643e-01,
        9.71075028e-01,  6.61914623e-04,  2.77213210e-03,  0.00000000e+00,
       -9.99996158e-01])
  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([ 0.10373719, -0.09084135,  0.14136526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36616539,  0.36004372,  0.06667543,  0.36004372,  0.38555355,
       -0.104695  ,  0.06667543, -0.104695  ,  0.9315127 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009373073900779293
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.82644575,  0.34345734, -0.4461216 ,  0.30223429,  0.93916828,
        0.16314833,  0.47501775,  0.        , -0.87997622])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10349848, -0.0899156 ,  0.15006138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.62257526,   9.15872817,   5.38115262,   9.15872817,
        22.29956119, -19.87424394,   5.38115262, -19.87424394,
        44.44856211,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004600618782179652
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79234756e-06, -1.35742708e-13,  1.00000000e+00,  2.43298111e-19,
        1.00000000e+00,  1.35742708e-13, -1.00000000e+00,  0.00000000e+00,
        1.79234756e-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([ 0.09108946, -0.05790084,  0.06198044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.18377504e-06, 1.62647815e-05, 1.51751109e-05,-1.99771113e-05,
  1.38600627e-05, 1.33434195e-05, 2.51722648e-06, 1.04193933e-05,
  7.63839055e-05,-7.01940254e-07,-6.86410908e-06,-4.63442384e-06,
  2.63879365e-01, 1.44406870e-03, 8.77082513e-02, 3.70457776e-02,
 -9.54162189e-06,-1.08945045e-05,-9.80998669e+00,-1.18258044e-02,
 -2.39675165e-02, 4.56873353e-05]


--- Step 863 ---
qpos:
[-1.35453884e-02, 1.35253990e-02, 1.00685990e-02, 1.47291675e-02,
 -1.90778676e-02,-9.08936966e-03,-1.74559290e-02, 1.63092802e-02,
 -1.21315287e-02,-6.69318550e-03,-1.43482954e-02, 1.51218407e-02,
  1.40361774e+00, 3.14442564e-02, 2.84646052e-01,-3.19527875e-02,
  9.53790787e-02,-7.18721845e-02, 1.04551894e-01, 9.99826339e-01,
  1.02143678e-03,-3.05675408e-04,-1.86052427e-02]

qacc:
[  3.75693771,  0.35744013, -1.25138703,  2.64843828, -1.49937813,
   1.21174036, -7.42159245, 20.72248719,  1.8276557 , -1.3550973 ,
   5.93858016,-12.25131495, -0.1947289 , -2.29343307,-52.12511447,
 119.24828324,  0.89834021,  0.53220482,  0.1505508 ,-10.86273211,
  25.51351179, -8.34897512]

qfrc_actuator:
[ 5.53012336e-04,-5.06274438e-04,-1.35731541e-04,-4.70471031e-05,
 -6.57933045e-04,-6.59885670e-04,-1.89058169e-04,-3.80554522e-05,
 -3.97629432e-04,-5.03024588e-04,-2.08641056e-04,-9.16511772e-05,
  2.10000000e-01,-4.81219011e-03, 9.00000000e-02, 3.58351830e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38354042,  0.37619057,  0.07472553,  0.37619057,  0.38644587,
       -0.01462692,  0.07472553, -0.01462692,  0.45717669,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7295407749823356e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71074497e-01,  2.38759451e-01, -2.87160087e-03,  2.38758407e-01,
        9.71078743e-01,  7.06041453e-04,  2.95712463e-03,  0.00000000e+00,
       -9.99995628e-01])
  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([ 0.10372636, -0.09086141,  0.14136549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36620945,  0.35873096,  0.07363057,  0.35873096,  0.38835666,
       -0.10790205,  0.07363057, -0.10790205,  0.89191239,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009377682859899879
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.27338124e-01,  3.41826710e-01, -4.45719787e-01,  3.00933607e-01,
        9.39763002e-01,  1.62124842e-01,  4.74289566e-01, -2.77555756e-17,
       -8.80368904e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10348387, -0.08993345,  0.15006545])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.64776551,   9.39904503,   5.00328522,   9.39904503,
        22.72835004, -22.69428046,   5.00328522, -22.69428046,
        53.2806666 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004619256082492168
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20173357e-13, -7.51083484e-14,  1.00000000e+00,  9.02602240e-27,
        1.00000000e+00,  7.51083484e-14, -1.00000000e+00,  0.00000000e+00,
        1.20173357e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188113, -0.06256734,  0.06198036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.23369204e-05, 3.08669653e-05, 1.00797034e-05, 6.47734836e-06,
 -8.91177822e-06, 2.82926195e-05, 2.04776652e-05, 4.24408110e-05,
  1.07279685e-05,-2.75453551e-05,-9.77489250e-07,-1.98165279e-05,
  2.64157890e-01, 1.55525925e-03, 8.76288940e-02, 3.71449955e-02,
 -2.34994366e-05,-6.22122825e-06,-9.80995833e+00,-1.18254094e-02,
 -2.39738739e-02, 5.14671371e-05]


--- Step 864 ---
qpos:
[-1.35446625e-02, 1.35258395e-02, 1.00691404e-02, 1.47286259e-02,
 -1.90796049e-02,-9.08875957e-03,-1.74552902e-02, 1.63090981e-02,
 -1.21303379e-02,-6.69400295e-03,-1.43485376e-02, 1.51211700e-02,
  1.40361529e+00, 3.14294191e-02, 2.84631665e-01,-3.19743862e-02,
  9.53790993e-02,-7.18779634e-02, 1.04552293e-01, 9.99825913e-01,
  1.05349830e-03,-3.14958617e-04,-1.86262057e-02]

qacc:
[-7.53426912e-01, 1.57238683e-01, 8.05981718e-01,-5.01765386e+00,
 -9.91637801e+00,-3.23981598e-01, 2.84670100e+00,-7.20235439e+00,
 -8.24531957e+00,-1.12492368e+00, 6.68888494e-01, 7.67850738e+00,
 -1.07323463e-01,-7.25302791e-01,-5.14621331e+01, 1.18481598e+02,
  7.95141873e-01, 3.82244373e-01, 9.17744430e-02,-1.00902316e+01,
  2.36538920e+01,-1.37890168e+01]

qfrc_actuator:
[ 5.47954494e-04,-5.12573482e-04,-1.50466870e-04,-6.13529791e-05,
 -7.16434527e-04,-6.30395983e-04,-1.79157619e-04,-4.91051332e-05,
 -4.46749325e-04,-5.53629687e-04,-1.90553192e-04,-6.71304244e-05,
  2.10000000e-01,-4.78668960e-03, 9.00000000e-02, 3.58414594e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38349168,  0.37372691,  0.08598873,  0.37372691,  0.38588535,
       -0.01040344,  0.08598873, -0.01040344,  0.42870741,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3593464092341405e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71080525e-01,  2.38733850e-01, -2.96015356e-03,  2.38732741e-01,
        9.71085037e-01,  7.27731177e-04,  3.04829490e-03,  0.00000000e+00,
       -9.99995354e-01])
  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([ 0.10372076, -0.09087526,  0.14136669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000938781536613082
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.27883344e-01,  3.40687907e-01, -4.45579307e-01,  2.99996713e-01,
        9.40176446e-01,  1.61462758e-01,  4.73931579e-01,  2.77555756e-17,
       -8.80561672e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10347629, -0.08994636,  0.15006715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004625278292773316
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.50105557e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.50105557e-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([ 0.08188292, -0.06257064,  0.06198034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.42152150e-06, 1.33017333e-05,-6.90301036e-06,-1.25108967e-05,
 -5.87651301e-05, 5.13777750e-05, 1.97430191e-05,-8.30097240e-06,
 -4.88048224e-05,-6.71318027e-05, 1.15677103e-05, 2.29160577e-05,
  2.64273192e-01, 1.58735172e-03, 8.90963907e-02, 3.70080613e-02,
 -5.04410475e-06,-2.88573395e-06,-9.80998676e+00,-1.18222155e-02,
 -2.39752583e-02, 5.57584514e-05]


--- Step 865 ---
qpos:
[-1.35446923e-02, 1.35260174e-02, 1.00696967e-02, 1.47279593e-02,
 -1.90816859e-02,-9.08769525e-03,-1.74548309e-02, 1.63084522e-02,
 -1.21300893e-02,-6.69539525e-03,-1.43480051e-02, 1.51211112e-02,
  1.40361227e+00, 3.14150649e-02, 2.84590280e-01,-3.19932971e-02,
  9.53819133e-02,-7.18827708e-02, 1.04552851e-01, 9.99824811e-01,
  1.06788658e-03,-2.79824552e-04,-1.86850014e-02]

qacc:
[-6.54679719e+00,-6.33527912e-01, 2.30563094e+00,-4.32452150e+00,
 -2.99722858e+00, 1.53384790e-01, 2.29216925e+00,-1.03757861e+01,
 -8.18993550e+00,-1.64885863e+00, 2.22127090e+00, 7.52277242e+00,
 -5.89426855e-02, 1.28221188e+00,-4.80739825e+01, 1.10220647e+02,
  6.98328040e-01, 2.42854971e-01, 3.98886055e-02,-9.25434150e+00,
  2.20201432e+01,-1.89399562e+01]

qfrc_actuator:
[ 5.09175745e-04,-5.52128263e-04,-1.59424219e-04,-6.95686815e-05,
 -7.32402756e-04,-6.13173556e-04,-1.91309239e-04,-7.32823908e-05,
 -4.93881630e-04,-5.65517783e-04,-1.44376909e-04,-3.46964090e-05,
  2.10000000e-01,-4.76554730e-03, 9.00000000e-02, 3.58343157e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38348191,  0.37182893,  0.09381694,  0.37182893,  0.38484376,
       -0.00539748,  0.09381694, -0.00539748,  0.404874  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2721928879153713e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71089454e-01,  2.38697477e-01, -2.96428238e-03,  2.38696364e-01,
        9.71093978e-01,  7.28628476e-04,  3.05251855e-03,  0.00000000e+00,
       -9.99995341e-01])
  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([ 0.10371963, -0.09088444,  0.14136859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009399641905392578
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.28150515e-01,  3.39938012e-01, -4.45655554e-01,  2.99346573e-01,
        9.40447845e-01,  1.61088426e-01,  4.73875884e-01,  2.77555756e-17,
       -8.80591646e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10347471, -0.08995549,  0.15006679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046179891747460955
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50257908e-14,  3.00515815e-14,  1.00000000e+00, -4.51548776e-28,
        1.00000000e+00, -3.00515815e-14, -1.00000000e+00,  0.00000000e+00,
        1.50257908e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.081884  , -0.06257302,  0.06198037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.89219242e-05,-3.41043844e-05,-7.50018498e-06,-8.12937305e-06,
 -1.76720059e-05, 4.97176267e-05, 6.28167381e-07,-2.14476252e-05,
 -4.85211859e-05,-4.61140244e-05, 3.45168826e-05, 3.04032576e-05,
  2.64347106e-01, 1.60034751e-03, 9.05283939e-02, 3.68511216e-02,
  4.79949234e-07, 7.12671300e-07,-9.80999961e+00,-1.18206510e-02,
 -2.39749784e-02, 5.77454346e-05]


--- Step 866 ---
qpos:
[-1.35455318e-02, 1.35258499e-02, 1.00701867e-02, 1.47275618e-02,
 -1.90829090e-02,-9.08629120e-03,-1.74544629e-02, 1.63071854e-02,
 -1.21300627e-02,-6.69686098e-03,-1.43473605e-02, 1.51210769e-02,
  1.40360951e+00, 3.14015088e-02, 2.84523709e-01,-3.20099169e-02,
  9.53871873e-02,-7.18870650e-02, 1.04553391e-01, 9.99822856e-01,
  1.06588600e-03,-2.03050546e-04,-1.87903850e-02]

qacc:
[-7.01466221e+00, 2.96979340e-01,-2.83423703e+00, 7.82771815e+00,
  7.44028203e+00,-5.88655400e-01, 5.34762365e+00,-1.61731098e+01,
 -1.93214256e+00,-3.55582389e-01, 1.02989131e+00,-7.36745185e-01,
 -4.28335860e-02, 3.29429874e+00,-4.41752215e+01, 1.00516697e+02,
  6.15013113e-01, 1.28337152e-01,-4.62267528e-03,-8.58808177e+00,
  2.06382159e+01,-2.33177738e+01]

qfrc_actuator:
[ 4.68621254e-04,-5.75774867e-04,-1.65030157e-04,-5.64037974e-05,
 -6.87687228e-04,-6.03538360e-04,-1.98676184e-04,-1.05004851e-04,
 -5.03942452e-04,-5.53996177e-04,-1.35101621e-04,-3.33321897e-05,
  2.10000000e-01,-4.78291539e-03, 9.00000000e-02, 3.58714864e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 3.83496598e-01,  3.70729234e-01,  9.81298918e-02,  3.70729234e-01,
        3.83571518e-01, -2.83042140e-04,  9.81298918e-02, -2.83042140e-04,
        3.84565915e-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: -1.4011449001170007e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71101173e-01,  2.38650712e-01, -2.88971428e-03,  2.38649655e-01,
        9.71105472e-01,  7.10151873e-04,  2.97569560e-03,  0.00000000e+00,
       -9.99995573e-01])
  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([ 0.10372221, -0.09089031,  0.14137098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009411764487758477
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.82819979,  0.33948106, -0.44591222,  0.29890952,  0.94061289,
        0.1609363 ,  0.47406561,  0.        , -0.88048952])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10347819, -0.0899619 ,  0.15006463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004600076749625842
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50843003e-14,  7.54215014e-15,  1.00000000e+00, -1.13768058e-28,
        1.00000000e+00, -7.54215014e-15, -1.00000000e+00,  0.00000000e+00,
        1.50843003e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188451, -0.06257465,  0.06198044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.16996977e-05,-4.46272624e-05,-1.38533517e-05, 1.12873724e-05,
  4.41823442e-05, 3.67172842e-05, 2.26270441e-06,-2.99822316e-05,
 -1.14250593e-05,-5.85488293e-06, 5.05391581e-06, 1.17589974e-06,
  2.64375552e-01, 1.55789117e-03, 9.18777779e-02, 3.67537844e-02,
 -1.00826006e-05, 1.02012772e-05,-9.80999652e+00,-1.18213157e-02,
 -2.39735056e-02, 5.76171973e-05]


--- Step 867 ---
qpos:
[-1.35461618e-02, 1.35256017e-02, 1.00702121e-02, 1.47273188e-02,
 -1.90835875e-02,-9.08482025e-03,-1.74540713e-02, 1.63055760e-02,
 -1.21301565e-02,-6.69813754e-03,-1.43472667e-02, 1.51207262e-02,
  1.40360777e+00, 3.13890769e-02, 2.84433971e-01,-3.20247918e-02,
  9.53946327e-02,-7.18912351e-02, 1.04553758e-01, 9.99819880e-01,
  1.04861940e-03,-8.69778443e-05,-1.89499355e-02]

qacc:
[ 1.80292408e+00, 1.50678375e+00,-6.18519469e+00, 9.66726764e+00,
  4.72758889e+00,-6.91756935e-01, 4.02598246e+00,-1.00269757e+01,
 -1.07226432e+00, 1.13942299e+00,-2.36043461e+00,-2.37879887e+00,
 -7.96050887e-02, 5.51112378e+00,-3.95090050e+01, 8.85906746e+01,
  5.42834609e-01, 3.09934667e-02,-4.31320441e-02,-8.00583190e+00,
  1.94734684e+01,-2.71076439e+01]

qfrc_actuator:
[ 4.80615388e-04,-5.71935818e-04,-1.86302486e-04,-4.85073693e-05,
 -6.60883443e-04,-6.16275343e-04,-2.03188833e-04,-1.23159027e-04,
 -5.09856456e-04,-5.46452869e-04,-1.65366720e-04,-5.02673246e-05,
  2.10000000e-01,-4.77064001e-03, 9.00000000e-02, 3.59168147e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.38353484, 0.37010552, 0.10060254, 0.37010552, 0.38227159,
       0.00464733, 0.10060254, 0.00464733, 0.36643784, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -1.6912523272070117e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71115503e-01,  2.38594144e-01, -2.74131167e-03,  2.38593193e-01,
        9.71119372e-01,  6.73512372e-04,  2.82283698e-03, -1.08420217e-19,
       -9.99996016e-01])
  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([ 0.10372789, -0.09089401,  0.14137365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009423911365274554
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.82808033,  0.33923757, -0.44631921,  0.29862415,  0.94070073,
        0.16095262,  0.47445398,  0.        , -0.88028031])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10348591, -0.08996647,  0.15006085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004573845544932273
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03416188e-14,  3.79270235e-14,  1.00000000e+00, -1.15076729e-27,
        1.00000000e+00, -3.79270235e-14, -1.00000000e+00,  0.00000000e+00,
        3.03416188e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188458, -0.0625757 ,  0.06198056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07773168e-05,-2.34791567e-05,-3.17948721e-05, 5.72792263e-06,
  2.80374336e-05, 7.03765648e-06, 2.32519789e-06,-1.70850740e-05,
 -6.19794078e-06, 5.36259962e-06,-3.08102403e-05,-1.69876765e-05,
  2.64362811e-01, 1.52883763e-03, 9.31366207e-02, 3.66844344e-02,
 -4.08200787e-05, 3.07529455e-05,-9.80997734e+00,-1.18246529e-02,
 -2.39712191e-02, 5.55292956e-05]


--- Step 868 ---
qpos:
[-1.35462986e-02, 1.35253035e-02, 1.00699488e-02, 1.47268107e-02,
 -1.90839400e-02,-9.08337388e-03,-1.74536842e-02, 1.63037757e-02,
 -1.21306646e-02,-6.69936796e-03,-1.43472158e-02, 1.51198133e-02,
  1.40360776e+00, 3.13781134e-02, 2.84323347e-01,-3.20386838e-02,
  9.54039945e-02,-7.18956261e-02, 1.04553820e-01, 9.99815711e-01,
  1.01716114e-03, 6.64055530e-05,-1.91704066e-02]

qacc:
[ 4.26732152e+00, 1.86694762e-01, 3.43423815e-01,-4.41799582e+00,
  2.83092519e+00,-4.18248836e-01, 2.24069386e+00,-5.50891668e+00,
 -3.61773506e+00,-9.69177594e-01, 5.93040776e+00,-1.56399411e+01,
 -1.66538948e-01, 7.97842641e+00,-3.37989472e+01, 7.35819842e+01,
  4.79112133e-01,-5.52082591e-02,-7.64548278e-02,-7.45009377e+00,
  1.84855295e+01,-3.04850785e+01]

qfrc_actuator:
[ 5.05690813e-04,-5.69484737e-04,-1.98797339e-04,-6.15176182e-05,
 -6.44856491e-04,-6.24546041e-04,-2.06067183e-04,-1.33202148e-04,
 -5.31047663e-04,-5.41529755e-04,-1.65480258e-04,-7.78509102e-05,
  2.10000000e-01,-4.72347120e-03, 9.00000000e-02, 3.59311620e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.38360057, 0.36988579, 0.10165579, 0.36988579, 0.3810291 ,
       0.00935657, 0.10165579, 0.00935657, 0.34955566, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -2.098135235155877e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71132207e-01,  2.38528554e-01, -2.52313763e-03,  2.38527749e-01,
        9.71135484e-01,  6.19728535e-04,  2.59813144e-03, -1.08420217e-19,
       -9.99996625e-01])
  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([ 0.10373611, -0.09089649,  0.14137646])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009436471940360185
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.27832606e-01,  3.39139824e-01, -4.46852724e-01,  2.98437617e-01,
        9.40735978e-01,  1.61092546e-01,  4.75003332e-01,  2.77555756e-17,
       -8.79983997e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10349716, -0.08996995,  0.15005559])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000454126359650614
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05593091e-14, -1.52796546e-14,  1.00000000e+00,  4.66935687e-28,
        1.00000000e+00,  1.52796546e-14, -1.00000000e+00,  0.00000000e+00,
        3.05593091e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818843 , -0.06257629,  0.06198069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53883514e-05,-1.69752661e-05,-2.10561622e-05,-1.50042306e-05,
  1.67828882e-05,-4.55266239e-06,-1.72265421e-06,-9.99323556e-06,
 -2.13190061e-05, 8.35087929e-07,-3.38628979e-06,-2.87497885e-05,
  2.64312467e-01, 1.51791999e-03, 9.42943724e-02, 3.66113879e-02,
 -9.60611734e-05, 6.68755832e-05,-9.80994206e+00,-1.18309557e-02,
 -2.39683912e-02, 5.16119440e-05]


--- Step 869 ---
qpos:
[-1.35464780e-02, 1.35247272e-02, 1.00698870e-02, 1.47261458e-02,
 -1.90837534e-02,-9.08215856e-03,-1.74532548e-02, 1.63022380e-02,
 -1.21314219e-02,-6.70045060e-03,-1.43472946e-02, 1.51196056e-02,
  1.40361847e+00, 3.13702064e-02, 2.84293366e-01,-3.20647106e-02,
  9.54063682e-02,-7.19028378e-02, 1.04552939e-01, 9.99812909e-01,
  1.03541125e-03, 1.16098746e-04,-1.93147970e-02]

qacc:
[-3.58729816e-01,-1.25304244e+00, 4.59747663e+00,-7.42947573e+00,
  4.68620291e+00, 1.07906198e-01,-1.95292950e+00, 6.61911924e+00,
 -2.18194523e+00, 2.01310695e+00,-9.86473051e+00, 2.21600614e+01,
 -2.36786561e-01, 2.46594617e+01, 1.56330906e+02,-3.73032924e+02,
 -1.74701768e+00,-7.05184626e-01,-2.35553255e-01, 2.58402719e+01,
 -5.13204360e+01, 3.81008590e+01]

qfrc_actuator:
[ 5.02742219e-04,-5.85617461e-04,-1.88263072e-04,-6.89614601e-05,
 -6.17542296e-04,-6.47824897e-04,-2.07946353e-04,-1.20640737e-04,
 -5.43310650e-04,-5.20358770e-04,-1.65542960e-04,-4.04406953e-05,
  2.10000000e-01,-4.70941832e-03, 9.00000000e-02, 3.59092323e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38369807,  0.38367123, -0.00453837,  0.38367123,  0.38381223,
        0.00965135, -0.00453837,  0.00965135,  1.19961795,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.5861677007316197e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71150997e-01,  2.38454878e-01, -2.23856738e-03,  2.38454245e-01,
        9.71153577e-01,  5.49652829e-04,  2.30506011e-03,  1.08420217e-19,
       -9.99997343e-01])
  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([ 0.10374635, -0.09089856,  0.14137927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009450256158271407
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.27490630e-01,  3.39128083e-01, -4.47494581e-01,  2.98302664e-01,
        9.40740210e-01,  1.61317628e-01,  4.75683484e-01, -2.77555756e-17,
       -8.79616520e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10351131, -0.08997296,  0.15004891])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.57311582,  9.47191796,  4.69824948,  9.47191796, 13.69190283,
       -6.2876386 ,  4.69824948, -6.2876386 , 23.24932581,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004563563903909468
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.08199561e-14, -2.28074835e-14,  1.00000000e+00,  1.38715015e-27,
        1.00000000e+00,  2.28074835e-14, -1.00000000e+00,  0.00000000e+00,
        6.08199561e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09996153, -0.05345252,  0.0619806 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.20583698e-06,-3.06054615e-05, 3.91499406e-06,-9.19283906e-06,
  2.77432638e-05,-2.65900611e-05,-3.37408440e-06, 1.21123101e-05,
 -1.28259998e-05, 1.97214827e-05,-1.29400821e-06, 3.67717234e-05,
  2.64226742e-01, 1.45625260e-03, 9.53380338e-02, 3.65401638e-02,
 -1.80267733e-04, 1.22692813e-04,-9.80989082e+00,-1.18404275e-02,
 -2.39652111e-02, 4.59803797e-05]


--- Step 870 ---
qpos:
[-1.35466906e-02, 1.35238378e-02, 1.00702365e-02, 1.47257319e-02,
 -1.90832415e-02,-9.08127840e-03,-1.74530787e-02, 1.63012426e-02,
 -1.21316300e-02,-6.70132101e-03,-1.43473776e-02, 1.51191394e-02,
  1.40362885e+00, 3.13616904e-02, 2.84311053e-01,-3.20965137e-02,
  9.54024289e-02,-7.19123299e-02, 1.04551202e-01, 9.99811829e-01,
  1.09063516e-03, 6.10583378e-05,-1.93678361e-02]

qacc:
[  -0.27006987,  -1.0464311 ,   2.07169777,   1.8442039 ,   2.82329959,
    1.37518068,  -7.84580709,  17.89419679,   4.78957691,  -0.24867546,
    2.36856748,  -6.97275094,  -0.78061024,   1.18690301,  88.06410424,
 -205.58879611,  -1.57825752,  -0.57009699,  -0.21413063,  19.48870577,
  -51.95273944,  45.74007324]

qfrc_actuator:
[ 5.01070410e-04,-5.94899731e-04,-1.64286022e-04,-5.53151287e-05,
 -6.01551861e-04,-6.79892335e-04,-2.27023645e-04,-9.48938070e-05,
 -5.14710683e-04,-5.07311794e-04,-1.65471307e-04,-5.38397806e-05,
  2.10000000e-01,-4.69965761e-03, 9.00000000e-02, 3.58960134e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38370862,  0.35034571, -0.15649342,  0.35034571,  0.34845928,
       -0.07891357, -0.15649342, -0.07891357,  0.20704284,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6335679688418413e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71160251e-01,  2.38418146e-01, -2.13410475e-03,  2.38417571e-01,
        9.71162596e-01,  5.23917726e-04,  2.19747420e-03,  0.00000000e+00,
       -9.99997586e-01])
  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([ 0.10374666, -0.09090922,  0.14138017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36708592,  0.36003728,  0.0715907 ,  0.36003728,  0.38227516,
       -0.07638832,  0.0715907 , -0.07638832,  0.75125093,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009477486326513049
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.27665748e-01,  3.38335616e-01, -4.47770501e-01,  2.97578330e-01,
        9.41025510e-01,  1.60991074e-01,  4.75832478e-01, -2.77555756e-17,
       -8.79535930e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1035125 , -0.0899834 ,  0.15004461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.58138998, -10.157807  ,  -2.96391141, -10.157807  ,
        15.5856441 , -17.15039371,  -2.96391141, -17.15039371,
        69.35858178,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004569806091084469
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.07368782e-14, -7.59210978e-15,  1.00000000e+00,  4.61121047e-28,
        1.00000000e+00,  7.59210978e-15, -1.00000000e+00,  0.00000000e+00,
        6.07368782e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09996493, -0.05345964,  0.06198057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72279827e-06,-2.59786493e-05, 1.78204600e-05, 1.22915896e-05,
  1.67338401e-05,-4.71114967e-05,-2.45693409e-05, 2.47248867e-05,
  2.82785994e-05, 2.54101948e-05, 5.26891292e-06,-1.18806146e-05,
  2.63690679e-01, 1.31249541e-03, 9.13055184e-02, 3.71335826e-02,
 -5.13473747e-05, 4.43563904e-05,-9.80999162e+00,-1.18256557e-02,
 -2.39567785e-02, 4.63106166e-05]


--- Step 871 ---
qpos:
[-1.35472662e-02, 1.35229745e-02, 1.00704443e-02, 1.47258244e-02,
 -1.90828870e-02,-9.08075201e-03,-1.74531143e-02, 1.63005635e-02,
 -1.21314932e-02,-6.70205022e-03,-1.43471170e-02, 1.51178106e-02,
  1.40362828e+00, 3.13486669e-02, 2.84337963e-01,-3.21279309e-02,
  9.53921908e-02,-7.19241012e-02, 1.04548436e-01, 9.99812436e-01,
  1.17923450e-03,-9.96510620e-05,-1.93311117e-02]

qacc:
[ -3.1501286 ,  1.48004314, -7.354133  , 16.31446773, -1.36778202,
   0.77725309, -4.78090341, 10.84903365,  3.01885691, -2.55523443,
  13.01407498,-28.58704913, -0.76669392,-25.22745658, 12.25279596,
 -23.61348911, -1.57471455, -0.56978629, -0.25702676, 17.70420679,
 -52.4524506 , 44.94832048]

qfrc_actuator:
[ 4.82419714e-04,-5.82172784e-04,-1.68039022e-04,-2.93597274e-05,
 -6.10110235e-04,-6.99283777e-04,-2.38388456e-04,-7.93728580e-05,
 -4.97796963e-04,-4.99262787e-04,-1.47639855e-04,-9.70429948e-05,
  2.10000000e-01,-4.69002942e-03, 9.00000000e-02, 3.59575270e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38359646,  0.34443993, -0.16884128,  0.34443993,  0.32343967,
       -0.12272116, -0.16884128, -0.12272116,  0.13324259,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0750276214343813e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71166907e-01,  2.38390270e-01, -2.21747899e-03,  2.38389648e-01,
        9.71169439e-01,  5.44318419e-04,  2.28330804e-03, -1.08420217e-19,
       -9.99997393e-01])
  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([ 0.10373895, -0.09092805,  0.14137962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.36724038, 0.35946847, 0.07515262, 0.35946847, 0.36679385,
       0.00213586, 0.07515262, 0.00213586, 0.35702417, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.000949707046381943
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.82837958,  0.33686693, -0.44755775,  0.2963762 ,  0.94155227,
        0.16012643,  0.47534031,  0.        , -0.87980202])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1035024 , -0.09000025,  0.15004534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.57082553, -10.21065777,  -2.73583999, -10.21065777,
        15.90490891, -19.90777971,  -2.73583999, -19.90777971,
        84.87031899,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004561832969607327
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.08430335e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.08430335e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09996783, -0.05346472,  0.06198061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.86816250e-05, 2.41187471e-06,-6.49720165e-06, 2.56983354e-05,
 -8.12486569e-06,-4.97641603e-05,-2.32734894e-05, 1.31312591e-05,
  1.77663919e-05, 2.28579580e-05, 2.33203784e-05,-4.21636616e-05,
  2.63707217e-01, 1.35279584e-03, 8.89219200e-02, 3.74838469e-02,
 -4.47815296e-06,-5.85267812e-06,-9.80999839e+00,-1.18180053e-02,
 -2.39584956e-02, 5.00049151e-05]


--- Step 872 ---
qpos:
[-1.35480603e-02, 1.35221849e-02, 1.00705747e-02, 1.47262164e-02,
 -1.90822934e-02,-9.08046892e-03,-1.74530879e-02, 1.63003875e-02,
 -1.21318434e-02,-6.70284552e-03,-1.43465997e-02, 1.51170434e-02,
  1.40362672e+00, 3.13358864e-02, 2.84345484e-01,-3.21572374e-02,
  9.53857080e-02,-7.19335434e-02, 1.04546739e-01, 9.99812768e-01,
  1.24877374e-03,-2.05626914e-04,-1.93087512e-02]

qacc:
[ -1.89861309,  0.93440676, -4.44865382,  9.69570379,  2.08297035,
   0.53681351, -4.51247816, 13.30921944, -4.24217912,  0.3595511 ,
  -3.76532081, 13.10672301, -0.20360203,  0.63118744,-35.07071139,
  81.06774393,  0.93886151,  0.58224652,  0.26702725,-10.05785033,
  27.16893147, -7.21460417]

qfrc_actuator:
[ 4.71677222e-04,-5.74207049e-04,-1.70288920e-04,-1.41273066e-05,
 -5.97539928e-04,-6.93164300e-04,-2.27313499e-04,-5.22257695e-05,
 -5.23415715e-04,-5.11979040e-04,-1.37251473e-04,-6.86579840e-05,
  2.10000000e-01,-4.69409119e-03, 9.00000000e-02, 3.59890178e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38342895,  0.3685188 ,  0.1058851 ,  0.3685188 ,  0.39322063,
       -0.0340786 ,  0.1058851 , -0.0340786 ,  0.50203492,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.129364081756295e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71178998e-01,  2.38338295e-01, -2.49218582e-03,  2.38337510e-01,
        9.71182196e-01,  6.11608534e-04,  2.56613623e-03,  0.00000000e+00,
       -9.99996707e-01])
  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([ 0.10372438, -0.09095719,  0.14137777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.3615709 , 0.35505348, 0.06834134, 0.35505348, 0.35959878,
       0.01024573, 0.06834134, 0.01024573, 0.30834128, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0008999637816004355
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.82975322,  0.33464821, -0.44667681,  0.29466488,  0.94234313,
        0.15862544,  0.47400654,  0.        , -0.88052132])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10348163, -0.09002463,  0.15005425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.58693066,   9.34413712,   4.97696718,   9.34413712,
        16.51475941, -11.12935704,   4.97696718, -11.12935704,
        31.48203297,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004573976310729977
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.06815028e-14, -1.70666727e-13,  1.00000000e+00,  1.03563134e-26,
        1.00000000e+00,  1.70666727e-13, -1.00000000e+00,  0.00000000e+00,
        6.06815028e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.081891  , -0.06258832,  0.06198055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12525843e-05, 9.08544002e-06,-1.65588342e-06, 1.56130459e-05,
  1.23021992e-05,-2.59687086e-05,-1.62035270e-06, 2.44643209e-05,
 -2.50747595e-05, 3.07966198e-06, 1.65218629e-05, 2.93502211e-05,
  2.64255007e-01, 1.57450493e-03, 8.84605881e-02, 3.74959803e-02,
 -5.47193631e-05,-9.95014392e-06,-9.80991626e+00,-1.18189254e-02,
 -2.39687384e-02, 5.71112520e-05]


--- Step 873 ---
qpos:
[-1.35493215e-02, 1.35214029e-02, 1.00709818e-02, 1.47267717e-02,
 -1.90812092e-02,-9.08029613e-03,-1.74529975e-02, 1.63005202e-02,
 -1.21318078e-02,-6.70348921e-03,-1.43463206e-02, 1.51169739e-02,
  1.40362651e+00, 3.13238396e-02, 2.84339081e-01,-3.21813481e-02,
  9.53825439e-02,-7.19411444e-02, 1.04545863e-01, 9.99812646e-01,
  1.29887574e-03,-2.61438284e-04,-1.93110772e-02]

qacc:
[ -4.04053847, -0.41930023,  0.83381817,  1.5292887 ,  4.26306995,
   0.30219866, -2.60691984,  7.94393187,  3.35913061,  2.29580309,
 -10.85330936, 23.21341284,  0.32801043,  2.60480983,-36.32348756,
  97.19250319,  0.82963482,  0.460332  ,  0.20540637,-10.20336011,
  24.87443062,-12.37463456]

qfrc_actuator:
[ 4.47927919e-04,-5.69155949e-04,-1.53891958e-04,-5.32438085e-06,
 -5.72626061e-04,-6.89459870e-04,-2.20716244e-04,-3.61690222e-05,
 -5.02849326e-04,-5.01498390e-04,-1.49132011e-04,-3.39043330e-05,
  2.10000000e-01,-4.69156186e-03, 9.00000000e-02, 3.59473580e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009016071843679706
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83072196,  0.3329695 , -0.4461304 ,  0.29334399,  0.9429376 ,
        0.15753727,  0.47312823,  0.        , -0.88099357])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10346813, -0.09004345,  0.15005992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.63177864,  -8.66283441,  -6.16360422,  -8.66283441,
        44.00564552, -46.90636718,  -6.16360422, -46.90636718,
        76.55783058,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046074461835068914
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.02406941e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.02406941e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08189404, -0.06259319,  0.06198041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.40450114e-05, 1.04813191e-05, 1.86191572e-05, 9.44101265e-06,
  2.52478505e-05,-1.01208112e-05, 1.87285939e-06, 1.53621429e-05,
  1.98718203e-05, 1.68793022e-05,-8.18807029e-06, 3.60305833e-05,
  2.64304143e-01, 1.56488862e-03, 8.94297961e-02, 3.73487115e-02,
 -2.24320619e-05,-5.93830229e-06,-9.80996061e+00,-1.18142373e-02,
 -2.39718152e-02, 6.36642683e-05]


--- Step 874 ---
qpos:
[-1.35508573e-02, 1.35206601e-02, 1.00715675e-02, 1.47277760e-02,
 -1.90798348e-02,-9.08033504e-03,-1.74527978e-02, 1.63011995e-02,
 -1.21322154e-02,-6.70401364e-03,-1.43461930e-02, 1.51176650e-02,
  1.40362763e+00, 3.13126522e-02, 2.84316935e-01,-3.22005211e-02,
  9.53823742e-02,-7.19474069e-02, 1.04545542e-01, 9.99811917e-01,
  1.33055276e-03,-2.70352153e-04,-1.93464925e-02]

qacc:
[ -2.37515821,  0.48232927, -3.53249143, 10.98243568,  2.52774501,
   0.53489194, -4.62960118, 14.07958928, -3.87600488,  2.15399803,
 -10.65035497, 23.9557204 ,  0.23346881,  3.4812048 ,-38.2218923 ,
  99.95544101,  0.74862517,  0.33460965,  0.1385975 , -9.66751505,
  23.24488512,-16.57548557]

qfrc_actuator:
[ 4.34463075e-04,-5.65817005e-04,-1.44382606e-04, 1.73899426e-05,
 -5.58405696e-04,-7.04992775e-04,-2.16832485e-04,-9.02061882e-06,
 -5.26260605e-04,-4.95043495e-04,-1.56229022e-04, 4.30958899e-06,
  2.10000000e-01,-4.66791314e-03, 9.00000000e-02, 3.59466415e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009042143628646234
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.31337563e-01,  3.31760669e-01, -4.45884195e-01,  2.92363527e-01,
        9.43363588e-01,  1.56807874e-01,  4.72653599e-01, -2.77555756e-17,
       -8.81248305e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10346073, -0.09005744,  0.1500624 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004622405572379182
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.00457385e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.00457385e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08189611, -0.06259681,  0.06198035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41334034e-05, 1.34862217e-05, 1.43098675e-05, 2.39953301e-05,
  1.49354088e-05,-2.01778725e-05, 2.54184907e-06, 2.70750138e-05,
 -2.28171667e-05, 1.57539051e-05,-3.37311257e-06, 3.93543007e-05,
  2.64236964e-01, 1.55160462e-03, 9.01257168e-02, 3.70881229e-02,
 -3.88442865e-06,-3.81617596e-06,-9.80998901e+00,-1.18109027e-02,
 -2.39729356e-02, 6.78423826e-05]


--- Step 875 ---
qpos:
[-1.35521978e-02, 1.35202124e-02, 1.00718900e-02, 1.47290425e-02,
 -1.90783004e-02,-9.08062340e-03,-1.74522330e-02, 1.63021857e-02,
 -1.21328999e-02,-6.70457755e-03,-1.43460534e-02, 1.51184727e-02,
  1.40363021e+00, 3.13024923e-02, 2.84278052e-01,-3.22150839e-02,
  9.53849036e-02,-7.19527652e-02, 1.04545542e-01, 9.99810432e-01,
  1.34473607e-03,-2.35195947e-04,-1.94225984e-02]

qacc:
[ 1.68006540e+00, 1.66252208e+00,-6.47446065e+00, 1.12216597e+01,
  1.40479778e+00,-7.20654172e-01, 7.89938349e-01, 4.12982878e+00,
 -2.41511898e+00, 1.58726490e-01,-1.12545119e+00, 3.14297467e+00,
  1.37758566e-01, 4.67167742e+00,-3.86869052e+01, 9.94834286e+01,
  6.74757773e-01, 2.26037031e-01, 8.03243991e-02,-9.17651043e+00,
  2.18344990e+01,-2.03757310e+01]

qfrc_actuator:
[ 4.44915868e-04,-5.45787496e-04,-1.56771069e-04, 3.03473337e-05,
 -5.50597404e-04,-7.14169934e-04,-1.96894972e-04, 6.66883553e-06,
 -5.39878295e-04,-5.08784967e-04,-1.60447373e-04, 8.75251109e-06,
  2.10000000e-01,-4.64976460e-03, 9.00000000e-02, 3.60041761e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009073415689825808
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83166309,  0.33093166, -0.44589321,  0.29165714,  0.94365472,
        0.15637094,  0.47251733,  0.        , -0.88132138])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10345866, -0.09006761,  0.15006214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046222557008677306
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.00476854e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.00476854e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818974 , -0.06259944,  0.06198035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00661950e-05, 3.16044855e-05,-6.99126915e-06, 1.45016380e-05,
  8.22756806e-06,-1.88200482e-05, 1.70030282e-05, 1.54359834e-05,
 -1.42512888e-05,-3.93400713e-06,-1.19984548e-08, 5.76900208e-06,
  2.64170339e-01, 1.52624395e-03, 9.09125415e-02, 3.68986856e-02,
 -5.62975139e-07, 1.51804933e-06,-9.81000091e+00,-1.18095563e-02,
 -2.39726497e-02, 6.97887969e-05]


--- Step 876 ---
qpos:
[-1.35534026e-02, 1.35201945e-02, 1.00714676e-02, 1.47297803e-02,
 -1.90766842e-02,-9.08120569e-03,-1.74513609e-02, 1.63030168e-02,
 -1.21327077e-02,-6.70494251e-03,-1.43462781e-02, 1.51182872e-02,
  1.40363457e+00, 3.12935832e-02, 2.84222540e-01,-3.22257184e-02,
  9.53898414e-02,-7.19576412e-02, 1.04545659e-01, 9.99808025e-01,
  1.34257997e-03,-1.58513375e-04,-1.95470036e-02]

qacc:
[ 1.14595815e+00, 1.55895120e+00,-2.50536450e+00,-5.76869061e+00,
  7.25583895e-01,-1.56711629e+00, 5.67748513e+00,-8.63687717e+00,
  7.63682765e+00,-7.78090109e-01, 7.32352139e+00,-2.40487802e+01,
  4.15407314e-02, 6.28816339e+00,-3.64416228e+01, 9.19102409e+01,
  6.02105370e-01, 1.20589192e-01, 2.92973236e-02,-8.57649059e+00,
  2.05679871e+01,-2.41800062e+01]

qfrc_actuator:
[ 4.51606561e-04,-5.33767699e-04,-1.99680484e-04, 1.95260994e-06,
 -5.46622164e-04,-7.37163850e-04,-1.85377556e-04,-2.24888664e-06,
 -4.94351117e-04,-4.99027968e-04,-1.80794090e-04,-4.22325841e-05,
  2.10000000e-01,-4.65318061e-03, 9.00000000e-02, 3.60240032e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009107849181184583
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.31751717e-01,  3.30403832e-01, -4.46119254e-01,  2.91165932e-01,
        9.43839662e-01,  1.56170075e-01,  4.72664238e-01,  2.77555756e-17,
       -8.81242599e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10346124, -0.09007486,  0.15005948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046099383213563105
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.02081279e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.02081279e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08189809, -0.06260126,  0.0619804 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.00137466e-06, 2.89217939e-05,-3.67248723e-05,-2.69972656e-05,
  4.20584113e-06,-2.93974268e-05, 1.02404301e-05,-8.83918091e-06,
  4.51343648e-05, 7.82312924e-06,-2.09523098e-05,-5.10397697e-05,
  2.64097587e-01, 1.47060307e-03, 9.17490288e-02, 3.66879041e-02,
 -1.51610300e-05, 1.44574352e-05,-9.80999632e+00,-1.18106165e-02,
 -2.39713271e-02, 6.96413119e-05]


--- Step 877 ---
qpos:
[-1.35541727e-02, 1.35203622e-02, 1.00708900e-02, 1.47298177e-02,
 -1.90750327e-02,-9.08170193e-03,-1.74510177e-02, 1.63030534e-02,
 -1.21323158e-02,-6.70543225e-03,-1.43463810e-02, 1.51178458e-02,
  1.40364101e+00, 3.12861618e-02, 2.84150826e-01,-3.22331223e-02,
  9.53969362e-02,-7.19623833e-02, 1.04545718e-01, 9.99804540e-01,
  1.32501027e-03,-4.24541143e-05,-1.97262216e-02]

qacc:
[ 3.75979449e+00,-7.70384771e-01, 6.04691804e+00,-1.80426824e+01,
  2.86866358e-01,-4.48092165e-02, 3.67866730e+00,-1.66472681e+01,
  1.74892579e+00,-1.03579288e+00, 4.52890184e+00,-9.05592305e+00,
 -7.45225717e-02, 8.04855066e+00,-3.36775884e+01, 8.32088237e+01,
  5.39264949e-01, 3.34933062e-02,-1.45193493e-02,-8.09378950e+00,
  1.94970397e+01,-2.74369078e+01]

qfrc_actuator:
[ 4.73774071e-04,-5.26806510e-04,-2.07057667e-04,-3.28146583e-05,
 -5.44932672e-04,-7.32798298e-04,-2.14505461e-04,-4.33440664e-05,
 -4.85390361e-04,-5.10899790e-04,-1.74940953e-04,-5.44009656e-05,
  2.10000000e-01,-4.65241715e-03, 9.00000000e-02, 3.60733016e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000914542271202253
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83165125,  0.3301011 , -0.44653048,  0.29083138,  0.94394558,
        0.15615328,  0.47304684,  0.        , -0.88103728])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10346779, -0.09008004,  0.15005469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004587977551291089
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.04963196e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.04963196e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08189829, -0.06260246,  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:
[ 2.23861184e-05, 1.44371452e-05,-6.84687202e-06,-3.53215933e-05,
  1.80931076e-06,-1.03942543e-05,-3.42635621e-05,-4.21763778e-05,
  1.02755078e-05,-1.40019342e-05, 3.11853983e-06,-1.35536643e-05,
  2.64009157e-01, 1.40765627e-03, 9.25800296e-02, 3.65406881e-02,
 -5.12579995e-05, 3.94029761e-05,-9.80997537e+00,-1.18144049e-02,
 -2.39692485e-02, 6.75383469e-05]


--- Step 878 ---
qpos:
[-1.35543262e-02, 1.35206361e-02, 1.00707702e-02, 1.47297507e-02,
 -1.90733735e-02,-9.08216196e-03,-1.74510350e-02, 1.63022468e-02,
 -1.21321634e-02,-6.70630657e-03,-1.43460492e-02, 1.51179642e-02,
  1.40364938e+00, 3.12802651e-02, 2.84061956e-01,-3.22385454e-02,
  9.54059606e-02,-7.19672763e-02, 1.04545574e-01, 9.99799818e-01,
  1.29267381e-03, 1.11081814e-04,-1.99660089e-02]

qacc:
[ 5.35753776e+00,-1.36486751e+00, 5.49275831e+00,-8.09028004e+00,
  5.49395572e-02,-6.79690404e-01, 6.05309678e+00,-2.00962734e+01,
 -2.07015356e+00,-5.66031441e-01,-1.07613629e+00, 1.03468430e+01,
 -1.99490116e-01, 8.56710155e+00,-3.12947491e+01, 7.28485409e+01,
  4.82394011e-01,-3.77560590e-02,-5.09031164e-02,-7.75204061e+00,
  1.85488718e+01,-3.03154701e+01]

qfrc_actuator:
[ 5.04874439e-04,-5.05055663e-04,-1.75654522e-04,-3.55171718e-05,
 -5.44600643e-04,-7.30032094e-04,-2.31802283e-04,-8.52917407e-05,
 -4.98043140e-04,-5.35504753e-04,-1.53708458e-04,-2.58665970e-05,
  2.10000000e-01,-4.68538827e-03, 9.00000000e-02, 3.61394091e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009446721530659855
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83140128,  0.32995995, -0.44709993,  0.29060444,  0.94399493,
        0.15627739,  0.47362534,  0.        , -0.88072642])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10347769, -0.09008385,  0.15004798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004558536775459768
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.08870280e-14,  3.04435140e-14,  1.00000000e+00,  1.85361509e-27,
        1.00000000e+00, -3.04435140e-14, -1.00000000e+00,  0.00000000e+00,
       -6.08870280e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08189811, -0.06260317,  0.06198062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.17533857e-05, 2.69318867e-05, 3.23275686e-05,-3.00745685e-06,
  3.97513227e-07,-1.19902008e-05,-2.51435006e-05,-4.44033763e-05,
 -1.23429956e-05,-3.23803671e-05, 1.82511206e-05, 2.77773865e-05,
  2.63904929e-01, 1.29883573e-03, 9.33896820e-02, 3.64451560e-02,
 -1.12577187e-04, 8.02342178e-05,-9.80993816e+00,-1.18211604e-02,
 -2.39666576e-02, 6.35935464e-05]


--- Step 879 ---
qpos:
[-1.35541055e-02, 1.35210145e-02, 1.00707614e-02, 1.47296756e-02,
 -1.90717226e-02,-9.08297737e-03,-1.74511653e-02, 1.63016678e-02,
 -1.21325082e-02,-6.70730078e-03,-1.43455215e-02, 1.51180606e-02,
  1.40364536e+00, 3.12678292e-02, 2.84080504e-01,-3.22035718e-02,
  9.54046267e-02,-7.19652799e-02, 1.04544939e-01, 9.99795319e-01,
  1.20818086e-03, 1.30430260e-04,-2.01951382e-02]

qacc:
[ 3.24494347e+00,-1.95484744e-01, 9.20450556e-01,-1.30336660e+00,
 -6.87865706e-02, 3.14036332e-01,-2.76181948e+00, 7.14154528e+00,
 -4.33218961e+00,-7.42772102e-01, 2.52646935e+00,-3.14948327e+00,
 -7.63402221e-01,-3.41948743e+01, 3.62896498e+01, 1.02927676e+02,
 -2.58959184e+00, 1.72235787e+00,-1.22598292e-01,-2.47341619e+01,
 -6.75941137e+01, 5.41404562e+00]

qfrc_actuator:
[ 5.23226107e-04,-5.09931104e-04,-1.74791986e-04,-3.70492380e-05,
 -5.45069746e-04,-7.63715355e-04,-2.41957031e-04,-7.41266028e-05,
 -5.23304688e-04,-5.31934621e-04,-1.41362419e-04,-2.68818879e-05,
  2.10000000e-01,-4.70372717e-03, 9.00000000e-02, 3.61267964e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38341815,  0.35979791, -0.13249506,  0.35979791,  0.57792224,
        0.52818695, -0.13249506,  0.52818695,  1.81773998,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.495505445918192e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71254009e-01,  2.38036786e-01, -2.03429041e-03,  2.38036264e-01,
        9.71256139e-01,  4.98566682e-04,  2.09449426e-03,  5.42101086e-20,
       -9.99997807e-01])
  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([ 0.10373046, -0.09102174,  0.14138623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009483137653238956
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.31043551e-01,  3.29922403e-01, -4.47792166e-01,  2.90442315e-01,
        9.44008055e-01,  1.56499372e-01,  4.74352061e-01,  2.77555756e-17,
       -8.80335233e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10349048, -0.09008698,  0.15003974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.58604695,  9.57900066, -4.50634402,  9.57900066, 12.78200708,
        4.66788674, -4.50634402,  4.66788674, 20.50843412,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004573311704299393
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03451606e-14,  3.03451606e-14,  1.00000000e+00, -9.20828771e-28,
        1.00000000e+00, -3.03451606e-14, -1.00000000e+00,  0.00000000e+00,
        3.03451606e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10406428, -0.07245246,  0.06198056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.92672700e-05, 1.67514497e-05, 1.03041277e-05, 6.81156290e-07,
 -4.40298439e-07,-4.75445469e-05,-1.72847171e-05, 8.91334063e-06,
 -2.56007784e-05,-9.58418728e-06, 8.86627176e-06,-1.23044407e-06,
  2.63809542e-01, 1.20245050e-03, 9.42469726e-02, 3.63333888e-02,
 -2.02848652e-04, 1.40344844e-04,-9.80988475e+00,-1.18310464e-02,
 -2.39637636e-02, 5.78947931e-05]


--- Step 880 ---
qpos:
[-1.35536664e-02, 1.35212885e-02, 1.00708824e-02, 1.47296088e-02,
 -1.90704341e-02,-9.08433169e-03,-1.74513422e-02, 1.63015916e-02,
 -1.21328081e-02,-6.70806799e-03,-1.43452415e-02, 1.51174394e-02,
  1.40363739e+00, 3.12508822e-02, 2.84207264e-01,-3.21469162e-02,
  9.53944120e-02,-7.19613787e-02, 1.04544628e-01, 9.99791802e-01,
  1.11635451e-03, 3.65272333e-05,-2.03741356e-02]

qacc:
[ 1.89997861e+00,-4.87305511e-01, 1.49552358e+00,-1.47401824e+00,
 -3.13947738e+00, 4.59275378e-01,-4.78400057e+00, 1.39477973e+01,
  3.80774215e-01,-4.85866901e-01, 5.19637817e+00,-1.73861672e+01,
  6.77459859e-01,-2.37817978e+01, 9.42084104e+01,-9.77975849e+01,
 -2.22018475e+00, 4.76215788e-01, 8.09377839e-02,-2.52625400e+00,
 -5.66579757e+01, 2.51386229e+01]

qfrc_actuator:
[ 5.33924382e-04,-5.30822971e-04,-1.74337566e-04,-3.79335657e-05,
 -5.63759286e-04,-8.01138545e-04,-2.47930061e-04,-4.95797803e-05,
 -5.20272672e-04,-5.11570293e-04,-1.52036037e-04,-6.30216254e-05,
  2.10000000e-01,-4.59931683e-03, 9.00000000e-02, 3.60987540e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36689092,  0.07782463, -0.35854187,  0.07782463,  3.71381982,
        0.72648   , -0.35854187,  0.72648   ,  0.52457972,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009453743483919404
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83128572,  0.33012715, -0.44719136,  0.2907293 ,  0.94393647,
        0.15639825,  0.47375155,  0.        , -0.88065854])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10348401, -0.09008331,  0.15004691])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.60077321, -5.88783143,  8.81531813, -5.88783143, 41.84832783,
       20.87052691,  8.81531813, 20.87052691, 24.54038861,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004584360889583679
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.05440459e-14,  2.50577394e-06,  1.00000000e+00, -1.51709692e-19,
        1.00000000e+00, -2.50577394e-06, -1.00000000e+00,  4.81482486e-35,
        6.05440459e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10220845, -0.0638317 ,  0.06198051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12458932e-05,-9.36670026e-06, 5.20444996e-06, 2.02087210e-07,
 -1.86860695e-05,-6.72583685e-05,-1.76336319e-05, 2.20810959e-05,
  2.32469332e-06, 1.67896495e-05,-1.15982076e-05,-3.62656732e-05,
  2.64428777e-01, 1.63436937e-03, 8.88760083e-02, 3.42855010e-02,
 -1.63558955e-04, 8.32328704e-05,-9.80993222e+00,-1.18170282e-02,
 -2.39698234e-02, 5.39375306e-05]


--- Step 881 ---
qpos:
[-1.35527575e-02, 1.35212483e-02, 1.00711141e-02, 1.47299064e-02,
 -1.90693790e-02,-9.08585115e-03,-1.74517475e-02, 1.63017745e-02,
 -1.21327241e-02,-6.70856332e-03,-1.43454296e-02, 1.51163996e-02,
  1.40363223e+00, 3.12324428e-02, 2.84413082e-01,-3.20938243e-02,
  9.53779603e-02,-7.19607796e-02, 1.04543691e-01, 9.99789892e-01,
  1.07137270e-03,-1.55871841e-04,-2.04695031e-02]

qacc:
[ 4.08164147e+00, 1.76179573e-02,-2.21699693e+00, 8.59077894e+00,
 -2.03018783e+00, 9.56690339e-01,-4.81525796e+00, 9.77894402e+00,
  3.33052695e+00, 7.98774748e-01,-5.70415803e-01,-6.11506109e+00,
  8.95300865e-01,-6.08536322e+00, 1.27688669e+02,-2.77092236e+02,
 -1.55924800e+00,-8.25556486e-01,-1.56435236e-01, 2.44183604e+01,
 -4.87139116e+01, 4.18785001e+01]

qfrc_actuator:
[ 5.57789228e-04,-5.61157732e-04,-1.74191229e-04,-2.06898855e-05,
 -5.75270904e-04,-7.87222127e-04,-2.51415103e-04,-3.51229334e-05,
 -5.00607889e-04,-4.99181010e-04,-1.76156254e-04,-8.40264532e-05,
  2.10000000e-01,-4.52718519e-03, 9.00000000e-02, 3.60462571e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36361529,  0.36318884,  0.01760537,  0.36318884,  0.36537504,
       -0.03630261,  0.01760537, -0.03630261,  1.11251769,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009146464246426169
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.8320005 ,  0.33014438, -0.44584735,  0.29099632,  0.94393045,
        0.15593733,  0.47233073,  0.        , -0.8814214 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10346165, -0.09007878,  0.15006268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000461596580964424
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.51618858e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.51618858e-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([ 0.09999817, -0.05352285,  0.06198037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.41744774e-05,-3.44999740e-05,-1.14570449e-06, 1.70249215e-05,
 -1.20218932e-05,-2.64436722e-05,-1.87999210e-05, 1.13921079e-05,
  1.97651068e-05, 1.78422368e-05,-2.33317703e-05,-2.13917090e-05,
  2.64625846e-01, 1.93488180e-03, 8.34655340e-02, 3.31489950e-02,
 -1.42283206e-04, 4.03700565e-05,-9.80994625e+00,-1.18093878e-02,
 -2.39714308e-02, 5.29222842e-05]


--- Step 882 ---
qpos:
[-1.35522591e-02, 1.35209041e-02, 1.00713733e-02, 1.47304131e-02,
 -1.90684691e-02,-9.08744976e-03,-1.74523053e-02, 1.63028029e-02,
 -1.21320598e-02,-6.70883419e-03,-1.43456903e-02, 1.51157851e-02,
  1.40362339e+00, 3.12121432e-02, 2.84602234e-01,-3.20354231e-02,
  9.53653359e-02,-7.19594826e-02, 1.04544158e-01, 9.99787530e-01,
  1.01325860e-03,-2.94287992e-04,-2.05859574e-02]

qacc:
[-3.55272301e+00,-4.08577191e-02,-1.30854111e+00, 5.09578338e+00,
 -1.26443360e+00, 2.06380824e+00,-1.10768214e+01, 2.60086746e+01,
  5.05985316e+00, 1.36551312e+00,-6.25196791e+00, 1.35849147e+01,
  6.69976724e-01,-1.40747234e+01,-4.08957411e+01, 1.06869517e+02,
  9.56829558e-01, 1.74501826e-01, 3.50993347e-01,-7.11866770e+00,
  2.68400543e+01,-1.05737155e+01]

qfrc_actuator:
[ 5.35957421e-04,-5.79154022e-04,-1.74262517e-04,-1.06812465e-05,
 -5.82459926e-04,-7.78165404e-04,-2.53207026e-04, 8.82783467e-06,
 -4.71320260e-04,-4.73959803e-04,-1.72519715e-04,-6.04569710e-05,
  2.10000000e-01,-4.51114018e-03, 9.00000000e-02, 3.59956604e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.35589663, -0.3455542 , -0.08517456, -0.3455542 ,  0.45233358,
       -0.39124588, -0.08517456, -0.39124588,  1.9431858 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000866892461242616
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83314184,  0.32939146, -0.44427012,  0.29064998,  0.94419345,
        0.15498813,  0.4705287 ,  0.        , -0.88238469])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10342767, -0.09008151,  0.15008057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.69845863,   9.49229421,   4.93491312,   9.49229421,
        19.71028105, -17.33422003,   4.93491312, -17.33422003,
        44.04079159,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046562931318208656
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.72554611e-15, -1.49021844e-14,  1.00000000e+00,  5.55187752e-29,
        1.00000000e+00,  1.49021844e-14, -1.00000000e+00,  0.00000000e+00,
        3.72554611e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08190451, -0.06260496,  0.0619802 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11492877e-05,-3.68204022e-05,-6.76124392e-06, 8.81895824e-06,
 -7.48457803e-06,-9.16805607e-06,-9.18750062e-06, 4.23868842e-05,
  2.98842786e-05, 2.94683862e-05, 3.70684989e-06, 2.31096926e-05,
  2.64484141e-01, 2.02995001e-03, 7.95131833e-02, 3.32767270e-02,
 -1.31136490e-04, 1.99383312e-07,-9.80993333e+00,-1.18103623e-02,
 -2.39714579e-02, 5.55039636e-05]


--- Step 883 ---
qpos:
[-1.35523707e-02, 1.35202193e-02, 1.00719157e-02, 1.47313681e-02,
 -1.90676514e-02,-9.08922461e-03,-1.74528643e-02, 1.63046968e-02,
 -1.21310491e-02,-6.70895352e-03,-1.43456312e-02, 1.51157845e-02,
  1.40361171e+00, 3.11902358e-02, 2.84771489e-01,-3.19736708e-02,
  9.53561499e-02,-7.19579477e-02, 1.04545637e-01, 9.99784524e-01,
  9.43806532e-04,-3.82123408e-04,-2.07332867e-02]

qacc:
[-5.27335384e+00,-3.08635384e-01,-1.42753206e+00, 8.96464842e+00,
 -7.95989925e-01, 1.55289118e+00,-9.52762180e+00, 2.46382505e+01,
  3.03087076e+00, 5.64278479e-01,-4.32353387e+00, 1.43361972e+01,
  8.34069275e-01,-1.29628604e+01,-3.97432092e+01, 9.59123280e+01,
  8.59568660e-01, 5.94784182e-02, 2.52950885e-01,-6.19262749e+00,
  2.51525554e+01,-1.54648293e+01]

qfrc_actuator:
[ 5.05152663e-04,-5.89631654e-04,-1.56672772e-04, 1.27483862e-05,
 -5.87050101e-04,-7.89797070e-04,-2.53967495e-04, 5.20323182e-05,
 -4.54361648e-04,-4.58853410e-04,-1.52437245e-04,-2.85721181e-05,
  2.10000000e-01,-4.51002991e-03, 9.00000000e-02, 3.59742617e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008941793935256283
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83390117,  0.32900864, -0.44312769,  0.29053571,  0.94432691,
        0.1543881 ,  0.46925243,  0.        , -0.88306407])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10340049, -0.09008056,  0.15009447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004700338655676331
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.38127017e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.38127017e-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([ 0.08190677, -0.06260646,  0.06198002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.14193500e-05,-3.21128321e-05, 9.45125040e-06, 2.17892933e-05,
 -4.74796369e-06,-1.68754436e-05,-2.32952652e-06, 4.33168878e-05,
  1.78379803e-05, 3.33287298e-05, 2.74173656e-05, 3.37231666e-05,
  2.64666676e-01, 2.12811751e-03, 8.03468095e-02, 3.29899927e-02,
 -1.02832557e-04, 1.00533587e-05,-9.80995811e+00,-1.18137169e-02,
 -2.39786104e-02, 5.61222691e-05]


--- Step 884 ---
qpos:
[-1.35525060e-02, 1.35194885e-02, 1.00725702e-02, 1.47322245e-02,
 -1.90665492e-02,-9.09080778e-03,-1.74535599e-02, 1.63067101e-02,
 -1.21301874e-02,-6.70894925e-03,-1.43455487e-02, 1.51158448e-02,
  1.40359864e+00, 3.11672312e-02, 2.84920683e-01,-3.19099105e-02,
  9.53500520e-02,-7.19565824e-02, 1.04547784e-01, 9.99780684e-01,
  8.64631672e-04,-4.22333856e-04,-2.09202544e-02]

qacc:
[-2.01342538e-01,-5.76497826e-01, 2.38415536e+00,-4.23573017e+00,
  2.46199885e+00, 8.76016720e-01,-3.26892104e+00, 5.42329565e+00,
 -1.30216256e+00, 2.25684208e-01,-8.20312992e-01, 1.74075869e+00,
  9.65905473e-01,-1.00704246e+01,-3.58941145e+01, 8.21567473e+01,
  7.72059437e-01,-4.24229507e-02, 1.67056271e-01,-5.36123775e+00,
  2.36876962e+01,-1.98441920e+01]

qfrc_actuator:
[ 5.04833095e-04,-5.77687304e-04,-1.46505888e-04, 8.40259006e-06,
 -5.72323438e-04,-7.60455120e-04,-2.54199520e-04, 5.89254884e-05,
 -4.62551206e-04,-4.67585393e-04,-1.58355892e-04,-2.75618779e-05,
  2.10000000e-01,-4.51738877e-03, 9.00000000e-02, 3.59347108e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008948675721273716
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.34361404e-01,  3.28893275e-01, -4.42346313e-01,  2.90581762e-01,
        9.44367097e-01,  1.54055270e-01,  4.68405046e-01, -2.77555756e-17,
       -8.83513844e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10337934, -0.09007721,  0.15010506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047223792093969985
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.87745591e-14, -1.17549118e-13,  1.00000000e+00,  6.90889761e-27,
        1.00000000e+00,  1.17549118e-13, -1.00000000e+00,  0.00000000e+00,
        5.87745591e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0819082 , -0.06260739,  0.06197993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.22184745e-06,-3.13572833e-06, 5.45406296e-06,-4.96912654e-06,
  1.46491473e-05, 2.12489110e-05,-2.51511167e-06, 6.93080645e-06,
 -7.66589590e-06, 1.69837832e-05, 5.49740418e-06, 4.04053166e-06,
  2.64807728e-01, 2.20480910e-03, 8.13419815e-02, 3.27829879e-02,
 -9.91764816e-05, 2.38487646e-05,-9.80996606e+00,-1.18180515e-02,
 -2.39844057e-02, 5.48237036e-05]


--- Step 885 ---
qpos:
[-1.35526444e-02, 1.35191820e-02, 1.00728399e-02, 1.47329957e-02,
 -1.90652783e-02,-9.09166633e-03,-1.74545097e-02, 1.63083837e-02,
 -1.21294304e-02,-6.70888051e-03,-1.43460020e-02, 1.51152735e-02,
  1.40358560e+00, 3.11436814e-02, 2.85050667e-01,-3.18458766e-02,
  9.53467071e-02,-7.19557908e-02, 1.04550297e-01, 9.99775810e-01,
  7.77467585e-04,-4.17578964e-04,-2.11553977e-02]

qacc:
[-4.58898490e-02, 1.46111669e+00,-4.03590802e+00, 2.86320226e+00,
  1.44430088e+00, 9.65318419e-01,-6.22695416e-01,-5.37965833e+00,
 -9.30955967e-01, 2.84144109e-01, 1.77993274e+00,-1.19039452e+01,
  1.01888345e+00,-6.67458382e+00,-2.93475639e+01, 6.11687050e+01,
  6.88228167e-01,-1.43400070e-01, 9.15524397e-02,-4.47380649e+00,
  2.23731249e+01,-2.41110747e+01]

qfrc_actuator:
[ 5.04709711e-04,-5.34695585e-04,-1.58487408e-04, 5.51166118e-06,
 -5.64098950e-04,-6.89073793e-04,-2.53978480e-04, 4.44317394e-05,
 -4.67720182e-04,-4.90653090e-04,-1.97459407e-04,-6.25216204e-05,
  2.10000000e-01,-4.49419125e-03, 9.00000000e-02, 3.57955082e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008967024243685656
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83458067,  0.32896252, -0.44188094,  0.29072675,  0.94434298,
        0.15392953,  0.46792421,  0.        , -0.8837686 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10336341, -0.09007239,  0.15011259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004726389720704355
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.93623434e-14, -1.17449374e-13,  1.00000000e+00,  3.44858884e-27,
        1.00000000e+00,  1.17449374e-13, -1.00000000e+00,  0.00000000e+00,
        2.93623434e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08190896, -0.06260787,  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:
[-1.42828596e-07, 4.21548803e-05,-1.21277144e-05,-2.93278572e-06,
  8.71466139e-06, 8.30061919e-05, 4.52654038e-06,-1.35384125e-05,
 -5.38430076e-06,-1.22956600e-05,-3.47882649e-05,-3.39647128e-05,
  2.64876671e-01, 2.28613556e-03, 8.23452928e-02, 3.25434737e-02,
 -1.21628513e-04, 4.68272528e-05,-9.80995765e+00,-1.18239914e-02,
 -2.39890616e-02, 5.17821562e-05]


--- Step 886 ---
qpos:
[-1.35527832e-02, 1.35192716e-02, 1.00729060e-02, 1.47340620e-02,
 -1.90642627e-02,-9.09178981e-03,-1.74554992e-02, 1.63095080e-02,
 -1.21283958e-02,-6.70919419e-03,-1.43470501e-02, 1.51150416e-02,
  1.40357375e+00, 3.11200977e-02, 2.85162027e-01,-3.17830515e-02,
  9.53458504e-02,-7.19558573e-02, 1.04552919e-01, 9.99769724e-01,
  6.83365226e-04,-3.70020910e-04,-2.14451686e-02]

qacc:
[-1.54444215e-02, 1.70068034e+00,-6.55050335e+00, 1.16936056e+01,
 -2.23034626e+00,-4.37689859e-02, 3.89271611e+00,-1.38857106e+01,
  2.40972565e+00, 1.85042904e+00,-8.77242269e+00, 1.58871682e+01,
  9.94891442e-01,-3.39487203e+00,-2.39596675e+01, 4.36607652e+01,
  6.22054894e-01,-2.14543566e-01, 2.71084228e-02,-3.93205208e+00,
  2.13019035e+01,-2.73357184e+01]

qfrc_actuator:
[ 5.04692892e-04,-5.09032502e-04,-1.65553308e-04, 2.12724134e-05,
 -5.77526445e-04,-6.46336358e-04,-2.53313457e-04, 1.75172791e-05,
 -4.53309027e-04,-5.40065145e-04,-2.38171383e-04,-4.73848384e-05,
  2.10000000e-01,-4.45277310e-03, 9.00000000e-02, 3.57039616e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008995227685103206
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.8346103 ,  0.32913679, -0.44169516,  0.29090979,  0.94428225,
        0.15395622,  0.46775756,  0.        , -0.88385681])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10335194, -0.09006704,  0.15011722])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047158161362690493
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.94281783e-14, -2.94281783e-14,  1.00000000e+00,  8.66017678e-28,
        1.00000000e+00,  2.94281783e-14, -1.00000000e+00,  0.00000000e+00,
        2.94281783e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08190918, -0.06260797,  0.06197996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.07795893e-10, 4.66100306e-05, 4.84540267e-08, 1.70909569e-05,
 -1.31086719e-05, 8.94659183e-05, 1.78840292e-05,-2.34675189e-05,
  1.42595155e-05,-6.49579636e-05,-4.87204077e-05, 1.27437771e-05,
  2.64873985e-01, 2.35769246e-03, 8.33058806e-02, 3.24383179e-02,
 -1.73211277e-04, 8.41173876e-05,-9.80993356e+00,-1.18319843e-02,
 -2.39927195e-02, 4.71652641e-05]


--- Step 887 ---
qpos:
[-1.35525761e-02, 1.35195395e-02, 1.00729712e-02, 1.47353228e-02,
 -1.90634152e-02,-9.09181355e-03,-1.74558836e-02, 1.63096476e-02,
 -1.21271962e-02,-6.70985720e-03,-1.43486244e-02, 1.51153297e-02,
  1.40356393e+00, 3.10969309e-02, 2.85254825e-01,-3.17225043e-02,
  9.53472874e-02,-7.19569428e-02, 1.04555433e-01, 9.99762275e-01,
  5.82631216e-04,-2.81363603e-04,-2.17939130e-02]

qacc:
[ 2.99411425e+00, 6.33097340e-01,-2.74627197e+00, 5.99265493e+00,
 -1.44256211e+00,-3.58192558e+00, 1.71270671e+01,-3.52188863e+01,
  1.43068682e+00, 2.07595925e+00,-1.02726093e+01, 2.03763336e+01,
  9.07897014e-01,-4.04807558e-01,-2.05990013e+01, 3.21180039e+01,
  5.73428501e-01,-2.54751744e-01,-2.69062566e-02,-3.76619736e+00,
  2.04533847e+01,-2.95073623e+01]

qfrc_actuator:
[ 5.22491094e-04,-5.11660741e-04,-1.69697179e-04, 3.01252066e-05,
 -5.85836032e-04,-6.74343437e-04,-2.34742162e-04,-3.42568179e-05,
 -4.45242615e-04,-5.51604823e-04,-2.61822425e-04,-2.06609694e-05,
  2.10000000e-01,-4.40071575e-03, 9.00000000e-02, 3.56956394e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009032082736615391
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.34489793e-01,  3.29358025e-01, -4.41757939e-01,  2.91087082e-01,
        9.44205111e-01,  1.54094191e-01,  4.67862262e-01,  2.77555756e-17,
       -8.83801394e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10334433, -0.09006179,  0.15011911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046936432261022315
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.95671979e-14,  2.95671979e-14,  1.00000000e+00,  8.74219191e-28,
        1.00000000e+00, -2.95671979e-14, -1.00000000e+00,  0.00000000e+00,
       -2.95671979e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08190898, -0.06260778,  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:
[ 1.78073771e-05, 2.41845194e-05, 6.08360675e-06, 1.11850205e-05,
 -8.64200757e-06, 2.46688789e-05, 3.84303103e-05,-4.77798713e-05,
  8.47771698e-06,-5.74120454e-05,-4.26402298e-05, 2.24997836e-05,
  2.64813626e-01, 2.41394676e-03, 8.42371495e-02, 3.24904889e-02,
 -2.55404123e-04, 1.39636822e-04,-9.80989412e+00,-1.18424231e-02,
 -2.39954569e-02, 4.10901290e-05]


--- Step 888 ---
qpos:
[-1.35521574e-02, 1.35197494e-02, 1.00731133e-02, 1.47367055e-02,
 -1.90623289e-02,-9.09170483e-03,-1.74565349e-02, 1.63088778e-02,
 -1.21262534e-02,-6.71065128e-03,-1.43500581e-02, 1.51158605e-02,
  1.40356739e+00, 3.10767149e-02, 2.85429507e-01,-3.16767491e-02,
  9.53420090e-02,-7.19610889e-02, 1.04556731e-01, 9.99756403e-01,
  5.43558184e-04,-2.89179689e-04,-2.20625579e-02]

qacc:
[ 1.83854156e+00,-4.42663509e-02,-4.74274192e-01, 2.51014339e+00,
  2.06173570e+00,-9.54833557e-01, 7.49171162e+00,-2.28948761e+01,
 -2.23514095e+00,-6.18293910e-02,-1.04804805e+00, 5.11220907e+00,
  9.74021202e-01, 2.15457182e+01, 1.66152905e+02,-4.04888605e+02,
 -1.67883675e+00,-7.65123727e-01,-3.04147458e-01, 3.18852361e+01,
 -4.75297577e+01, 4.00768458e+01]

qfrc_actuator:
[ 5.32879776e-04,-5.31204500e-04,-1.72209002e-04, 3.48159116e-05,
 -5.73307350e-04,-6.91198026e-04,-2.59313919e-04,-8.25388869e-05,
 -4.58734296e-04,-5.22548561e-04,-2.39562402e-04,-5.05384964e-06,
  2.10000000e-01,-4.41372257e-03, 9.00000000e-02, 3.56145359e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009076376589089886
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.34247695e-01,  3.29590030e-01, -4.42042074e-01,  2.91232591e-01,
        9.44124151e-01,  1.54315150e-01,  4.68203333e-01,  2.77555756e-17,
       -8.83620755e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10334016, -0.09005708,  0.15011838])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.73110057,  9.64172028,  4.71102424,  9.64172028, 13.04221408,
       -4.72999264,  4.71102424, -4.72999264, 20.41164212,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004679817429491806
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96545496e-14, -1.18618198e-13,  1.00000000e+00,  3.51756925e-27,
        1.00000000e+00,  1.18618198e-13, -1.00000000e+00,  0.00000000e+00,
        2.96545496e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10002839, -0.05357988,  0.06198011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08966758e-05,-4.28368177e-06, 3.61770274e-06, 6.15437826e-06,
  1.22939326e-05, 2.79677936e-06,-1.64052800e-05,-4.68265170e-05,
 -1.32263723e-05,-1.09289054e-05, 5.91514870e-06, 1.21066042e-05,
  2.64711206e-01, 2.38221832e-03, 8.51652567e-02, 3.25233081e-02,
 -3.68610165e-04, 2.15503908e-04,-9.80983948e+00,-1.18555352e-02,
 -2.39973584e-02, 3.36156564e-05]


--- Step 889 ---
qpos:
[-1.35516174e-02, 1.35197227e-02, 1.00733738e-02, 1.47374638e-02,
 -1.90614456e-02,-9.09148192e-03,-1.74574982e-02, 1.63078870e-02,
 -1.21254788e-02,-6.71173606e-03,-1.43506713e-02, 1.51175820e-02,
  1.40356703e+00, 3.10534553e-02, 2.85637722e-01,-3.16384626e-02,
  9.53304705e-02,-7.19679461e-02, 1.04556827e-01, 9.99752380e-01,
  5.54316926e-04,-3.95466789e-04,-2.22421907e-02]

qacc:
[   1.05939699,  -1.9322266 ,   9.0684574 , -19.88744485,  -1.774692  ,
    0.57126841,  -0.87873719,  -2.53852189,  -1.43554198,  -0.2230358 ,
   -4.78544398,  24.29319968,   0.33961098, -16.72576619,  72.06537532,
 -180.50059381,  -1.56505416,  -0.67781489,  -0.30025786,  26.00844669,
  -48.64934586,  44.53515333]

qfrc_actuator:
[ 5.38818492e-04,-5.60732494e-04,-1.73819059e-04, 1.49888560e-06,
 -5.84120523e-04,-6.83681123e-04,-2.73636375e-04,-9.29019870e-05,
 -4.67052292e-04,-5.22471161e-04,-1.90211916e-04, 5.72104105e-05,
  2.10000000e-01,-4.41521084e-03, 9.00000000e-02, 3.55564471e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36359044,  0.36283952,  0.02335569,  0.36283952,  0.3643115 ,
       -0.01120202,  0.02335569, -0.01120202,  0.53761815,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009144537731257211
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83446333,  0.32897885, -0.44209033,  0.29070205,  0.94433729,
        0.15401104,  0.46814876,  0.        , -0.88364967])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10332383, -0.09006064,  0.15011827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.73235609, -10.09260938,  -3.65002783, -10.09260938,
        15.96752208, -14.47563905,  -3.65002783, -14.47563905,
        50.75861817,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004680717265337364
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48244244e-14,  7.41221218e-15,  1.00000000e+00, -1.09881779e-28,
        1.00000000e+00, -7.41221218e-15, -1.00000000e+00,  0.00000000e+00,
        1.48244244e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10003356, -0.05358991,  0.06198011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.23871005e-06,-3.09227139e-05,-1.84109469e-06,-3.32566910e-05,
 -1.04502196e-05, 3.65048955e-06,-1.73993226e-05,-1.17252321e-05,
 -8.65710691e-06,-4.32831730e-06, 4.82322881e-05, 6.22350148e-05,
  2.64046580e-01, 2.23693240e-03, 8.10712715e-02, 3.32049191e-02,
 -1.94310119e-04, 9.37971265e-05,-9.80997406e+00,-1.18398205e-02,
 -2.39816804e-02, 3.29714271e-05]


--- Step 890 ---
qpos:
[-1.35506654e-02, 1.35195748e-02, 1.00730222e-02, 1.47378536e-02,
 -1.90606986e-02,-9.09135486e-03,-1.74580285e-02, 1.63070998e-02,
 -1.21251541e-02,-6.71282073e-03,-1.43510139e-02, 1.51196910e-02,
  1.40356844e+00, 3.10311083e-02, 2.85816545e-01,-3.16083624e-02,
  9.53228111e-02,-7.19746189e-02, 1.04557363e-01, 9.99748142e-01,
  5.62743579e-04,-4.49112591e-04,-2.24306649e-02]

qacc:
[  3.55315118,  0.78556411, -1.4898381 , -3.80546738, -1.16734666,
  -0.91513902,  2.22358248,  0.67439567, -3.91942509,  0.04955333,
  -1.7993303 ,  8.05905684,  0.40398218,  3.39670705,-18.67686097,
   2.27350153,  0.96980184,  0.04614193,  0.10972249, -1.7528729 ,
  26.28570259, -4.43608818]

qfrc_actuator:
[ 5.59845510e-04,-5.78296691e-04,-2.10465672e-04,-1.84199869e-05,
 -5.90839907e-04,-6.79328654e-04,-2.46151987e-04,-8.08382713e-05,
 -4.90004762e-04,-5.21816397e-04,-1.78601376e-04, 7.54132387e-05,
  2.10000000e-01,-4.38722111e-03, 9.00000000e-02, 3.55285130e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36401749,  0.3618714 ,  0.03946927,  0.3618714 ,  0.36505753,
       -0.00953549,  0.03946927, -0.00953549,  0.451443  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009178224946675321
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83523752,  0.32753748, -0.44169841,  0.28954333,  0.94483819,
        0.15311911,  0.46748577,  0.        , -0.8840006 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10329687, -0.09007258,  0.15012301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.73833463,   9.9851595 ,   3.95074934,   9.9851595 ,
        19.01695055, -20.92344851,   3.95074934, -20.92344851,
        63.62044699,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004684997075887263
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.10170223e-15,  8.44835520e-08,  1.00000000e+00, -5.99977030e-22,
        1.00000000e+00, -8.44835520e-08, -1.00000000e+00,  0.00000000e+00,
        7.10170223e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08195211, -0.06046012,  0.06198009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.11938146e-05,-3.66789806e-05,-4.44179501e-05,-2.19562153e-05,
 -7.01241991e-06, 2.26173394e-06, 2.56793715e-05, 1.13883095e-05,
 -2.31639129e-05, 1.08366576e-05, 1.88040299e-05, 2.08962173e-05,
  2.64236712e-01, 2.42147394e-03, 7.93950048e-02, 3.35505241e-02,
 -9.99118956e-05, 1.54860273e-06,-9.81000562e+00,-1.18303699e-02,
 -2.39776930e-02, 3.60745957e-05]


--- Step 891 ---
qpos:
[-1.35498137e-02, 1.35195370e-02, 1.00720852e-02, 1.47379702e-02,
 -1.90593482e-02,-9.09140663e-03,-1.74581847e-02, 1.63068230e-02,
 -1.21251067e-02,-6.71343081e-03,-1.43516194e-02, 1.51209419e-02,
  1.40357194e+00, 3.10100359e-02, 2.85962888e-01,-3.15863441e-02,
  9.53187678e-02,-7.19812688e-02, 1.04558073e-01, 9.99743573e-01,
  5.68377991e-04,-4.52826735e-04,-2.26331585e-02]

qacc:
[-8.88160586e-01, 1.22092837e+00,-2.98500799e+00,-8.94015476e-01,
  5.25377774e+00,-2.41177365e-01,-1.65563687e+00, 1.00415771e+01,
 -2.43700034e+00,-3.99884657e-01, 5.96754237e+00,-2.07579865e+01,
  2.62275519e-01, 5.70016714e+00,-2.35363430e+01, 1.27062809e+01,
  9.04023555e-01, 5.68248307e-03, 4.38546478e-02,-1.95882453e+00,
  2.49242069e+01,-7.02509260e+00]

qfrc_actuator:
[ 5.54081210e-04,-5.53198092e-04,-2.31945669e-04,-3.03062262e-05,
 -5.59583378e-04,-6.94463114e-04,-2.29709103e-04,-5.56547047e-05,
 -5.03636071e-04,-4.85484472e-04,-1.89412937e-04, 3.20009526e-05,
  2.10000000e-01,-4.37978870e-03, 9.00000000e-02, 3.54691190e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009262911319971309
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83568623,  0.32636309, -0.44171899,  0.28853608,  0.94524448,
        0.15251162,  0.4673066 ,  0.        , -0.88409532])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10327726, -0.0900825 ,  0.15012318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046924324838726474
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.85067594e-14, -4.96363398e-07,  1.00000000e+00, -2.40769799e-20,
        1.00000000e+00,  4.96363398e-07, -1.00000000e+00,  0.00000000e+00,
       -4.85067594e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08195354, -0.06046125,  0.06198006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.15461996e-06,-5.55667069e-06,-3.52997328e-05,-1.54253326e-05,
  3.10572428e-05,-8.10713932e-06, 2.04589778e-05, 2.63893682e-05,
 -1.42540969e-05, 4.71548829e-05,-5.53560788e-06,-4.18904295e-05,
  2.64146985e-01, 2.38698233e-03, 8.08648179e-02, 3.39005144e-02,
 -8.84676625e-05, 2.53176596e-05,-9.81001064e+00,-1.18347775e-02,
 -2.39801725e-02, 3.78205465e-05]


--- Step 892 ---
qpos:
[-1.35493821e-02, 1.35196998e-02, 1.00710568e-02, 1.47378963e-02,
 -1.90579782e-02,-9.09183628e-03,-1.74577451e-02, 1.63072058e-02,
 -1.21255677e-02,-6.71356908e-03,-1.43526912e-02, 1.51220228e-02,
  1.40357888e+00, 3.09910217e-02, 2.86078102e-01,-3.15713557e-02,
  9.53180901e-02,-7.19880735e-02, 1.04558726e-01, 9.99738549e-01,
  5.71121580e-04,-4.08966999e-04,-2.28547776e-02]

qacc:
[-3.64948011e+00, 1.35421096e-01, 7.17868449e-01,-4.02792281e+00,
  1.94804789e-01,-8.06696177e-01,-6.34452195e-01, 1.13789105e+01,
 -4.45927175e+00, 1.58499192e+00,-4.01398069e+00, 1.45372433e+00,
  9.05425057e-02, 1.08240503e+01,-2.46687518e+01, 1.97045810e+01,
  8.41377450e-01,-3.86724238e-02,-1.44226390e-02,-1.98761508e+00,
  2.37425873e+01,-9.57831710e+00]

qfrc_actuator:
[ 5.32589353e-04,-5.20437261e-04,-2.26354969e-04,-3.73206012e-05,
 -5.59484271e-04,-7.21168420e-04,-2.02252661e-04,-2.29873874e-05,
 -5.29420061e-04,-4.63726037e-04,-2.13252556e-04, 2.37207052e-05,
  2.10000000e-01,-4.33215976e-03, 9.00000000e-02, 3.54117718e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008861089103294903
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.35863028e-01,  3.25409257e-01, -4.42088016e-01,  2.87653612e-01,
        9.45573273e-01,  1.52140016e-01,  4.67534382e-01,  2.77555756e-17,
       -8.83974888e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10326452, -0.09009097,  0.15011946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004685017710640008
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.82686087e-15, -8.93347118e-07,  1.00000000e+00,  6.09875648e-21,
        1.00000000e+00,  8.93347118e-07, -1.00000000e+00,  0.00000000e+00,
        6.82686087e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08195431, -0.06046182,  0.06198009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16283620e-05, 2.16669813e-05,-4.49411447e-07,-8.77599475e-06,
  9.92895560e-07,-2.59203319e-05, 2.91982301e-05, 3.35371555e-05,
 -2.61474848e-05, 4.51845731e-05,-1.62298702e-05,-7.26589593e-06,
  2.64041423e-01, 2.37390152e-03, 8.24889348e-02, 3.42473006e-02,
 -9.56266432e-05, 5.24588290e-05,-9.81000363e+00,-1.18395395e-02,
 -2.39807506e-02, 3.81636495e-05]


--- Step 893 ---
qpos:
[-1.35492114e-02, 1.35198618e-02, 1.00704137e-02, 1.47380763e-02,
 -1.90573071e-02,-9.09237421e-03,-1.74570175e-02, 1.63076185e-02,
 -1.21263337e-02,-6.71361833e-03,-1.43536442e-02, 1.51233501e-02,
  1.40358954e+00, 3.09744658e-02, 2.86160799e-01,-3.15635022e-02,
  9.53205280e-02,-7.19951919e-02, 1.04559127e-01, 9.99732933e-01,
  5.70813076e-04,-3.19737526e-04,-2.31005361e-02]

qacc:
[ -2.24889737, -0.55111965,  0.89969918,  2.86876792, -6.05682952,
  -0.87407947,  2.803658  , -2.69008845, -2.66030334,  0.29796996,
  -1.92303276,  5.92211455, -0.15026861, 13.68213565,-26.36944045,
  22.76020679,  0.77891398, -0.07843645, -0.06304999, -2.04887269,
  22.63704693,-12.08566861]

qfrc_actuator:
[ 5.19773771e-04,-5.18718832e-04,-2.04781760e-04,-2.36328342e-05,
 -5.95489752e-04,-7.19040380e-04,-1.86312198e-04,-2.16885824e-05,
 -5.44401093e-04,-4.68651380e-04,-2.09095215e-04, 3.61748268e-05,
  2.10000000e-01,-4.29721169e-03, 9.00000000e-02, 3.53933386e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008926752893840985
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83579644,  0.32464078, -0.44277836,  0.2868713 ,  0.94583739,
        0.15197529,  0.4681337 ,  0.        , -0.88365765])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10325807, -0.09009836,  0.15011191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004665760856794733
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.00740265e-14, -1.09732212e-06,  1.00000000e+00,  9.88402219e-20,
        1.00000000e+00,  1.09732212e-06, -1.00000000e+00,  1.20370622e-35,
        9.00740265e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08195455, -0.06046193,  0.06198017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34251147e-05, 1.33421784e-05, 2.56848230e-05, 1.44296732e-05,
 -3.59789510e-05,-4.94785077e-06, 1.53277674e-05, 1.84804674e-06,
 -1.56981329e-05, 1.66870277e-05, 1.12473793e-05, 1.36894986e-05,
  2.63868818e-01, 2.30830251e-03, 8.40454216e-02, 3.45803732e-02,
 -1.20349443e-04, 8.49174518e-05,-9.80998526e+00,-1.18450520e-02,
 -2.39795231e-02, 3.71500646e-05]


--- Step 894 ---
qpos:
[-1.35491955e-02, 1.35196756e-02, 1.00705026e-02, 1.47384394e-02,
 -1.90567276e-02,-9.09319161e-03,-1.74563000e-02, 1.63084320e-02,
 -1.21269284e-02,-6.71368454e-03,-1.43541751e-02, 1.51244635e-02,
  1.40360395e+00, 3.09606380e-02, 2.86209470e-01,-3.15634328e-02,
  9.53258197e-02,-7.20027941e-02, 1.04559114e-01, 9.99726571e-01,
  5.67417397e-04,-1.87258953e-04,-2.33757678e-02]

qacc:
[ -1.31399529, -2.12687661,  6.14611645, -3.89326586, -0.7906504 ,
   0.48524256, -3.95623769, 11.1134334 ,  1.50820433, -1.64473587,
   6.72999682,-11.08829868, -0.39032098, 15.77951767,-26.60711922,
  20.42300561,  0.71344169, -0.12093413, -0.10345981, -2.04721255,
  21.57458596,-14.75307689]

qfrc_actuator:
[ 5.12172623e-04,-5.53257387e-04,-1.74059155e-04,-1.56443982e-05,
 -5.99189570e-04,-7.52988685e-04,-1.94964339e-04,-3.33964684e-06,
 -5.35147637e-04,-4.71640300e-04,-1.88538275e-04, 2.52159405e-05,
  2.10000000e-01,-4.32435328e-03, 9.00000000e-02, 3.53479130e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009164003934535618
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83551542,  0.32402094, -0.44376166,  0.28616301,  0.94604991,
        0.15198783,  0.46906792,  0.        , -0.8831621 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10325733, -0.09010501,  0.15010066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004637245565749378
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.71794592e-14, -1.09454119e-06,  1.00000000e+00, -6.25852734e-20,
        1.00000000e+00,  1.09454119e-06, -1.00000000e+00,  1.20370622e-35,
       -5.71794592e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08195438, -0.06046169,  0.06198029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.98405969e-06,-2.11644380e-05, 3.71396152e-05, 9.72988274e-06,
 -4.72812705e-06,-3.35068797e-05,-7.72844605e-06, 1.87032832e-05,
  8.81858782e-06, 9.27545531e-06, 2.58732847e-05,-9.58588277e-06,
  2.63682129e-01, 2.15993651e-03, 8.56712131e-02, 3.48916821e-02,
 -1.62449776e-04, 1.24669063e-04,-9.80995589e+00,-1.18516521e-02,
 -2.39766302e-02, 3.48222353e-05]


--- Step 895 ---
qpos:
[-1.35499607e-02, 1.35194254e-02, 1.00706276e-02, 1.47389077e-02,
 -1.90558520e-02,-9.09432725e-03,-1.74556609e-02, 1.63098148e-02,
 -1.21274078e-02,-6.71351256e-03,-1.43548220e-02, 1.51254416e-02,
  1.40361958e+00, 3.09465898e-02, 2.86302375e-01,-3.15744177e-02,
  9.53246240e-02,-7.20127871e-02, 1.04558161e-01, 9.99722190e-01,
  6.10755302e-04,-1.58779259e-04,-2.35614862e-02]

qacc:
[-6.76849507e+00, 4.42637188e-02,-7.01260680e-01, 2.48488475e+00,
  2.57391303e+00, 9.65119960e-01,-6.46429647e+00, 1.66868364e+01,
  9.99242742e-01, 3.58034872e-01,-2.51603631e-01,-2.07791178e+00,
 -4.87561559e-01, 3.01802538e+00, 9.89791723e+01,-2.51117732e+02,
 -1.62184025e+00,-5.97721963e-01,-2.35112000e-01, 2.45837488e+01,
 -5.14134243e+01, 4.47926652e+01]

qfrc_actuator:
[ 4.72193270e-04,-5.55944393e-04,-1.73852994e-04,-1.11065482e-05,
 -5.83833679e-04,-7.72863029e-04,-2.00436600e-04, 2.48564261e-05,
 -5.29460427e-04,-4.55644360e-04,-1.93997598e-04, 1.83235340e-05,
  2.10000000e-01,-4.31899143e-03, 9.00000000e-02, 3.53253004e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36831717,  0.36800046,  0.01527075,  0.36800046,  0.36923068,
       -0.02201419,  0.01527075, -0.02201419,  0.89882355,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009663273388702564
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.35071471e-01,  3.23500018e-01, -4.44975704e-01,  2.85497353e-01,
        9.46228164e-01,  1.52129955e-01,  4.70262587e-01,  2.77555756e-17,
       -8.82526543e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10326186, -0.09011155,  0.15008644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.69918316, 10.07036964,  3.61388649, 10.07036964, 12.90112551,
       -6.13587988,  3.61388649, -6.13587988, 27.79727927,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000465681801525078
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.96020191e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.96020191e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10005729, -0.05364086,  0.06198021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.02140008e-05,-6.43733450e-06, 7.45473296e-07, 5.10570382e-06,
  1.52270416e-05,-3.94288597e-05,-1.27046217e-05, 2.68556935e-05,
  5.94853976e-06, 2.61414635e-05,-6.81049738e-07,-5.78531547e-06,
  2.63494316e-01, 2.02985872e-03, 8.73722929e-02, 3.52582326e-02,
 -2.22689566e-04, 1.74139933e-04,-9.80991586e+00,-1.18596539e-02,
 -2.39721843e-02, 3.12276180e-05]


--- Step 896 ---
qpos:
[-1.35508546e-02, 1.35193658e-02, 1.00703682e-02, 1.47394233e-02,
 -1.90551439e-02,-9.09523153e-03,-1.74552988e-02, 1.63107767e-02,
 -1.21281601e-02,-6.71312292e-03,-1.43555137e-02, 1.51259819e-02,
  1.40362196e+00, 3.09268753e-02, 2.86398392e-01,-3.15889676e-02,
  9.53169618e-02,-7.20251802e-02, 1.04556095e-01, 9.99719804e-01,
  6.95682750e-04,-2.35398993e-04,-2.36595350e-02]

qacc:
[ -1.13002877,  1.42662124, -4.91704366,  6.20708465, -1.46663995,
   0.21596425,  1.45595353, -8.47441024, -2.38740825, -0.48354844,
   3.99821493,-11.67291972, -0.61008796,-32.50496083, 15.09844533,
 -46.87906851, -1.61660908, -0.59998883, -0.2782616 , 22.03349492,
 -52.0182291 , 43.87487976]

qfrc_actuator:
[ 4.66732991e-04,-5.39665526e-04,-1.91553601e-04,-8.63419982e-06,
 -5.92900645e-04,-7.30884536e-04,-2.03928483e-04, 5.37413612e-06,
 -5.43678211e-04,-4.46258504e-04,-1.96944890e-04,-3.87453477e-06,
  2.10000000e-01,-4.25676489e-03, 9.00000000e-02, 3.53582646e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 3.67997690e-01,  3.67373390e-01,  2.14264366e-02,  3.67373390e-01,
        3.68015129e-01, -2.98999015e-04,  2.14264366e-02, -2.98999015e-04,
        3.73124267e-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: -0.0009606669696612685
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83519598,  0.32220756, -0.44567921,  0.28426667,  0.94666905,
        0.15169104,  0.47078672,  0.        , -0.88224706])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10325497, -0.09012572,  0.15007724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.69347624, -10.39480711,  -2.50966515, -10.39480711,
        13.86669971, -13.14320594,  -2.50966515, -13.14320594,
        65.13145191,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000465268029386276
  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([ 0.10006063, -0.05364871,  0.06198023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.61592606e-06, 1.30649394e-05,-1.87513345e-05, 2.32509765e-06,
 -8.61223940e-06, 1.84301288e-05,-1.22826082e-05,-2.10914692e-05,
 -1.40388351e-05, 2.36349467e-05, 2.17398850e-06,-2.12132847e-05,
  2.63433024e-01, 2.10494643e-03, 8.51605516e-02, 3.58438961e-02,
 -6.90306160e-05, 6.14232520e-05,-9.81000725e+00,-1.18414396e-02,
 -2.39646994e-02, 3.29420540e-05]


--- Step 897 ---
qpos:
[-1.35511173e-02, 1.35190759e-02, 1.00703394e-02, 1.47399763e-02,
 -1.90548941e-02,-9.09596513e-03,-1.74549729e-02, 1.63107974e-02,
 -1.21294218e-02,-6.71277416e-03,-1.43558104e-02, 1.51255642e-02,
  1.40360898e+00, 3.09000850e-02, 2.86492173e-01,-3.16046808e-02,
  9.53028561e-02,-7.20400484e-02, 1.04552732e-01, 9.99719346e-01,
  8.19038375e-04,-4.17440561e-04,-2.36724486e-02]

qacc:
[ 5.48182976e+00,-8.82987523e-01, 2.53049361e+00,-2.06412065e+00,
 -3.98426813e+00,-1.60218838e+00, 1.00280138e+01,-2.64004107e+01,
 -4.43349313e+00,-3.12079976e+00, 1.51094835e+01,-3.23086009e+01,
  3.60236440e-03,-4.27958458e+01,-2.05277119e-01,-5.12573141e+00,
 -1.61091086e+00,-6.18806347e-01,-3.24181736e-01, 2.04651708e+01,
 -5.22117112e+01, 4.26106719e+01]

qfrc_actuator:
[ 4.99396774e-04,-5.65494086e-04,-1.84086917e-04,-7.38546637e-06,
 -6.16276247e-04,-7.23227173e-04,-2.06002293e-04,-4.19526950e-05,
 -5.69496850e-04,-4.58666079e-04,-1.80657043e-04,-5.26520812e-05,
  2.10000000e-01,-4.20814330e-03, 9.00000000e-02, 3.54215073e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.36828157, 0.36737447, 0.02583242, 0.36737447, 0.36795693,
       0.00461686, 0.02583242, 0.00461686, 0.30262316, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0009656509521344798
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83601818,  0.32005885, -0.44568593,  0.28243157,  0.94739766,
        0.15056584,  0.47043173,  0.        , -0.88243639])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10323741, -0.09014875,  0.1500768 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.66917013, -10.42947457,  -2.24883335, -10.42947457,
        13.853991  , -14.77032897,  -2.24883335, -14.77032897,
        79.16991988,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000463497025803887
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.98829638e-14,  3.74268524e-14,  1.00000000e+00, -2.24123085e-27,
        1.00000000e+00, -3.74268524e-14, -1.00000000e+00,  0.00000000e+00,
        5.98829638e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10006352, -0.05365432,  0.0619803 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.24822794e-05,-2.22666098e-05, 7.94685590e-06, 1.20733027e-06,
 -2.35893361e-05, 1.44938707e-05,-5.17876485e-07,-4.73738032e-05,
 -2.62189256e-05, 3.70825536e-07, 2.07131105e-05,-4.81001421e-05,
  2.64094772e-01, 2.43874635e-03, 8.50049481e-02, 3.60853651e-02,
 -1.24517717e-05,-9.39138803e-06,-9.81000303e+00,-1.18311017e-02,
 -2.39671163e-02, 3.82667254e-05]


--- Step 898 ---
qpos:
[-1.35520208e-02, 1.35187107e-02, 1.00703582e-02, 1.47405327e-02,
 -1.90545812e-02,-9.09657970e-03,-1.74546730e-02, 1.63102568e-02,
 -1.21302937e-02,-6.71242186e-03,-1.43556540e-02, 1.51249009e-02,
  1.40360004e+00, 3.08746779e-02, 2.86573983e-01,-3.16232549e-02,
  9.52927650e-02,-7.20527920e-02, 1.04550699e-01, 9.99718608e-01,
  9.23632195e-04,-5.44851021e-04,-2.36971383e-02]

qacc:
[ -5.55239711, -0.21483435,  0.62526699, -0.60515875,  0.54461325,
  -0.92632751,  5.89999847,-15.66071655,  3.41582738, -1.77367001,
   7.35689464,-12.3234471 ,  0.70160771,  6.29376955, -9.0063433 ,
   5.90289397,  1.00368414,  0.53114894,  0.3325464 ,-10.0272401 ,
  27.08093856, -5.90815016]

qfrc_actuator:
[ 4.65463598e-04,-5.62984395e-04,-1.79733690e-04,-6.87976752e-06,
 -6.12373889e-04,-7.18441726e-04,-2.07355232e-04,-6.97924208e-05,
 -5.48672473e-04,-4.48472957e-04,-1.53249989e-04,-6.34241323e-05,
  2.10000000e-01,-4.18176143e-03, 9.00000000e-02, 3.54664362e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.3621176 ,  0.33852441, -0.1285705 ,  0.33852441,  0.73269509,
        0.97572557, -0.1285705 ,  0.97572557,  2.93118992,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009036854864879943
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83754712,  0.31704534, -0.44496863,  0.27998471,  0.94841038,
        0.14874914,  0.46917309,  0.        , -0.88310623])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10320922, -0.09018074,  0.15008564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.73564646,   9.45955416,   5.07650864,   9.45955416,
        18.42189859, -14.32254399,   5.07650864, -14.32254399,
        37.42424097,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004683073742156804
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96339297e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.96339297e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0819117 , -0.06262048,  0.06198009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.29949349e-05,-8.22869927e-06, 7.75779295e-07,-1.50741271e-07,
  3.25296907e-06, 1.07360257e-05,-6.43165970e-08,-2.81581182e-05,
  2.00664770e-05, 1.26535422e-05, 2.83864811e-05,-1.09715491e-05,
  2.64862436e-01, 2.82070546e-03, 8.51165875e-02, 3.61884191e-02,
 -4.97253078e-05,-3.84429376e-05,-9.80990860e+00,-1.18285755e-02,
 -2.39783916e-02, 4.71678631e-05]


--- Step 899 ---
qpos:
[-1.35543582e-02, 1.35185478e-02, 1.00700209e-02, 1.47410830e-02,
 -1.90542239e-02,-9.09698666e-03,-1.74544865e-02, 1.63100719e-02,
 -1.21309097e-02,-6.71193482e-03,-1.43555111e-02, 1.51244741e-02,
  1.40359408e+00, 3.08505508e-02, 2.86637920e-01,-3.16431266e-02,
  9.52864546e-02,-7.20636541e-02, 1.04549656e-01, 9.99717512e-01,
  1.00864566e-03,-6.20554487e-04,-2.37380402e-02]

qacc:
[-12.4443549 ,  1.27485767, -4.08912759,  4.35736691,  0.37916039,
   1.32222895, -5.81976074, 12.00575901,  2.2303998 ,  0.69832579,
  -3.2380488 ,  7.26323318,  0.48755279,  5.68694427,-22.4770637 ,
  40.34491447,  0.94514202,  0.47037938,  0.24753657,-10.40432636,
  25.60663815, -8.1266464 ]

qfrc_actuator:
[ 3.92591700e-04,-5.43534600e-04,-1.94910520e-04,-6.80104859e-06,
 -6.10195480e-04,-6.97643411e-04,-2.08271373e-04,-5.04379351e-05,
 -5.36062939e-04,-4.42500132e-04,-1.54892825e-04,-5.17220252e-05,
  2.10000000e-01,-4.15659945e-03, 9.00000000e-02, 3.54847871e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009021815321184475
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.38646118e-01,  3.14608193e-01, -4.44628355e-01,  2.77959260e-01,
        9.49221621e-01,  1.47366769e-01,  4.68413641e-01,  1.38777878e-17,
       -8.83509288e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10318834, -0.0902068 ,  0.15009017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004719139241600098
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.88149114e-14, -5.88149114e-14,  1.00000000e+00, -3.45919380e-27,
        1.00000000e+00,  5.88149114e-14, -1.00000000e+00,  0.00000000e+00,
       -5.88149114e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08191398, -0.06262454,  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:
[-7.38145410e-05, 1.50221965e-05,-1.67746303e-05,-2.46565734e-07,
  2.29700881e-06, 2.55717074e-05, 3.15286756e-07, 1.92634726e-05,
  1.31749673e-05, 1.84793979e-05, 4.09683738e-06, 1.30142361e-05,
  2.64659956e-01, 2.77823795e-03, 8.57149290e-02, 3.63497625e-02,
 -1.91501335e-05,-2.35570214e-05,-9.80995503e+00,-1.18239228e-02,
 -2.39827599e-02, 5.61152786e-05]


--- Step 900 ---
qpos:
[-1.35565167e-02, 1.35185050e-02, 1.00698037e-02, 1.47412620e-02,
 -1.90541878e-02,-9.09709432e-03,-1.74546272e-02, 1.63097776e-02,
 -1.21317148e-02,-6.71149388e-03,-1.43552972e-02, 1.51242086e-02,
  1.40359053e+00, 3.08277036e-02, 2.86680262e-01,-3.16633293e-02,
  9.52836376e-02,-7.20729585e-02, 1.04549303e-01, 9.99715919e-01,
  1.07412586e-03,-6.47431661e-04,-2.38014237e-02]

qacc:
[  1.55218169, -0.94503887,  5.16217607,-11.86385501, -2.80462885,
   1.09007581, -2.84194655,  1.24266351, -1.64635354,  0.075794  ,
  -1.0339682 ,  3.73934727,  0.3225612 ,  5.76516686,-30.90501511,
  61.84824684,  0.87337002,  0.38944511,  0.17255894,-10.35012173,
  24.16291658,-11.26207173]

qfrc_actuator:
[ 4.03921708e-04,-5.31921069e-04,-1.85915394e-04,-2.47228672e-05,
 -6.26810675e-04,-6.85126206e-04,-2.26580222e-04,-5.67172708e-05,
 -5.46156924e-04,-4.56944733e-04,-1.55927591e-04,-4.46719925e-05,
  2.10000000e-01,-4.15037195e-03, 9.00000000e-02, 3.55045249e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009048258387586275
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.39372828e-01,  3.12692530e-01, -4.44608409e-01,  2.76321943e-01,
        9.49854400e-01,  1.46365304e-01,  4.68080591e-01,  1.38777878e-17,
       -8.83685782e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10317436, -0.09022757,  0.15009111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004734678460200231
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.93109404e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.93109404e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08191542, -0.06262749,  0.06197988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.21589180e-06, 1.65965463e-05, 1.00535018e-05,-1.78550070e-05,
 -1.65279448e-05, 2.76952463e-05,-1.23257825e-05,-4.79861340e-06,
 -9.72919395e-06,-2.68168857e-06, 3.74339326e-06, 8.23775171e-06,
  2.64510163e-01, 2.72164148e-03, 8.66083946e-02, 3.64343103e-02,
 -2.93084290e-06,-1.05232942e-05,-9.80998600e+00,-1.18205359e-02,
 -2.39851586e-02, 6.26391404e-05]


--- Step 901 ---
qpos:
[-1.35578336e-02, 1.35184395e-02, 1.00703097e-02, 1.47412009e-02,
 -1.90546957e-02,-9.09706772e-03,-1.74546552e-02, 1.63094012e-02,
 -1.21319450e-02,-6.71119358e-03,-1.43547345e-02, 1.51236776e-02,
  1.40358917e+00, 3.08062171e-02, 2.86699085e-01,-3.16833302e-02,
  9.52840028e-02,-7.20810644e-02, 1.04549379e-01, 9.99713660e-01,
  1.12062847e-03,-6.28236979e-04,-2.38945013e-02]

qacc:
[  7.31860939, -2.56057316, 10.07488348,-15.34240022, -4.7227713 ,
  -0.29756906,  1.68120107, -3.39886164,  5.03046066, -1.71694626,
   6.95678188,-11.98942403,  0.19731188,  6.37627179,-35.35495009,
  73.30752273,  0.7955441 ,  0.29959338,  0.10717429,-10.04363765,
  22.78737419,-14.86931499]

qfrc_actuator:
[ 4.46981048e-04,-5.25007835e-04,-1.44998235e-04,-3.53247500e-05,
 -6.54354112e-04,-6.77752408e-04,-2.19560243e-04,-6.03015604e-05,
 -5.16272642e-04,-4.65760213e-04,-1.38923993e-04,-5.81851501e-05,
  2.10000000e-01,-4.19152250e-03, 9.00000000e-02, 3.55246472e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009086769072293768
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83978382,  0.31123025, -0.44485825,  0.27502539,  0.95033454,
        0.14568906,  0.46810701,  0.        , -0.88367179])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1031667 , -0.09024387,  0.15008902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004733497497128175
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.86365064e-14,  1.17273013e-13,  1.00000000e+00,  6.87647976e-27,
        1.00000000e+00, -1.17273013e-13, -1.00000000e+00,  0.00000000e+00,
       -5.86365064e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08191619, -0.06262956,  0.06197988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.33350376e-05, 1.75868068e-05, 4.49905599e-05,-9.88586938e-06,
 -2.80027542e-05, 2.01022614e-05, 1.10563426e-05,-2.91680108e-06,
  2.95863246e-05,-9.16465912e-06, 1.72050345e-05,-1.33360899e-05,
  2.64389726e-01, 2.61722568e-03, 8.76878412e-02, 3.64709004e-02,
 -7.19776790e-07, 2.81572897e-06,-9.81000200e+00,-1.18186756e-02,
 -2.39857927e-02, 6.68138302e-05]


--- Step 902 ---
qpos:
[-1.35586240e-02, 1.35182879e-02, 1.00713716e-02, 1.47410328e-02,
 -1.90555299e-02,-9.09711045e-03,-1.74545392e-02, 1.63096995e-02,
 -1.21314705e-02,-6.71123160e-03,-1.43541330e-02, 1.51230362e-02,
  1.40358998e+00, 3.07862347e-02, 2.86693610e-01,-3.17028142e-02,
  9.52872494e-02,-7.20883171e-02, 1.04549657e-01, 9.99710553e-01,
  1.14886839e-03,-5.65465514e-04,-2.40243932e-02]

qacc:
[ 4.58306076e+00,-1.89725841e+00, 7.03556264e+00,-9.69590352e+00,
 -2.82632152e+00, 9.00347974e-01,-6.18303530e+00, 1.76725949e+01,
  6.15745867e+00,-7.94375752e-01, 2.62872313e+00,-4.32867461e+00,
  6.87727646e-02, 7.45459081e+00,-3.74507642e+01, 7.89972321e+01,
  7.20350986e-01, 2.13318809e-01, 5.04513831e-02,-9.66044360e+00,
  2.15430698e+01,-1.84307360e+01]

qfrc_actuator:
[ 4.72838440e-04,-5.38572742e-04,-1.21084263e-04,-4.15174241e-05,
 -6.70350547e-04,-6.91171944e-04,-2.15404790e-04,-2.67470484e-05,
 -4.80842263e-04,-5.06590494e-04,-1.46908861e-04,-6.59212822e-05,
  2.10000000e-01,-4.20843463e-03, 9.00000000e-02, 3.55801052e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009131211939503022
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83993209,  0.3101483 , -0.44533371,  0.27401572,  0.95068819,
        0.1452837 ,  0.46843299,  0.        , -0.88349903])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10316469, -0.0902565 ,  0.15008437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004718875783459864
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.88181950e-14, -1.17636390e-13,  1.00000000e+00,  6.91916013e-27,
        1.00000000e+00,  1.17636390e-13, -1.00000000e+00,  0.00000000e+00,
        5.88181950e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08191642, -0.06263092,  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:
[ 2.71085282e-05, 5.20285690e-06, 3.27602691e-05,-4.07344732e-06,
 -1.67958287e-05,-1.09944162e-08, 9.57576628e-06, 3.47440737e-05,
  3.62582490e-05,-4.29555819e-05,-8.21933212e-06,-7.79382537e-06,
  2.64280163e-01, 2.53254849e-03, 8.88633786e-02, 3.65161713e-02,
 -1.36777445e-05, 1.98245386e-05,-9.81000304e+00,-1.18187173e-02,
 -2.39849595e-02, 6.87472418e-05]


--- Step 903 ---
qpos:
[-1.35587532e-02, 1.35182463e-02, 1.00726933e-02, 1.47404420e-02,
 -1.90555152e-02,-9.09708384e-03,-1.74549581e-02, 1.63104273e-02,
 -1.21309197e-02,-6.71149822e-03,-1.43542085e-02, 1.51223437e-02,
  1.40359317e+00, 3.07679987e-02, 2.86664416e-01,-3.17219307e-02,
  9.52930751e-02,-7.20950893e-02, 1.04549937e-01, 9.99706391e-01,
  1.15999739e-03,-4.61412864e-04,-2.41986116e-02]

qacc:
[ 5.73695297e+00,-1.46307852e+00, 7.19297963e+00,-1.49848921e+01,
  7.35345725e+00, 2.45532607e+00,-1.04609909e+01, 1.87272621e+01,
  6.48857493e-01, 1.48285215e+00,-5.51207535e+00, 5.87996487e+00,
 -9.29974316e-02, 9.31173445e+00,-3.61166139e+01, 7.56331479e+01,
  6.44778306e-01, 1.20126722e-01, 3.50925272e-04,-9.06079089e+00,
  2.04033179e+01,-2.21883826e+01]

qfrc_actuator:
[ 5.06105740e-04,-5.28846691e-04,-1.07494131e-04,-6.28542385e-05,
 -6.26161116e-04,-6.99164988e-04,-2.48549522e-04,-7.13850765e-06,
 -4.77949264e-04,-5.30870467e-04,-1.87468884e-04,-7.02402252e-05,
  2.10000000e-01,-4.14048081e-03, 9.00000000e-02, 3.55853581e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000917805165105824
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.39864354e-01,  3.09377310e-01, -4.45997250e-01,  2.73240318e-01,
        9.50939367e-01,  1.45100134e-01,  4.69007032e-01,  1.38777878e-17,
       -8.83194432e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10316769, -0.09026624,  0.15007751])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046936345138341024
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.95672528e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.95672528e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08191624, -0.06263173,  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:
[ 3.40432412e-05, 1.92668409e-05, 1.85679956e-05,-2.00587803e-05,
  4.37035284e-05,-4.50797820e-06,-3.07546383e-05, 2.06181907e-05,
  3.91300079e-06,-5.03374038e-05,-5.07224272e-05,-6.59834323e-06,
  2.64171663e-01, 2.52508585e-03, 9.00778853e-02, 3.64954609e-02,
 -4.40078961e-05, 4.42825017e-05,-9.80998888e+00,-1.18210428e-02,
 -2.39829907e-02, 6.85528636e-05]


--- Step 904 ---
qpos:
[-1.35591724e-02, 1.35185629e-02, 1.00737862e-02, 1.47396022e-02,
 -1.90549707e-02,-9.09740105e-03,-1.74550580e-02, 1.63117243e-02,
 -1.21303381e-02,-6.71197725e-03,-1.43545367e-02, 1.51215734e-02,
  1.40359901e+00, 3.07517858e-02, 2.86612607e-01,-3.17409966e-02,
  9.53012081e-02,-7.21017143e-02, 1.04550045e-01, 9.99700972e-01,
  1.15510048e-03,-3.18074703e-04,-2.44239731e-02]

qacc:
[-2.52687364e+00, 6.05308367e-01,-4.11432756e-01,-3.80613355e+00,
  4.61540234e+00,-1.83347493e-01,-2.42441346e+00, 1.20351297e+01,
  2.65292953e-01, 2.65191387e-01,-1.02580032e+00, 2.42616301e-01,
 -2.79554772e-01, 1.14714737e+01,-3.34962349e+01, 6.89053418e+01,
  5.76823587e-01, 3.67960964e-02,-4.26548614e-02,-8.49699848e+00,
  1.94131332e+01,-2.55983264e+01]

qfrc_actuator:
[ 4.90215909e-04,-5.05307866e-04,-1.17777357e-04,-7.51663977e-05,
 -6.00162713e-04,-7.21765688e-04,-2.32442558e-04, 2.18303944e-05,
 -4.76479577e-04,-5.27442008e-04,-1.93615893e-04,-7.25238902e-05,
  2.10000000e-01,-4.04020409e-03, 9.00000000e-02, 3.55959361e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009225984983800277
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83962347,  0.30884505, -0.44681894,  0.27264239,  0.95111237,
        0.14509097,  0.46978565,  0.        , -0.88278052])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10317501, -0.09027389,  0.15006871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046601860615417406
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.19117886e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.19117886e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08191572, -0.0626321 ,  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:
[-1.49138651e-05, 3.73066529e-05,-4.70907054e-06,-1.12353969e-05,
  2.72579132e-05,-3.05757618e-05, 1.20988534e-05, 2.81108921e-05,
  1.57858966e-06,-3.54976114e-05,-2.30270136e-05,-6.32553809e-06,
  2.64052555e-01, 2.53735463e-03, 9.12633221e-02, 3.64875387e-02,
 -9.50584488e-05, 8.05268100e-05,-9.80995942e+00,-1.18259923e-02,
 -2.39801419e-02, 6.63619623e-05]


--- Step 905 ---
qpos:
[-1.35597790e-02, 1.35193226e-02, 1.00741280e-02, 1.47386468e-02,
 -1.90548078e-02,-9.09823519e-03,-1.74545876e-02, 1.63137085e-02,
 -1.21300879e-02,-6.71249634e-03,-1.43547613e-02, 1.51203886e-02,
  1.40360774e+00, 3.07378429e-02, 2.86539294e-01,-3.17602951e-02,
  9.53114174e-02,-7.21084513e-02, 1.04549842e-01, 9.99694103e-01,
  1.13488783e-03,-1.37151270e-04,-2.47061473e-02]

qacc:
[-1.65485583e+00, 2.45088363e+00,-7.39523738e+00, 6.26410730e+00,
 -3.28566242e+00,-8.55603802e-01,-8.30891111e-01, 1.21811639e+01,
 -2.88976448e+00,-1.19047963e+00, 5.92857660e+00,-1.32520902e+01,
 -4.56179688e-01, 1.34288074e+01,-3.09718737e+01, 6.25190831e+01,
  5.19080918e-01,-2.79971322e-02,-7.79973276e-02,-8.12276773e+00,
  1.85669388e+01,-2.84348673e+01]

qfrc_actuator:
[ 4.81023668e-04,-4.91526027e-04,-1.59752324e-04,-8.20683227e-05,
 -6.20604541e-04,-7.52745562e-04,-2.05177215e-04, 5.61040972e-05,
 -4.93601605e-04,-5.07313243e-04,-1.79268487e-04,-9.12920225e-05,
  2.10000000e-01,-4.01027208e-03, 9.00000000e-02, 3.56453841e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009274824515325875
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.39245708e-01,  3.08487387e-01, -4.47774690e-01,  2.72170918e-01,
        9.51228433e-01,  1.45215218e-01,  4.70733080e-01,  2.77555756e-17,
       -8.82275675e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10318603, -0.09028015,  0.15005813])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046205831884716525
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.00347104e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.00347104e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08191496, -0.06263212,  0.06198036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.63101826e-06, 3.32017822e-05,-3.52306072e-05,-5.68315503e-06,
 -1.96595210e-05,-4.43843619e-05, 2.34055114e-05, 3.39268819e-05,
 -1.70651255e-05,-4.76749411e-06, 3.95386109e-06,-2.12102736e-05,
  2.63920075e-01, 2.46499464e-03, 9.23934736e-02, 3.65343135e-02,
 -1.70408489e-04, 1.32479905e-04,-9.80991451e+00,-1.18338354e-02,
 -2.39766627e-02, 6.22928452e-05]


--- Step 906 ---
qpos:
[-1.35604916e-02, 1.35204021e-02, 1.00736758e-02, 1.47379809e-02,
 -1.90548907e-02,-9.09924926e-03,-1.74538281e-02, 1.63150280e-02,
 -1.21300447e-02,-6.71258129e-03,-1.43553581e-02, 1.51193044e-02,
  1.40361889e+00, 3.07261346e-02, 2.86443616e-01,-3.17810721e-02,
  9.53234744e-02,-7.21155430e-02, 1.04549212e-01, 9.99685572e-01,
  1.10000125e-03, 7.97348350e-05,-2.50507591e-02]

qacc:
[ -0.94958479,  3.24044349,-12.15923327, 18.19948585, -2.12339327,
  -2.40871025, 11.05773067,-22.89978382, -1.82590218,  1.82444344,
  -6.0916184 ,  8.10259311, -0.64146667, 13.64450898,-28.46443686,
  51.92023606,  0.46191503, -0.0886806 , -0.10666508, -7.78231079,
  17.7590251 ,-31.24916678]

qfrc_actuator:
[ 4.75863342e-04,-4.83826724e-04,-2.02376003e-04,-6.80053789e-05,
 -6.32705908e-04,-7.52937045e-04,-1.89348351e-04, 2.22044751e-05,
 -5.03775989e-04,-4.59499042e-04,-1.88385065e-04,-8.40775700e-05,
  2.10000000e-01,-4.00585031e-03, 9.00000000e-02, 3.56651592e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009746206985255918
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.38757817e-01,  3.08254883e-01, -4.48847694e-01,  2.71786144e-01,
        9.51303804e-01,  1.45441964e-01,  4.71823714e-01, -1.38777878e-17,
       -8.81692907e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10320022, -0.09028553,  0.15004589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045765564486855564
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.06472922e-14,  1.21294584e-13,  1.00000000e+00,  7.35618810e-27,
        1.00000000e+00, -1.21294584e-13, -1.00000000e+00,  0.00000000e+00,
       -6.06472922e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08191401, -0.06263187,  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:
[-5.45417951e-06, 1.87661609e-05,-4.02927810e-05, 1.41578709e-05,
 -1.26649318e-05,-1.87355546e-05, 1.07172709e-05,-3.43309105e-05,
 -1.06400795e-05, 4.50430948e-05,-1.03495066e-05, 6.73470866e-06,
  2.63776469e-01, 2.35435699e-03, 9.34680809e-02, 3.65655665e-02,
 -2.73218136e-04, 2.03125294e-04,-9.80985396e+00,-1.18447394e-02,
 -2.39727861e-02, 5.64307320e-05]


--- Step 907 ---
qpos:
[-1.35612612e-02, 1.35216399e-02, 1.00727426e-02, 1.47374880e-02,
 -1.90551179e-02,-9.10033373e-03,-1.74529102e-02, 1.63155807e-02,
 -1.21294341e-02,-6.71211786e-03,-1.43562264e-02, 1.51193284e-02,
  1.40364145e+00, 3.07181835e-02, 2.86427613e-01,-3.18150872e-02,
  9.53284283e-02,-7.21250926e-02, 1.04547747e-01, 9.99679000e-01,
  1.11978993e-03, 1.92572961e-04,-2.53101752e-02]

qacc:
[-5.11310068e-01, 1.91142926e+00,-7.24015728e+00, 1.08848004e+01,
 -1.24633328e+00,-2.11093872e+00, 1.06343627e+01,-2.41129127e+01,
  4.93554732e+00, 3.75471256e+00,-1.70328492e+01, 3.62638794e+01,
 -6.15123743e-01, 2.95287012e+01, 1.58297884e+02,-3.81853609e+02,
 -1.77576081e+00,-6.14492991e-01,-2.08880425e-01, 2.86278033e+01,
 -5.12760261e+01, 4.26684108e+01]

qfrc_actuator:
[ 4.73115856e-04,-4.79830835e-04,-2.27292986e-04,-5.94749087e-05,
 -6.39786010e-04,-7.52538343e-04,-1.80328283e-04,-1.60169587e-05,
 -4.74268404e-04,-4.13284408e-04,-1.93392941e-04,-2.61176940e-05,
  2.10000000e-01,-4.01760732e-03, 9.00000000e-02, 3.56507168e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009773442491331954
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.38197433e-01,  3.08093089e-01, -4.50004124e-01,  2.71447048e-01,
        9.51356215e-01,  1.45732122e-01,  4.73013280e-01,  1.38777878e-17,
       -8.81055297e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10321711, -0.09029066,  0.15003236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.59565772,  9.53525357,  4.62027076,  9.53525357, 13.12764165,
       -5.22547487,  4.62027076, -5.22547487, 21.37992352,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004580528940091311
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.05946955e-14, -7.57433693e-14,  1.00000000e+00,  4.58964640e-27,
        1.00000000e+00,  7.57433693e-14, -1.00000000e+00,  0.00000000e+00,
        6.05946955e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10009592, -0.05372089,  0.06198053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.92947702e-06, 6.80033288e-06,-2.55043376e-05, 8.21779093e-06,
 -7.42532524e-06,-9.33704533e-06, 5.28387352e-06,-3.93208589e-05,
  2.92311370e-05, 6.95494077e-05, 3.25512383e-06, 5.96637009e-05,
  2.63655782e-01, 2.22885710e-03, 9.45856483e-02, 3.66248792e-02,
 -4.07565384e-04, 2.96084625e-04,-9.80977771e+00,-1.18588719e-02,
 -2.39686928e-02, 4.88543336e-05]


--- Step 908 ---
qpos:
[-1.35613688e-02, 1.35229019e-02, 1.00718631e-02, 1.47363905e-02,
 -1.90550831e-02,-9.10111176e-03,-1.74524091e-02, 1.63166982e-02,
 -1.21288196e-02,-6.71123374e-03,-1.43574067e-02, 1.51204109e-02,
  1.40365548e+00, 3.07067968e-02, 2.86437021e-01,-3.18529186e-02,
  9.53265746e-02,-7.21368904e-02, 1.04545379e-01, 9.99674615e-01,
  1.18445679e-03, 1.99548417e-04,-2.54798258e-02]

qacc:
[ 5.73975193e+00,-1.37477151e+00, 7.48081548e+00,-1.80263065e+01,
  2.25621561e+00, 2.72689567e+00,-1.15285017e+01, 2.17537426e+01,
  1.81669294e-02, 3.60607950e+00,-1.65209078e+01, 3.50310704e+01,
 -1.18320216e+00,-1.64549883e+01, 4.90320137e+01,-1.17255312e+02,
 -1.70191999e+00,-5.62024345e-01,-2.25640005e-01, 2.37617193e+01,
 -5.22963584e+01, 4.49596118e+01]

qfrc_actuator:
[ 5.07314645e-04,-4.78023405e-04,-2.23828636e-04,-8.97684972e-05,
 -6.26104066e-04,-7.16317837e-04,-1.93131109e-04, 1.45470450e-05,
 -4.74901191e-04,-4.03822644e-04,-2.13640070e-04, 2.57363307e-05,
  2.10000000e-01,-4.04148804e-03, 9.00000000e-02, 3.56991056e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36884007,  0.36857973,  0.01385549,  0.36857973,  0.3690301 ,
       -0.00505528,  0.01385549, -0.00505528,  0.50331918,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009785768398784145
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.38139578e-01,  3.07146014e-01, -4.50758664e-01,  2.70506884e-01,
        9.51662401e-01,  1.45480926e-01,  4.73653960e-01,  1.38777878e-17,
       -8.80711035e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10322127, -0.09030332,  0.15002152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.61864941, -10.08279729,  -3.33060264, -10.08279729,
        15.10412285, -13.57895986,  -3.33060264, -13.57895986,
        51.72649525,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004597700031870114
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01841958e-14,  2.26381469e-14,  1.00000000e+00, -6.83314258e-28,
        1.00000000e+00, -2.26381469e-14, -1.00000000e+00,  0.00000000e+00,
        3.01841958e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10010057, -0.05373162,  0.06198045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.40845952e-05, 7.23723350e-07, 2.02143762e-06,-3.07229412e-05,
  1.34937149e-05, 3.04113313e-05,-1.54382423e-05, 2.95822943e-05,
  2.19459028e-07, 5.15704400e-05,-3.42353789e-06, 5.61056784e-05,
  2.63085648e-01, 2.01667818e-03, 9.06015183e-02, 3.73350672e-02,
 -1.81554091e-04, 1.55451255e-04,-9.80994834e+00,-1.18342298e-02,
 -2.39524826e-02, 4.81676741e-05]


--- Step 909 ---
qpos:
[-1.35607215e-02, 1.35240839e-02, 1.00713251e-02, 1.47352772e-02,
 -1.90545396e-02,-9.10148805e-03,-1.74518748e-02, 1.63181287e-02,
 -1.21282172e-02,-6.71038021e-03,-1.43585984e-02, 1.51221444e-02,
  1.40365118e+00, 3.06868963e-02, 2.86501794e-01,-3.18652218e-02,
  9.53163325e-02,-7.21454321e-02, 1.04543435e-01, 9.99672471e-01,
  1.22134885e-03, 9.12413683e-05,-2.55626970e-02]

qacc:
[  6.55679807, -1.1057711 ,  3.83429331, -4.57242483,  4.41162151,
   1.07345299, -4.39383839,  9.47871534, -0.10542275,  1.33195226,
  -7.55677163, 18.86640833, -0.66142035,-48.25010887,  4.15738025,
 103.21016784, -2.09709508,  0.81402621,  0.10605059,-12.424176  ,
 -57.92517613, 43.4696456 ]

qfrc_actuator:
[ 5.45232388e-04,-4.77458197e-04,-2.03677859e-04,-8.93903483e-05,
 -6.00313312e-04,-6.76705553e-04,-1.83010522e-04, 3.20995887e-05,
 -4.75529050e-04,-4.34256918e-04,-2.25129109e-04, 5.57806955e-05,
  2.10000000e-01,-4.04920042e-03, 9.00000000e-02, 3.57633139e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36886191,  0.36822605,  0.02164902,  0.36822605,  0.36980056,
       -0.01596551,  0.02164902, -0.01596551,  0.6404176 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009792441951486373
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.38719817e-01,  3.05368822e-01, -4.50886849e-01,  2.68966285e-01,
        9.52234153e-01,  1.44593413e-01,  4.73504177e-01,  1.38777878e-17,
       -8.80791573e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10321408, -0.09032433,  0.15001814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.61400517, -6.64405841,  8.27729385, -6.64405841, 30.43604759,
       15.91085324,  8.27729385, 15.91085324, 23.38540609,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004594242224177394
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96465741e-14,  4.18453275e-06,  1.00000000e+00, -1.65902388e-19,
        1.00000000e+00, -4.18453275e-06, -1.00000000e+00,  0.00000000e+00,
        3.96465741e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1022033 , -0.06404813,  0.06198047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.88692221e-05, 8.95738987e-08, 1.94862335e-05,-1.20129817e-07,
  2.62091777e-05, 5.47005048e-05, 1.55231004e-05, 1.88965920e-05,
 -6.26423139e-07, 7.70711957e-08, 6.75871448e-07, 3.32261975e-05,
  2.63512048e-01, 2.18077745e-03, 8.93306830e-02, 3.75900030e-02,
 -4.66267202e-05, 4.65635490e-05,-9.81001629e+00,-1.18167433e-02,
 -2.39478034e-02, 5.10918795e-05]


--- Step 910 ---
qpos:
[-1.35599696e-02, 1.35249644e-02, 1.00713720e-02, 1.47352244e-02,
 -1.90536909e-02,-9.10156933e-03,-1.74511469e-02, 1.63190698e-02,
 -1.21272824e-02,-6.70972854e-03,-1.43594990e-02, 1.51238811e-02,
  1.40363092e+00, 3.06583750e-02, 2.86633111e-01,-3.18505837e-02,
  9.52978592e-02,-7.21511183e-02, 1.04541638e-01, 9.99672417e-01,
  1.23144585e-03,-1.29542951e-04,-2.55641461e-02]

qacc:
[ 9.29918341e-01, 1.48972419e-01,-5.59009368e+00, 2.32355125e+01,
  2.65089097e+00,-1.16308018e+00, 6.77047310e+00,-1.57574898e+01,
  2.91353246e+00,-1.07908906e+00, 3.43742408e+00,-3.68899490e+00,
  3.30175671e-01,-5.04586382e+01, 1.63676853e+01, 8.43752468e+01,
 -2.05778657e+00, 7.13853154e-01, 3.66977585e-02,-1.19605218e+01,
 -5.65130661e+01, 4.07918718e+01]

qfrc_actuator:
[ 5.49518461e-04,-4.95296597e-04,-1.73824446e-04,-3.54507026e-05,
 -5.85361501e-04,-6.70781340e-04,-1.77171801e-04, 6.36587644e-06,
 -4.58386810e-04,-4.52840547e-04,-2.13786347e-04, 5.49706437e-05,
  2.10000000e-01,-4.04075937e-03, 9.00000000e-02, 3.57204327e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.3687541 ,  0.36771569,  0.02765418,  0.36771569,  0.37021644,
       -0.01944473,  0.02765418, -0.01944473,  0.62730923,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009761297829759259
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.39825057e-01,  3.03628397e-01, -4.50004079e-01,  2.67629376e-01,
        9.52790531e-01,  1.43404046e-01,  4.72301166e-01,  1.38777878e-17,
       -8.81437240e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10319356, -0.09034235,  0.15002796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.61220326, -10.53206597,   1.30170829, -10.53206597,
        11.8435596 ,   9.96285138,   1.30170829,   9.96285138,
        91.22120644,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004592899179340925
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.04314933e-14,  1.31718456e-06,  1.00000000e+00,  7.95994299e-20,
        1.00000000e+00, -1.31718456e-06, -1.00000000e+00,  1.20370622e-35,
       -6.04314933e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10220355, -0.06405407,  0.06198047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.37224021e-06,-1.37751337e-05, 3.22591502e-05, 5.46122560e-05,
  1.57283292e-05, 4.05180697e-05, 1.96959622e-05,-2.24870473e-05,
  1.71020541e-05,-1.70009578e-05, 1.25846822e-05,-1.38304977e-07,
  2.64428486e-01, 2.61616183e-03, 8.65622546e-02, 3.62706670e-02,
 -3.39924400e-05,-1.65964482e-05,-9.80999215e+00,-1.18096116e-02,
 -2.39567277e-02, 5.51863833e-05]


--- Step 911 ---
qpos:
[-1.35602069e-02, 1.35256472e-02, 1.00717958e-02, 1.47358192e-02,
 -1.90526695e-02,-9.10120639e-03,-1.74506850e-02, 1.63197084e-02,
 -1.21271845e-02,-6.70915837e-03,-1.43599852e-02, 1.51252252e-02,
  1.40361089e+00, 3.06291628e-02, 2.86756766e-01,-3.18343268e-02,
  9.52832888e-02,-7.21555710e-02, 1.04541315e-01, 9.99671705e-01,
  1.23124461e-03,-2.97600464e-04,-2.55905954e-02]

qacc:
[-8.55998418e+00, 3.57043163e-02,-3.21223257e+00, 1.39344489e+01,
  1.48340237e+00, 7.04093171e-01,-3.85994325e-01,-4.74794362e+00,
 -7.29049490e+00,-2.05964004e+00, 8.87014564e+00,-1.62948406e+01,
  1.01646145e+00,-6.92024289e+00,-1.63364908e+01, 4.04484378e+01,
  9.75725287e-01, 3.08387581e-01, 3.68595598e-01,-5.82260587e+00,
  2.62076985e+01,-1.25361873e+01]

qfrc_actuator:
[ 4.98468742e-04,-5.06170903e-04,-1.56282039e-04,-3.70205965e-06,
 -5.76913035e-04,-6.49618671e-04,-1.91828507e-04,-9.15720894e-06,
 -5.01932696e-04,-4.46377637e-04,-1.89042415e-04, 3.60354131e-05,
  2.10000000e-01,-4.00136108e-03, 9.00000000e-02, 3.57436944e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36439748, -0.17147025, -0.321533  , -0.17147025,  2.346706  ,
       -1.0571448 , -0.321533  , -1.0571448 ,  0.92816195,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009209337819276054
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.41395343e-01,  3.01909025e-01, -4.48224071e-01,  2.66458678e-01,
        9.53336741e-01,  1.41946582e-01,  4.70163429e-01, -1.38777878e-17,
       -8.82579373e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10315963, -0.09035744,  0.15004944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.67383966, 10.65457315, -0.64103355, 10.65457315, 10.80065074,
        2.10771794, -0.64103355,  2.10771794, 45.70606987,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046383836177255056
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.98388963e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.98388963e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08191769, -0.0626444 ,  0.06198028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.09355089e-05,-9.59600587e-06, 2.05518360e-05, 3.33356836e-05,
  8.90790351e-06, 4.68995436e-05,-4.65007057e-06,-1.35454225e-05,
 -4.30794218e-05,-4.79864015e-07, 2.27659580e-05,-1.92340593e-05,
  2.65225666e-01, 3.08931113e-03, 8.32351249e-02, 3.49468782e-02,
 -1.14817997e-04,-3.08207806e-06,-9.80990112e+00,-1.18135901e-02,
 -2.39675076e-02, 6.12083149e-05]


--- Step 912 ---
qpos:
[-1.35610551e-02, 1.35263802e-02, 1.00723790e-02, 1.47364279e-02,
 -1.90518998e-02,-9.10051026e-03,-1.74503734e-02, 1.63201623e-02,
 -1.21279544e-02,-6.70869437e-03,-1.43600883e-02, 1.51253011e-02,
  1.40359119e+00, 3.05994224e-02, 2.86867626e-01,-3.18162175e-02,
  9.52723703e-02,-7.21590562e-02, 1.04542087e-01, 9.99670258e-01,
  1.21990027e-03,-4.15388542e-04,-2.56459419e-02]

qacc:
[ -5.29141769, -0.3406307 ,  1.27022078, -1.34196717, -2.1954848 ,
   0.48489817, -0.30316912, -2.9046489 , -7.56094844, -3.80606387,
  18.74809125,-41.26051647,  1.02614657, -6.27446443,-24.63307285,
  58.46274823,  0.91294947,  0.24187666,  0.27347803, -6.21678042,
  24.96598829,-14.48258677]

qfrc_actuator:
[ 4.68527372e-04,-4.95097335e-04,-1.46152278e-04,-3.03206330e-06,
 -5.90108761e-04,-6.37332782e-04,-2.00647776e-04,-1.85449122e-05,
 -5.45349867e-04,-4.60431694e-04,-1.74250285e-04,-2.88857158e-05,
  2.10000000e-01,-4.00112796e-03, 9.00000000e-02, 3.58034354e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009181106922299812
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.84257281,  0.300596  , -0.44689272,  0.26555555,  0.95375156,
        0.14084817,  0.46856303,  0.        , -0.88343007])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10313219, -0.09036839,  0.15006635])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046877624600874523
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96042897e-14, -2.96042897e-14,  1.00000000e+00,  8.76413971e-28,
        1.00000000e+00,  2.96042897e-14, -1.00000000e+00,  0.00000000e+00,
        2.96042897e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08191908, -0.06264938,  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:
[-3.14468839e-05, 1.13748081e-05, 1.18384267e-05, 1.62166328e-06,
 -1.29421861e-05, 3.69370391e-05,-1.85925130e-07,-7.80514654e-06,
 -4.46693780e-05,-1.04642909e-05, 1.68320032e-05,-6.45269350e-05,
  2.65213718e-01, 3.12661419e-03, 8.36182167e-02, 3.49256905e-02,
 -7.00555075e-05,-6.34423875e-06,-9.80994823e+00,-1.18112283e-02,
 -2.39741555e-02, 6.56502552e-05]


--- Step 913 ---
qpos:
[-1.35615672e-02, 1.35271332e-02, 1.00733788e-02, 1.47370258e-02,
 -1.90516393e-02,-9.09982432e-03,-1.74497636e-02, 1.63208587e-02,
 -1.21282049e-02,-6.70820252e-03,-1.43600815e-02, 1.51249458e-02,
  1.40357234e+00, 3.05694423e-02, 2.86963134e-01,-3.17967520e-02,
  9.52647939e-02,-7.21619480e-02, 1.04543612e-01, 9.99667929e-01,
  1.19770760e-03,-4.85433824e-04,-2.57363971e-02]

qacc:
[  2.92614902, -1.16583263,  4.23057354, -5.0865273 , -4.41224953,
  -0.33913562,  0.1808471 ,  3.53032173,  4.53634008, -1.16695804,
   6.02001537,-13.66404039,  1.02860026, -4.66070812,-26.90054961,
  60.93911317,  0.83556282,  0.14835683,  0.18859088, -6.04133348,
  23.70282092,-17.58670685]

qfrc_actuator:
[ 4.86773611e-04,-4.88776506e-04,-1.22650771e-04,-2.88183881e-06,
 -6.15935735e-04,-6.48192245e-04,-1.88221037e-04,-6.49571399e-06,
 -5.17313658e-04,-4.51233391e-04,-1.65563565e-04,-4.93552611e-05,
  2.10000000e-01,-4.00652773e-03, 9.00000000e-02, 3.57421616e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000917215143358694
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.84341381,  0.29963776, -0.44594884,  0.26488949,  0.95405305,
        0.14005837,  0.46742562,  0.        , -0.8840324 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10311087, -0.09037585,  0.15007931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004714422374736682
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.83106351e-14, -5.88737568e-14,  1.00000000e+00,  5.19917885e-27,
        1.00000000e+00,  5.88737568e-14, -1.00000000e+00,  0.00000000e+00,
        8.83106351e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08191983, -0.06265307,  0.06197996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73080706e-05, 1.52194309e-05, 2.73780573e-05, 1.08244113e-06,
 -2.62163963e-05, 9.39027524e-06, 1.97546912e-05, 1.34725101e-05,
  2.67393249e-05, 4.06922231e-06, 6.37615252e-06,-2.15878362e-05,
  2.65196472e-01, 3.14989598e-03, 8.42578782e-02, 3.47717897e-02,
 -4.39757960e-05,-4.88188608e-06,-9.80997832e+00,-1.18104435e-02,
 -2.39792264e-02, 6.82039091e-05]


--- Step 914 ---
qpos:
[-1.35622025e-02, 1.35280470e-02, 1.00743562e-02, 1.47372879e-02,
 -1.90520361e-02,-9.09908361e-03,-1.74487262e-02, 1.63216766e-02,
 -1.21281186e-02,-6.70705944e-03,-1.43603117e-02, 1.51249815e-02,
  1.40355594e+00, 3.05399530e-02, 2.87045061e-01,-3.17754407e-02,
  9.52602902e-02,-7.21645824e-02, 1.04545591e-01, 9.99664570e-01,
  1.16516277e-03,-5.09864234e-04,-2.58675539e-02]

qacc:
[ -1.07206884, -0.41471098,  3.20895778, -9.10936891, -5.69482336,
  -0.861048  ,  2.68159468, -1.32355919,  2.92093221,  2.32184185,
  -8.69076967, 15.36805442,  1.00162425, -0.12124496,-25.71569104,
  60.71244265,  0.7681541 ,  0.06435357,  0.11335924, -5.77061102,
  22.642024  ,-20.38213252]

qfrc_actuator:
[ 4.79971905e-04,-4.85297216e-04,-1.26952307e-04,-2.07770599e-05,
 -6.48983182e-04,-6.37223555e-04,-1.63435257e-04, 3.09766747e-07,
 -5.00703404e-04,-3.74917330e-04,-1.60420242e-04,-2.57308767e-05,
  2.10000000e-01,-3.99763164e-03, 9.00000000e-02, 3.56967975e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008681662372089138
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.43975200e-01,  2.98963904e-01, -4.45338574e-01,  2.64411117e-01,
        9.54264420e-01,  1.39521244e-01,  4.66682572e-01,  1.38777878e-17,
       -8.84424885e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10309509, -0.09038069,  0.15008882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004722424356022187
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.17547995e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.17547995e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08192006, -0.06265571,  0.06197993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.33864900e-06, 1.77200486e-05, 2.25906760e-06,-1.62737387e-05,
 -3.38340419e-05, 2.08588190e-05, 2.96230801e-05, 8.15418960e-06,
  1.73611456e-05, 7.90004322e-05, 6.02365288e-06, 2.35986766e-05,
  2.65152982e-01, 3.17275622e-03, 8.50254100e-02, 3.46585976e-02,
 -3.75785701e-05, 2.84191766e-06,-9.80999224e+00,-1.18113284e-02,
 -2.39829287e-02, 6.89354512e-05]


--- Step 915 ---
qpos:
[-1.35625702e-02, 1.35289844e-02, 1.00750634e-02, 1.47373690e-02,
 -1.90524824e-02,-9.09790715e-03,-1.74480835e-02, 1.63222323e-02,
 -1.21288690e-02,-6.70526621e-03,-1.43607736e-02, 1.51246079e-02,
  1.40354236e+00, 3.05112869e-02, 2.87111831e-01,-3.17529287e-02,
  9.52586140e-02,-7.21672365e-02, 1.04547766e-01, 9.99660035e-01,
  1.12259795e-03,-4.90593773e-04,-2.60444699e-02]

qacc:
[ 2.31127822e+00, 4.09581784e-01,-6.59221478e-01,-2.04870805e+00,
 -4.49599659e-01, 1.13985032e+00,-2.12018194e+00,-2.10904589e+00,
 -7.32174125e+00, 6.78361411e-01, 5.80688723e-01,-7.79875110e+00,
  8.66123168e-01, 2.12068305e+00,-2.60673039e+01, 5.86238326e+01,
  7.06870702e-01,-4.93510970e-03, 4.87889531e-02,-5.58450581e+00,
  2.16865521e+01,-2.29099944e+01]

qfrc_actuator:
[ 4.93971603e-04,-5.01424346e-04,-1.47663432e-04,-3.14174694e-05,
 -6.50505899e-04,-6.13218853e-04,-1.84740613e-04,-1.37596391e-05,
 -5.44231711e-04,-3.47728299e-04,-1.74852563e-04,-4.73103275e-05,
  2.10000000e-01,-3.92753487e-03, 9.00000000e-02, 3.57132048e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008685945922189456
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.44285729e-01,  2.98523204e-01, -4.45045508e-01,  2.64080315e-01,
        9.54402377e-01,  1.39203772e-01,  4.66308046e-01,  1.38777878e-17,
       -8.84622409e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10308424, -0.09038344,  0.15009478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004715285018792384
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.8862986e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        5.8862986e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08191988, -0.06265754,  0.06197996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37785927e-05,-6.42391456e-06,-1.73259255e-05,-1.01174957e-05,
 -2.53208790e-06, 4.21396813e-05,-1.30595715e-05,-1.19894687e-05,
 -4.30434544e-05, 7.36211573e-05, 3.44174688e-06,-1.75274868e-05,
  2.65030155e-01, 3.22002268e-03, 8.57042678e-02, 3.45826828e-02,
 -5.21483958e-05, 1.99473144e-05,-9.80999041e+00,-1.18142283e-02,
 -2.39854435e-02, 6.79274696e-05]


--- Step 916 ---
qpos:
[-1.35631130e-02, 1.35299081e-02, 1.00757874e-02, 1.47376525e-02,
 -1.90522551e-02,-9.09648241e-03,-1.74479216e-02, 1.63226458e-02,
 -1.21301358e-02,-6.70363676e-03,-1.43610631e-02, 1.51244018e-02,
  1.40353199e+00, 3.04837721e-02, 2.87162400e-01,-3.17298736e-02,
  9.52595410e-02,-7.21701464e-02, 1.04549915e-01, 9.99654171e-01,
  1.07026868e-03,-4.29342489e-04,-2.62718067e-02]

qacc:
[-1.51651941e+00, 3.54384003e-01,-2.13908794e+00, 5.61915816e+00,
  5.83040297e+00, 1.36681916e+00,-3.81685097e+00, 1.96247383e+00,
 -4.49772889e+00,-3.44624687e-01, 2.22839838e-01, 2.50419710e+00,
  7.18038724e-01, 4.39631887e+00,-2.55962944e+01, 5.47972774e+01,
  6.50797184e-01,-6.39682218e-02,-6.12853358e-03,-5.43887401e+00,
  2.08274940e+01,-2.52403233e+01]

qfrc_actuator:
[ 4.84605283e-04,-4.93737063e-04,-1.42458160e-04,-1.99729936e-05,
 -6.15706035e-04,-6.17300695e-04,-2.15296634e-04,-2.22662414e-05,
 -5.69546474e-04,-4.03532788e-04,-1.83188179e-04,-4.21103861e-05,
  2.10000000e-01,-3.89225688e-03, 9.00000000e-02, 3.57488293e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008701664489697146
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.84438238,  0.29826331, -0.4450364 ,  0.26385815,  0.95448363,
        0.1390679 ,  0.46625881,  0.        , -0.88464836])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10307781, -0.09038471,  0.15009742])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046960569992744033
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.95520003e-14, -5.91040007e-14,  1.00000000e+00,  1.74664145e-27,
        1.00000000e+00,  5.91040007e-14, -1.00000000e+00,  0.00000000e+00,
        2.95520003e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08191936, -0.0626587 ,  0.06198004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.01243840e-06, 1.04239295e-07, 1.39964077e-06, 1.03733574e-05,
  3.46911619e-05, 1.62866301e-05,-2.38702357e-05,-7.38497774e-06,
 -2.65800769e-05,-1.46686398e-05, 6.69802989e-06, 8.13603285e-06,
  2.64888277e-01, 3.21555675e-03, 8.64618455e-02, 3.45582312e-02,
 -8.94498264e-05, 4.93542663e-05,-9.80997306e+00,-1.18194113e-02,
 -2.39869379e-02, 6.52511806e-05]


--- Step 917 ---
qpos:
[-1.35644540e-02, 1.35307004e-02, 1.00766185e-02, 1.47380796e-02,
 -1.90519578e-02,-9.09535910e-03,-1.74476155e-02, 1.63229822e-02,
 -1.21313525e-02,-6.70226477e-03,-1.43616197e-02, 1.51243036e-02,
  1.40352521e+00, 3.04577515e-02, 2.87196378e-01,-3.17070614e-02,
  9.52628584e-02,-7.21735344e-02, 1.04551853e-01, 9.99646814e-01,
  1.00851205e-03,-3.27679935e-04,-2.65541437e-02]

qacc:
[ -6.91473025, -0.16359406, -0.25171283,  2.63748331,  0.61596608,
  -0.96077041,  3.17123802, -4.51178242,  0.43216349,  0.62736367,
  -3.18816143,  5.67526677,  0.54649987,  6.85603035,-23.76274565,
  47.62076103,  0.597598  , -0.11948646, -0.05295728, -5.25389303,
  20.04505754,-27.52983626]

qfrc_actuator:
[ 4.43802350e-04,-5.07238591e-04,-1.39634782e-04,-1.33411251e-05,
 -6.13073923e-04,-6.55973927e-04,-2.15653934e-04,-2.74502488e-05,
 -5.66166259e-04,-4.37568997e-04,-2.05929821e-04,-3.90084542e-05,
  2.10000000e-01,-3.86077503e-03, 9.00000000e-02, 3.57606561e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008725921752431423
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.44299607e-01,  2.98137422e-01, -4.45277725e-01,  2.63710061e-01,
        9.54522958e-01,  1.39078847e-01,  4.66492420e-01,  1.38777878e-17,
       -8.84525196e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10307538, -0.09038504,  0.15009702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046673605362961695
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.97336957e-14, -1.78402174e-13,  1.00000000e+00,  5.30455597e-27,
        1.00000000e+00,  1.78402174e-13, -1.00000000e+00,  0.00000000e+00,
        2.97336957e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08191859, -0.06265935,  0.06198016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.11058179e-05,-1.26893664e-05, 3.38468617e-06, 6.88861092e-06,
  3.58334201e-06,-3.48088663e-05,-1.93323631e-07,-5.45778673e-06,
  2.55802519e-06,-4.04749793e-05,-2.46503965e-05, 2.86718079e-06,
  2.64727797e-01, 3.19056359e-03, 8.72716490e-02, 3.45428531e-02,
 -1.51467915e-04, 9.37389806e-05,-9.80994038e+00,-1.18270890e-02,
 -2.39875594e-02, 6.09663441e-05]


--- Step 918 ---
qpos:
[-1.35652400e-02, 1.35311407e-02, 1.00773429e-02, 1.47382814e-02,
 -1.90516319e-02,-9.09459559e-03,-1.74472772e-02, 1.63236150e-02,
 -1.21325205e-02,-6.70110370e-03,-1.43621438e-02, 1.51235266e-02,
  1.40352248e+00, 3.04336153e-02, 2.87214240e-01,-3.16855877e-02,
  9.52683545e-02,-7.21776412e-02, 1.04553417e-01, 9.99637770e-01,
  9.37968225e-04,-1.87061946e-04,-2.68963568e-02]

qacc:
[  4.81440907, -0.64056513,  2.54395396, -5.99582238,  0.25694601,
   0.04384679, -2.09880205,  7.44314281,  0.42999974, -1.767674  ,
   8.7639425 ,-20.41082924,  0.33117674,  9.76674433,-19.70797861,
  34.54286298,  0.54468516, -0.17973678, -0.09353469, -4.91822518,
  19.3237015 ,-29.9680624 ]

qfrc_actuator:
[ 4.73593892e-04,-5.51082785e-04,-1.56089995e-04,-2.73716243e-05,
 -6.11655449e-04,-6.79446336e-04,-2.16077263e-04,-1.28963458e-05,
 -5.63681407e-04,-4.40632403e-04,-2.01439319e-04,-7.26780896e-05,
  2.10000000e-01,-3.77911624e-03, 9.00000000e-02, 3.56877625e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008756934050941124
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.44068164e-01,  2.98101499e-01, -4.45740318e-01,  2.63602908e-01,
        9.54534178e-01,  1.39204923e-01,  4.66971564e-01,  1.38777878e-17,
       -8.84272333e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10307652, -0.09038492,  0.15009381])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046314301985841966
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.98931035e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.98931035e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08191762, -0.06265959,  0.06198031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.85619143e-05,-4.99081918e-05,-1.84021067e-05,-1.43179941e-05,
  1.46457085e-06,-4.32207697e-05,-7.82950187e-06, 1.29485456e-05,
  2.50196893e-06,-3.06247009e-05,-6.79381845e-06,-3.61988103e-05,
  2.64547721e-01, 3.19828067e-03, 8.81008510e-02, 3.44820398e-02,
 -2.40647895e-04, 1.55862342e-04,-9.80989261e+00,-1.18374387e-02,
 -2.39874281e-02, 5.51321498e-05]


--- Step 919 ---
qpos:
[-1.35649740e-02, 1.35313265e-02, 1.00778377e-02, 1.47383104e-02,
 -1.90512921e-02,-9.09421771e-03,-1.74466419e-02, 1.63244022e-02,
 -1.21339949e-02,-6.70049852e-03,-1.43622122e-02, 1.51227124e-02,
  1.40352414e+00, 3.04117111e-02, 2.87216290e-01,-3.16664069e-02,
  9.52758577e-02,-7.21826355e-02, 1.04554474e-01, 9.99626855e-01,
  8.58893726e-04,-8.70133784e-06,-2.73022364e-02]

qacc:
[  9.11583721, -0.06839294,  0.45466489, -2.85874022,  0.13593153,
  -1.02121783,  2.2495283 ,  0.23246889, -2.65102379, -2.07906976,
   6.51288234, -7.48416045,  0.10166801, 12.43106494,-16.33338336,
  23.47581206,  0.50178426, -0.22184849, -0.12662201, -4.77643732,
  18.71971949,-31.8637662 ]

qfrc_actuator:
[ 5.26955417e-04,-5.59601680e-04,-1.66188953e-04,-3.57355047e-05,
 -6.10952005e-04,-6.93619306e-04,-1.98733352e-04,-4.59495847e-06,
 -5.79505211e-04,-4.78313591e-04,-1.80802193e-04,-7.44090471e-05,
  2.10000000e-01,-3.73934984e-03, 9.00000000e-02, 3.56362400e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008793920955440418
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.43716672e-01,  2.98109186e-01, -4.46400146e-01,  2.63500594e-01,
        9.54531777e-01,  1.39414934e-01,  4.67663997e-01,  1.38777878e-17,
       -8.83906322e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10308077, -0.09038488,  0.15008795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004590158852266421
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.04675710e-14, -9.07013565e-14,  1.00000000e+00,  5.48449071e-27,
        1.00000000e+00,  9.07013565e-14, -1.00000000e+00,  0.00000000e+00,
        6.04675710e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0819165 , -0.06265952,  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:
[ 5.41443511e-05,-4.08022953e-05,-2.31611173e-05,-1.14171745e-05,
  6.97170920e-07,-3.94155527e-05, 7.89626040e-06, 6.42956183e-06,
 -1.57951808e-05,-5.77208794e-05, 1.22349412e-05,-3.98035719e-06,
  2.64344695e-01, 3.14426198e-03, 8.89062861e-02, 3.44973682e-02,
 -3.60259482e-04, 2.39060316e-04,-9.80983008e+00,-1.18506362e-02,
 -2.39866133e-02, 4.78218380e-05]


--- Step 920 ---
qpos:
[-1.35647603e-02, 1.35314570e-02, 1.00780892e-02, 1.47382138e-02,
 -1.90512916e-02,-9.09447802e-03,-1.74453677e-02, 1.63249461e-02,
 -1.21356480e-02,-6.70021807e-03,-1.43621198e-02, 1.51222198e-02,
  1.40353889e+00, 3.03936430e-02, 2.87299243e-01,-3.16625860e-02,
  9.52763679e-02,-7.21902853e-02, 1.04554407e-01, 9.99617996e-01,
  8.42833006e-04, 7.03276716e-05,-2.76250974e-02]

qacc:
[-4.58836898e-01, 3.49642627e-01,-8.20966212e-01,-9.23906771e-01,
 -2.91567756e+00,-3.12309868e+00, 1.09497019e+01,-1.57237555e+01,
 -1.54917702e+00,-2.13578381e-01,-1.21357033e+00, 6.75490852e+00,
  2.63540333e-02, 2.87251337e+01, 1.66513623e+02,-4.08024953e+02,
 -1.74827667e+00,-6.63880077e-01,-2.81074840e-01, 3.28506006e+01,
 -4.87513993e+01, 4.15642492e+01]

qfrc_actuator:
[ 5.22729543e-04,-5.46881914e-04,-1.72308457e-04,-4.06617101e-05,
 -6.28426789e-04,-7.37548130e-04,-1.71006575e-04,-1.77742817e-05,
 -5.88225862e-04,-4.83078210e-04,-1.68666018e-04,-5.73470901e-05,
  2.10000000e-01,-3.70806745e-03, 9.00000000e-02, 3.55990299e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000936055514158825
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.43271233e-01,  2.98124923e-01, -4.47230542e-01,  2.63376739e-01,
        9.54526862e-01,  1.39682367e-01,  4.68536361e-01, -5.55111512e-17,
       -8.83444214e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10308781, -0.09038533,  0.15007969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.63569238,  9.58082281,  4.61798515,  9.58082281, 12.85399597,
       -4.60226114,  4.61798515, -4.60226114, 20.18389298,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004610343186125382
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.01014203e-14,  4.51521305e-14,  1.00000000e+00,  1.35914326e-27,
        1.00000000e+00, -4.51521305e-14, -1.00000000e+00,  0.00000000e+00,
       -3.01014203e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10013742, -0.05383147,  0.0619804 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.68975944e-06,-1.53605131e-05,-1.78003205e-05,-7.70104030e-06,
 -1.74920039e-05,-6.40754656e-05, 2.07765701e-05,-1.44707744e-05,
 -9.21279554e-06,-3.46393415e-05, 1.60036278e-06, 1.49384003e-05,
  2.64125646e-01, 3.06406561e-03, 8.96964172e-02, 3.45747169e-02,
 -5.11845341e-04, 3.45135469e-04,-9.80975273e+00,-1.18667843e-02,
 -2.39852232e-02, 3.90766540e-05]


--- Step 921 ---
qpos:
[-1.35649433e-02, 1.35316740e-02, 1.00779027e-02, 1.47377084e-02,
 -1.90511558e-02,-9.09541658e-03,-1.74436931e-02, 1.63253501e-02,
 -1.21370486e-02,-6.69991025e-03,-1.43617813e-02, 1.51222288e-02,
  1.40354646e+00, 3.03722589e-02, 2.87404012e-01,-3.16645662e-02,
  9.52701307e-02,-7.22004378e-02, 1.04553155e-01, 9.99611388e-01,
  8.79639536e-04, 4.79089919e-05,-2.78621021e-02]

qacc:
[-3.45553808e+00, 5.03204340e-01, 1.09856133e-01,-6.56271064e+00,
  1.19858445e+00,-2.30455861e+00, 7.50386129e+00,-1.00630525e+01,
  2.21165316e+00, 3.76919795e-01,-3.41712877e+00, 1.16943542e+01,
 -6.38089300e-01,-1.69558595e+01, 4.97035623e+01,-1.27374258e+02,
 -1.68683576e+00,-6.25687863e-01,-2.96214841e-01, 2.78208108e+01,
 -4.99381351e+01, 4.29874865e+01]

qfrc_actuator:
[ 5.02387165e-04,-5.39269093e-04,-1.93687343e-04,-6.12561139e-05,
 -6.20955633e-04,-7.81171013e-04,-1.55263644e-04,-2.57534952e-05,
 -5.74937133e-04,-4.50349061e-04,-1.43765150e-04,-2.93531514e-05,
  2.10000000e-01,-3.68437242e-03, 9.00000000e-02, 3.55843914e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36674953,  0.36598379,  0.02368717,  0.36598379,  0.36710771,
       -0.00553414,  0.02368717, -0.00553414,  0.45225594,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009437139204941725
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.43294727e-01,  2.97292420e-01, -4.47740126e-01,  2.62577169e-01,
        9.54786477e-01,  1.39413103e-01,  4.68942677e-01, -1.38777878e-17,
       -8.83228603e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10308242, -0.09039409,  0.15007294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.65424585, -10.10490779,  -3.37695029, -10.10490779,
        14.58239767, -11.75427782,  -3.37695029, -11.75427782,
        45.82677827,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046240253953125365
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00123521e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.00123521e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10014278, -0.05384394,  0.06198034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.04317277e-05,-4.99194123e-06,-2.70128044e-05,-2.20187618e-05,
  6.93820432e-06,-7.57884532e-05, 4.56728000e-06,-1.02869225e-05,
  1.30019880e-05, 1.43852692e-05, 1.84793358e-05, 2.68597690e-05,
  2.63470485e-01, 2.89767885e-03, 8.56511445e-02, 3.53280449e-02,
 -2.70061552e-04, 1.89626463e-04,-9.80994157e+00,-1.18429839e-02,
 -2.39642232e-02, 3.77841673e-05]


--- Step 922 ---
qpos:
[-1.35653688e-02, 1.35317607e-02, 1.00774981e-02, 1.47373183e-02,
 -1.90505871e-02,-9.09635475e-03,-1.74423752e-02, 1.63252751e-02,
 -1.21379346e-02,-6.69957383e-03,-1.43611509e-02, 1.51225691e-02,
  1.40354099e+00, 3.03450503e-02, 2.87513306e-01,-3.16669775e-02,
  9.52571802e-02,-7.22132112e-02, 1.04550536e-01, 9.99606974e-01,
  9.64787498e-04,-7.67765535e-05,-2.80171655e-02]

qacc:
[-2.10582178e+00, 6.79202820e-01,-3.15127849e+00, 5.58346854e+00,
  3.74794900e+00, 4.03170022e-03, 1.99628622e+00,-9.70315107e+00,
  4.50084412e+00,-1.04517448e-01,-9.86355279e-01, 6.24854771e+00,
 -3.11044727e-01,-3.40952600e+01, 7.67769914e+00,-1.79404488e+01,
 -1.67830006e+00,-6.55208333e-01,-3.41886015e-01, 2.55830804e+01,
 -5.04041285e+01, 4.10313530e+01]

qfrc_actuator:
[ 4.90493078e-04,-5.52592831e-04,-2.06177380e-04,-5.54126487e-05,
 -5.98855794e-04,-7.53304468e-04,-1.64480531e-04,-4.83712957e-05,
 -5.48802539e-04,-4.48603753e-04,-1.29107660e-04,-1.28613737e-05,
  2.10000000e-01,-3.65961216e-03, 9.00000000e-02, 3.55976337e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.3603485 , 0.3592955 , 0.02752791, 0.3592955 , 0.36001845,
       0.0043078 , 0.02752791, 0.0043078 , 0.30412294, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0008920703575100004
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.43949669e-01,  2.95549868e-01, -4.47659728e-01,  2.61092936e-01,
        9.55327313e-01,  1.38492610e-01,  4.68593038e-01,  1.38777878e-17,
       -8.83414153e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10306597, -0.09041225,  0.15007299])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.64993871, -10.16221002,  -3.18601349, -10.16221002,
        15.08656576, -14.15120684,  -3.18601349, -14.15120684,
        55.78707844,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004620856627463102
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.50823328e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.50823328e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10014727, -0.05385321,  0.06198036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24876181e-05,-2.26389334e-05,-1.76073316e-05, 4.26749107e-06,
  2.22869650e-05,-1.40140791e-05,-2.46664307e-05,-2.59082470e-05,
  2.64950965e-05, 1.48115295e-05, 2.08498050e-05, 1.82728754e-05,
  2.63829359e-01, 3.09034226e-03, 8.45602835e-02, 3.56313270e-02,
 -1.16045021e-04, 6.38883941e-05,-9.81002396e+00,-1.18252596e-02,
 -2.39555902e-02, 4.03202653e-05]


--- Step 923 ---
qpos:
[-1.35655889e-02, 1.35317642e-02, 1.00766364e-02, 1.47370118e-02,
 -1.90497576e-02,-9.09689761e-03,-1.74419777e-02, 1.63249173e-02,
 -1.21388456e-02,-6.69909284e-03,-1.43606299e-02, 1.51227721e-02,
  1.40352231e+00, 3.03113295e-02, 2.87626578e-01,-3.16685514e-02,
  9.52375439e-02,-7.22287454e-02, 1.04546363e-01, 9.99604634e-01,
  1.09532950e-03,-3.04022570e-04,-2.80941786e-02]

qacc:
[  1.76768731,  1.33667605, -5.28457478,  7.53105586,  2.22791373,
   2.50683691, -6.99422716,  3.28836142, -0.22463954,  0.21444531,
   0.0926039 , -2.3995083 ,  0.34002791,-39.73943199,  2.95225198,
  -2.77074393, -1.67148982, -0.69021961, -0.3882654 , 24.12682408,
 -50.58644521, 39.08665482]

qfrc_actuator:
[ 5.01424887e-04,-5.60543501e-04,-2.31131253e-04,-5.18196701e-05,
 -5.86083164e-04,-7.18456880e-04,-2.05829042e-04,-6.16245983e-05,
 -5.50828824e-04,-4.47708295e-04,-1.38493014e-04,-2.10537875e-05,
  2.10000000e-01,-3.66588316e-03, 9.00000000e-02, 3.55890496e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.35975582, 0.35843224, 0.03083141, 0.35843224, 0.35901942,
       0.008561  , 0.03083141, 0.008561  , 0.26022949, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0008884270269687293
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.45289502e-01,  2.92860801e-01, -4.46898433e-01,  2.58903774e-01,
        9.56155088e-01,  1.36880548e-01,  4.67391157e-01, -1.38777878e-17,
       -8.84050624e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10303865, -0.09044035,  0.15008155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.62744723, -10.21384785,  -2.93597457, -10.21384785,
        15.35427657, -16.44398294,  -2.93597457, -16.44398294,
        67.83378062,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046042356049361827
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.52120254e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.52120254e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10015107, -0.05385996,  0.06198043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05667825e-05,-2.40539767e-05,-3.16462758e-05, 2.09796408e-06,
  1.34303100e-05, 2.07929152e-05,-4.81858163e-05,-1.52138346e-05,
 -1.28408547e-06, 1.43073368e-05,-3.11708826e-06,-6.47997662e-06,
  2.64480368e-01, 3.37746667e-03, 8.43339137e-02, 3.56442686e-02,
 -5.56644666e-05,-2.34024912e-05,-9.81001015e+00,-1.18142577e-02,
 -2.39571908e-02, 4.66711316e-05]


--- Step 924 ---
qpos:
[-1.35653313e-02, 1.35316613e-02, 1.00754827e-02, 1.47363971e-02,
 -1.90487809e-02,-9.09731718e-03,-1.74420822e-02, 1.63250998e-02,
 -1.21397738e-02,-6.69870060e-03,-1.43601351e-02, 1.51232457e-02,
  1.40350570e+00, 3.02777820e-02, 2.87728949e-01,-3.16736283e-02,
  9.52219084e-02,-7.22428218e-02, 1.04543814e-01, 9.99601817e-01,
  1.20980208e-03,-4.76803579e-04,-2.81871577e-02]

qacc:
[  4.13318867,  0.03282469,  0.9662842 , -5.7406055 ,  1.26211033,
   2.67426737,-11.58527649, 21.65373761, -0.14963271,  0.51294762,
  -3.14094599,  7.92973425,  0.96838948, -1.484818  , -5.56269683,
  -4.05389824,  1.00023369,  0.36445899,  0.40567355, -8.7987795 ,
  26.98719393, -8.0139316 ]

qfrc_actuator:
[ 5.25701407e-04,-5.65265390e-04,-2.45484684e-04,-6.73441232e-05,
 -5.78907758e-04,-7.15321008e-04,-2.30244936e-04,-3.37585113e-05,
 -5.51665159e-04,-4.65202793e-04,-1.44267068e-04,-8.21552348e-06,
  2.10000000e-01,-3.68775544e-03, 9.00000000e-02, 3.56372841e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.35333336,  0.35236461,  0.02614658,  0.35236461,  0.35852781,
       -0.07000306,  0.02614658, -0.07000306,  1.2967302 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008541314536326665
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.47319730e-01,  2.89214500e-01, -4.45425918e-01,  2.55997375e-01,
        9.57264317e-01,  1.34574779e-01,  4.65311314e-01,  1.38777878e-17,
       -8.85147095e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10300045, -0.09047856,  0.15009903])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.70808101,   9.44750639,   5.04059739,   9.44750639,
        22.04066273, -21.24046615,   5.04059739, -21.24046615,
        50.5187273 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004663253854167368
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48799403e-14,  2.97598806e-14,  1.00000000e+00, -4.42825248e-28,
        1.00000000e+00, -2.97598806e-14, -1.00000000e+00,  0.00000000e+00,
        1.48799403e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0819205 , -0.0626668 ,  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:
[ 2.45847073e-05,-2.46095750e-05,-2.31462259e-05,-1.76096127e-05,
  7.58778170e-06, 4.13288704e-06,-2.65935867e-05, 2.67911499e-05,
 -8.91657378e-07,-1.03849208e-05,-3.41732511e-06, 1.32192407e-05,
  2.65140580e-01, 3.68344559e-03, 8.41348685e-02, 3.56505898e-02,
 -8.25781727e-05,-7.55550093e-05,-9.80990703e+00,-1.18096159e-02,
 -2.39678978e-02, 5.67944318e-05]


--- Step 925 ---
qpos:
[-1.35651292e-02, 1.35315251e-02, 1.00743759e-02, 1.47355678e-02,
 -1.90477252e-02,-9.09774418e-03,-1.74421511e-02, 1.63252486e-02,
 -1.21400156e-02,-6.69831045e-03,-1.43597755e-02, 1.51245567e-02,
  1.40349288e+00, 3.02452808e-02, 2.87821625e-01,-3.16818829e-02,
  9.52101769e-02,-7.22554520e-02, 1.04542492e-01, 9.99598540e-01,
  1.30666730e-03,-5.97123184e-04,-2.82965508e-02]

qacc:
[ -0.47874222, -0.61600902,  3.0401012 , -6.80590926,  0.6863053 ,
  -0.17975112,  0.76672924, -1.39898935,  5.98800034,  2.08732393,
 -11.00310852, 25.73799053,  0.86481141,  4.04084933, -4.70609037,
  -4.31810696,  0.97596577,  0.36154949,  0.30714953, -9.54317549,
  25.9620685 , -8.23773007]

qfrc_actuator:
[ 5.22125069e-04,-5.50240882e-04,-2.35707410e-04,-7.62279953e-05,
 -5.75081638e-04,-7.13345624e-04,-2.26798881e-04,-3.51886392e-05,
 -5.16280052e-04,-4.58050498e-04,-1.47913736e-04, 3.46409651e-05,
  2.10000000e-01,-3.63430582e-03, 9.00000000e-02, 3.56526048e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.35231134,  0.35139919,  0.02533549,  0.35139919,  0.36094165,
       -0.119701  ,  0.02533549, -0.119701  ,  2.01254495,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000849299076648045
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.48938287e-01,  2.86070067e-01, -4.44373380e-01,  2.53447743e-01,
        9.58208702e-01,  1.32666216e-01,  4.63754273e-01, -2.77555756e-17,
       -8.85963867e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10296929, -0.09051162,  0.15011198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004714783411777848
  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([ 0.08192282, -0.06266998,  0.06197996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.85565598e-06,-4.27566429e-06, 1.22810810e-06,-1.10840511e-05,
  4.06203298e-06,-9.12929420e-08, 1.93910305e-06,-1.65438015e-06,
  3.53345185e-05, 1.23710113e-06,-5.74536752e-06, 4.25523337e-05,
  2.65036086e-01, 3.73023229e-03, 8.46797182e-02, 3.58410130e-02,
 -4.73665574e-05,-5.13034946e-05,-9.80995891e+00,-1.18056804e-02,
 -2.39743313e-02, 6.74272332e-05]


--- Step 926 ---
qpos:
[-1.35653158e-02, 1.35315026e-02, 1.00730251e-02, 1.47346393e-02,
 -1.90469764e-02,-9.09800887e-03,-1.74422604e-02, 1.63253622e-02,
 -1.21394871e-02,-6.69774758e-03,-1.43595633e-02, 1.51266943e-02,
  1.40348653e+00, 3.02151860e-02, 2.87909812e-01,-3.16910062e-02,
  9.52022716e-02,-7.22666707e-02, 1.04542045e-01, 9.99594808e-01,
  1.38497483e-03,-6.66539084e-04,-2.84228165e-02]

qacc:
[ -3.37921787,  0.63409475, -1.61199574,  0.18634373, -2.66889448,
   0.25999553, -0.45828267, -0.21523077,  6.71649629,  2.3283423 ,
 -11.48407472, 25.92491197,  0.66955597, 12.80539927, -3.90637989,
   4.28451919,  0.95658064,  0.35288472,  0.2184436 ,-10.00006102,
  25.16791664, -8.46709559]

qfrc_actuator:
[ 5.02179052e-04,-5.41151765e-04,-2.47179064e-04,-8.10978889e-05,
 -5.91008210e-04,-6.94232507e-04,-2.24724994e-04,-3.60860017e-05,
 -4.77611527e-04,-4.36161308e-04,-1.50164394e-04, 7.70806299e-05,
  2.10000000e-01,-3.55435808e-03, 9.00000000e-02, 3.56492530e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.33443339,  0.33364727,  0.02291709,  0.33364727,  0.3488826 ,
       -0.21036431,  0.02291709, -0.21036431,  3.39710356,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007783716153845139
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.50156408e-01,  2.83432378e-01, -4.43734344e-01,  2.51265700e-01,
        9.58992225e-01,  1.31146716e-01,  4.62709012e-01,  1.38777878e-17,
       -8.86510220e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10294493, -0.09053945,  0.15012021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047428675471856974
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.85206636e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.85206636e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0819243 , -0.06267223,  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:
[-2.00097431e-05, 6.46679286e-06,-1.25908133e-05,-5.22707351e-06,
 -1.57936910e-05, 1.93547506e-05, 2.22409669e-06,-8.68903507e-07,
  3.96582729e-05, 2.32369224e-05,-1.22998292e-06, 4.31206828e-05,
  2.64846014e-01, 3.75965760e-03, 8.51641909e-02, 3.59964768e-02,
 -2.80859764e-05,-2.68238439e-05,-9.80999388e+00,-1.18032682e-02,
 -2.39791177e-02, 7.57378774e-05]


--- Step 927 ---
qpos:
[-1.35660844e-02, 1.35314079e-02, 1.00716085e-02, 1.47336712e-02,
 -1.90464244e-02,-9.09778365e-03,-1.74425131e-02, 1.63254284e-02,
 -1.21388439e-02,-6.69749773e-03,-1.43588423e-02, 1.51286502e-02,
  1.40348449e+00, 3.01870494e-02, 2.87983520e-01,-3.17014005e-02,
  9.51979829e-02,-7.22766277e-02, 1.04542175e-01, 9.99590518e-01,
  1.44432467e-03,-6.87218152e-04,-2.85698897e-02]

qacc:
[-5.04604999e+00, 1.73379098e-02,-1.64823815e-02,-5.26887642e-01,
 -1.72117421e+00, 9.53750514e-01,-2.25568802e+00, 1.29902483e+00,
  1.02146078e+00,-2.21121212e+00, 8.04833336e+00,-1.17739316e+01,
  3.42339644e-01, 1.02556091e+01,-1.74853512e+01, 3.02950041e+01,
  9.04131909e-01, 3.15409653e-01, 1.44420020e-01,-1.01741739e+01,
  2.40745309e+01,-1.04349166e+01]

qfrc_actuator:
[ 4.72766673e-04,-5.53510109e-04,-2.53375406e-04,-8.35887753e-05,
 -6.00679511e-04,-6.47250874e-04,-2.23412727e-04,-3.66487472e-05,
 -4.72836652e-04,-4.76614457e-04,-1.33758610e-04, 6.56881639e-05,
  2.10000000e-01,-3.54905325e-03, 9.00000000e-02, 3.56869178e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008221917107074131
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.50989697e-01,  2.81299342e-01, -4.43494324e-01,  2.49455852e-01,
        9.59620071e-01,  1.30004223e-01,  4.62156157e-01,  1.38777878e-17,
       -8.86798560e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10292721, -0.09056216,  0.15012377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047517001445360196
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.84118837e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.84118837e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0819251 , -0.06267375,  0.0619798 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.99677912e-05,-1.15687619e-05,-6.59075878e-06,-2.75035831e-06,
 -1.01087283e-05, 5.81941911e-05, 5.54580550e-06, 3.25681640e-07,
  5.88954080e-06,-2.58730011e-05, 2.25371891e-05,-9.60345956e-06,
  2.64522332e-01, 3.64634942e-03, 8.53884371e-02, 3.60775192e-02,
 -2.30644749e-05,-2.07176477e-06,-9.81001277e+00,-1.18024301e-02,
 -2.39823372e-02, 8.17090649e-05]


--- Step 928 ---
qpos:
[-1.35668545e-02, 1.35311333e-02, 1.00704553e-02, 1.47326719e-02,
 -1.90459927e-02,-9.09729935e-03,-1.74429338e-02, 1.63251733e-02,
 -1.21388386e-02,-6.69716894e-03,-1.43583081e-02, 1.51301074e-02,
  1.40348626e+00, 3.01609714e-02, 2.88039099e-01,-3.17126922e-02,
  9.51970422e-02,-7.22856049e-02, 1.04542619e-01, 9.99585487e-01,
  1.48540000e-03,-6.61379511e-04,-2.87438732e-02]

qacc:
[-1.92788393e-03,-1.03864788e+00, 3.49008262e+00,-4.31922081e+00,
 -1.05413983e+00, 1.52339632e-01, 1.31435366e+00,-6.80329370e+00,
 -5.57449451e+00,-3.89342572e-01, 3.66385155e+00,-1.20739468e+01,
  9.34534528e-02, 1.11588355e+01,-2.40003805e+01, 4.52881810e+01,
  8.36996883e-01, 2.44967987e-01, 7.82714579e-02,-9.80672362e+00,
  2.29685928e+01,-1.34875018e+01]

qfrc_actuator:
[ 4.73528511e-04,-5.60843917e-04,-2.38734372e-04,-8.46723837e-05,
 -6.06585042e-04,-6.54951203e-04,-2.40190897e-04,-5.47371278e-05,
 -5.05803014e-04,-4.65293218e-04,-1.42261406e-04, 4.04267598e-05,
  2.10000000e-01,-3.50028541e-03, 9.00000000e-02, 3.56434264e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008255390203491717
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.51478412e-01,  2.79626758e-01, -4.43614010e-01,  2.47988720e-01,
        9.60108783e-01,  1.29200305e-01,  4.62045570e-01,  1.38777878e-17,
       -8.86856184e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10291574, -0.09058018,  0.15012303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004744935751656715
  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([ 0.08192537, -0.06267467,  0.06197983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.39020484e-08,-1.52670294e-05, 1.13528233e-05,-1.85846591e-06,
 -6.18191245e-06, 2.59775662e-05,-4.06962870e-06,-1.53971992e-05,
 -3.28290631e-05, 1.07359367e-06,-1.14123567e-05,-2.57793966e-05,
  2.64305850e-01, 3.59861528e-03, 8.61120984e-02, 3.60975009e-02,
 -3.31767212e-05, 2.39509765e-05,-9.81001688e+00,-1.18030930e-02,
 -2.39839496e-02, 8.53683903e-05]


--- Step 929 ---
qpos:
[-1.35669197e-02, 1.35308201e-02, 1.00697111e-02, 1.47316387e-02,
 -1.90459801e-02,-9.09676570e-03,-1.74436902e-02, 1.63240524e-02,
 -1.21388839e-02,-6.69676315e-03,-1.43579058e-02, 1.51312471e-02,
  1.40349157e+00, 3.01370984e-02, 2.88074308e-01,-3.17248454e-02,
  9.51991679e-02,-7.22939057e-02, 1.04543148e-01, 9.99579506e-01,
  1.50912844e-03,-5.91167059e-04,-2.89514153e-02]

qacc:
[ 6.12323612e+00,-1.27648663e+00, 4.59968166e+00,-5.78997789e+00,
 -3.65074439e+00,-7.71387394e-01, 6.51354210e+00,-2.10122560e+01,
 -4.47988533e-01,-1.82852392e-01, 2.14240851e+00,-7.48781087e+00,
 -1.29292330e-01, 1.23865082e+01,-2.74102210e+01, 5.24437513e+01,
  7.66612687e-01, 1.69082340e-01, 2.14193614e-02,-9.31798437e+00,
  2.19031620e+01,-1.68132369e+01]

qfrc_actuator:
[ 5.09799827e-04,-5.47273788e-04,-2.11893906e-04,-8.49040987e-05,
 -6.27981521e-04,-6.77673193e-04,-2.67741331e-04,-1.00800519e-04,
 -5.07449646e-04,-4.58679349e-04,-1.47464712e-04, 2.49861777e-05,
  2.10000000e-01,-3.47958124e-03, 9.00000000e-02, 3.56046341e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008317478311645247
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.85168333,  0.27834183, -0.44402853,  0.24681262,  0.96048208,
        0.12867675,  0.46229756,  0.        , -0.88672485])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10291006, -0.09059443,  0.15011883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047257120083370185
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.87331085e-14,  2.93665543e-14,  1.00000000e+00,  1.72478902e-27,
        1.00000000e+00, -2.93665543e-14, -1.00000000e+00,  0.00000000e+00,
       -5.87331085e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0819252 , -0.06267512,  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:
[ 3.62888802e-05, 7.32376508e-06, 2.50281451e-05,-5.28043039e-07,
 -2.15767110e-05,-9.71365132e-06,-2.32236405e-05,-4.53913929e-05,
 -2.60645916e-06, 3.73869718e-06,-7.27929503e-06,-1.62903017e-05,
  2.64115081e-01, 3.51743882e-03, 8.70181553e-02, 3.61034905e-02,
 -5.98526002e-05, 5.42598275e-05,-9.81000666e+00,-1.18054880e-02,
 -2.39840424e-02, 8.68092196e-05]


--- Step 930 ---
qpos:
[-1.35668943e-02, 1.35307311e-02, 1.00691837e-02, 1.47305895e-02,
 -1.90462242e-02,-9.09634961e-03,-1.74441760e-02, 1.63227134e-02,
 -1.21389492e-02,-6.69659838e-03,-1.43574209e-02, 1.51318736e-02,
  1.40350029e+00, 3.01155946e-02, 2.88087819e-01,-3.17379103e-02,
  9.52040916e-02,-7.23018071e-02, 1.04543571e-01, 9.99572357e-01,
  1.51633387e-03,-4.78559130e-04,-2.91988740e-02]

qacc:
[ 7.89598318e-01,-3.43781995e-01, 1.72028213e+00,-2.50439123e+00,
 -2.21906593e+00,-1.35559173e+00, 5.53656890e+00,-9.66502788e+00,
 -1.67196741e-01,-1.60478489e+00, 7.42691595e+00,-1.62625624e+01,
 -3.27097588e-01, 1.37256760e+01,-2.92020723e+01, 5.59103605e+01,
  6.99504840e-01, 9.98710665e-02,-2.63768540e-02,-8.88264733e+00,
  2.09191785e+01,-1.99938989e+01]

qfrc_actuator:
[ 5.13413211e-04,-5.21230600e-04,-1.95737389e-04,-8.46094857e-05,
 -6.40573003e-04,-6.73796830e-04,-2.48262314e-04,-1.09718083e-04,
 -5.08389078e-04,-4.90424818e-04,-1.50668550e-04,-2.29607078e-06,
  2.10000000e-01,-3.51219046e-03, 9.00000000e-02, 3.56044895e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008385962343032058
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.85164457,  0.27737954, -0.44470452,  0.24587688,  0.96076042,
        0.1283899 ,  0.46286724,  0.        , -0.88642762])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10290958, -0.09060562,  0.15011142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004696716721691932
  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([ 0.0819247 , -0.0626752 ,  0.06198003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.68386982e-06, 3.52991635e-05, 2.07317952e-05, 1.46243547e-06,
 -1.32213177e-05,-8.30549893e-06, 1.30417915e-05,-1.10199972e-05,
 -1.03375034e-06,-3.18576369e-05,-3.89236781e-06,-2.76911391e-05,
  2.63937956e-01, 3.37521359e-03, 8.80363304e-02, 3.61463259e-02,
 -1.05165338e-04, 9.24488404e-05,-9.80998202e+00,-1.18099612e-02,
 -2.39828552e-02, 8.61452576e-05]


--- Step 931 ---
qpos:
[-1.35671698e-02, 1.35307360e-02, 1.00688966e-02, 1.47299123e-02,
 -1.90459280e-02,-9.09602330e-03,-1.74444976e-02, 1.63223171e-02,
 -1.21390256e-02,-6.69641984e-03,-1.43571007e-02, 1.51324983e-02,
  1.40350554e+00, 3.00934654e-02, 2.88090878e-01,-3.17402665e-02,
  9.52107299e-02,-7.23075332e-02, 1.04544459e-01, 9.99563420e-01,
  1.48385512e-03,-3.43214687e-04,-2.95067632e-02]

qacc:
[-2.60325410e+00, 2.23415193e-01,-2.17820072e+00, 8.15317544e+00,
  4.69830489e+00, 1.35316175e+00,-8.99381721e+00, 2.51312492e+01,
 -1.03284868e-01, 4.74634786e-01,-1.65768943e+00, 1.87790141e+00,
 -5.06577124e-01,-3.91110381e+00,-4.79227234e+01, 1.45122039e+02,
  4.28636153e-01, 5.43788318e-01, 1.16202212e-01,-2.01786505e+01,
  1.07377853e+01,-3.02361801e+01]

qfrc_actuator:
[ 4.97763978e-04,-5.23456276e-04,-1.85962539e-04,-6.62508803e-05,
 -6.12370930e-04,-6.71566911e-04,-2.36542960e-04,-6.11443249e-05,
 -5.08914712e-04,-4.73888118e-04,-1.52834316e-04,-8.55587842e-07,
  2.10000000e-01,-3.47131811e-03, 9.00000000e-02, 3.56101757e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008458796696267308
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.85140406,  0.27667717, -0.44560169,  0.24513335,  0.96096293,
        0.12829612,  0.46370331,  0.        , -0.88599054])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10291375, -0.09061447,  0.15010122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.70233513,   2.84869836, -10.31624422,   2.84869836,
        50.77279461,  11.06494281, -10.31624422,  11.06494281,
        13.75777699,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046590999863547686
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.47343498e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.47343498e-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([ 0.083515  , -0.06667375,  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:
[-1.54910072e-05, 2.18588326e-05, 1.96693123e-05, 2.06165327e-05,
  2.78120070e-05,-1.88645726e-07, 1.12324396e-05, 4.84557794e-05,
 -5.78080186e-07,-3.26787244e-06,-1.01838575e-05,-5.98362344e-07,
  2.63767442e-01, 3.29782649e-03, 8.91207576e-02, 3.61974866e-02,
 -1.71434751e-04, 1.41943109e-04,-9.80994268e+00,-1.18168361e-02,
 -2.39806600e-02, 8.34799553e-05]


--- Step 932 ---
qpos:
[-1.35676305e-02, 1.35307147e-02, 1.00685215e-02, 1.47298445e-02,
 -1.90452964e-02,-9.09564224e-03,-1.74449975e-02, 1.63225109e-02,
 -1.21387632e-02,-6.69624941e-03,-1.43565510e-02, 1.51331101e-02,
  1.40350786e+00, 3.00707121e-02, 2.88087752e-01,-3.17321912e-02,
  9.52187469e-02,-7.23116918e-02, 1.04545647e-01, 9.99552276e-01,
  1.41502121e-03,-1.86602503e-04,-2.98866334e-02]

qacc:
[-1.60704922e+00, 1.46962090e+00,-7.85726001e+00, 1.85577875e+01,
  2.90634881e+00, 1.77886503e+00,-8.73957166e+00, 1.92084441e+01,
  2.96524630e+00,-6.84042978e-01, 2.46786107e+00,-3.04066365e+00,
 -3.61980853e-01,-3.94984492e+00,-4.07727700e+01, 1.29264741e+02,
  3.44668954e-01, 3.91898323e-01, 7.47917847e-02,-1.84941350e+01,
  1.00390834e+01,-3.60169124e+01]

qfrc_actuator:
[ 4.88665258e-04,-5.42602599e-04,-1.97879631e-04,-3.74353766e-05,
 -5.95892314e-04,-6.70305609e-04,-2.47233898e-04,-3.24071531e-05,
 -4.91440151e-04,-4.64045781e-04,-1.36410425e-04,-2.40040545e-07,
  2.10000000e-01,-3.43756778e-03, 9.00000000e-02, 3.55903521e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008520953214270824
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.51070824e-01,  2.76390646e-01, -4.46415349e-01,  2.44762652e-01,
        9.61045374e-01,  1.28386266e-01,  4.64510169e-01, -1.38777878e-17,
       -8.85567786e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10291959, -0.09061849,  0.15009249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004621210561157318
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.00612659e-14, -1.23928999e-06,  1.00000000e+00, -7.44333253e-20,
        1.00000000e+00,  1.23928999e-06, -1.00000000e+00,  1.20370622e-35,
       -6.00612659e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0835127 , -0.0666743 ,  0.06198035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.53480197e-06,-1.97196209e-06,-4.26231989e-06, 3.08351268e-05,
  1.72696748e-05, 5.55128289e-06,-7.67403632e-06, 3.00590054e-05,
  1.74456995e-05, 5.88730342e-06, 1.44740187e-05, 1.11440888e-07,
  2.63940687e-01, 3.36289185e-03, 8.96429031e-02, 3.56421218e-02,
 -2.81267236e-04, 2.04989939e-04,-9.80988306e+00,-1.18254166e-02,
 -2.39830861e-02, 7.79908241e-05]


--- Step 933 ---
qpos:
[-1.35681967e-02, 1.35306886e-02, 1.00677661e-02, 1.47297955e-02,
 -1.90451619e-02,-9.09508482e-03,-1.74456943e-02, 1.63233786e-02,
 -1.21386386e-02,-6.69592066e-03,-1.43561197e-02, 1.51330363e-02,
  1.40350862e+00, 3.00476842e-02, 2.88085196e-01,-3.17134396e-02,
  9.52278851e-02,-7.23148019e-02, 1.04546988e-01, 9.99538538e-01,
  1.31286128e-03,-9.75308479e-06,-3.03477661e-02]

qacc:
[-9.26339766e-01, 1.09763864e+00,-3.99961410e+00, 4.93496883e+00,
 -4.32436983e+00, 2.17862368e+00,-1.02617434e+01, 2.20971748e+01,
 -1.20989254e+00,-8.69177343e-01, 6.30219320e+00,-1.81020944e+01,
 -2.27173407e-01,-1.76236708e+00,-3.15031743e+01, 1.11386175e+02,
  2.80318222e-01, 2.62132452e-01, 3.83015087e-02,-1.69637070e+01,
  9.55835078e+00,-4.06630509e+01]

qfrc_actuator:
[ 4.83501404e-04,-5.54066213e-04,-2.22579736e-04,-3.82371619e-05,
 -6.21964299e-04,-6.51981477e-04,-2.53341539e-04, 2.15625050e-06,
 -4.99016358e-04,-4.58203686e-04,-1.44666245e-04,-3.56129871e-05,
  2.10000000e-01,-3.40784182e-03, 9.00000000e-02, 3.55512163e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008241945107161085
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.50686460e-01,  2.76409593e-01, -4.47135644e-01,  2.44670270e-01,
        9.61039925e-01,  1.28602962e-01,  4.65262298e-01, -1.38777878e-17,
       -8.85172861e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10292627, -0.09061893,  0.15008527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004579066230629029
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.14520888e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.14520888e-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([ 0.0835106 , -0.0666746 ,  0.06198053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.43530916e-06,-1.21125411e-05,-2.45601187e-05,-4.32337051e-07,
 -2.55821725e-05, 2.11144678e-05,-4.87426360e-06, 3.51186056e-05,
 -7.08900867e-06, 1.21241356e-05,-5.25760894e-06,-3.46192066e-05,
  2.64087189e-01, 3.42379004e-03, 8.99516600e-02, 3.50813096e-02,
 -4.37206713e-04, 2.98788808e-04,-9.80980111e+00,-1.18375308e-02,
 -2.39875823e-02, 7.01229136e-05]


--- Step 934 ---
qpos:
[-1.35684756e-02, 1.35306640e-02, 1.00669796e-02, 1.47297125e-02,
 -1.90453412e-02,-9.09419378e-03,-1.74465443e-02, 1.63246300e-02,
 -1.21382610e-02,-6.69556311e-03,-1.43554705e-02, 1.51325327e-02,
  1.40350488e+00, 3.00215999e-02, 2.88144480e-01,-3.16769924e-02,
  9.52326590e-02,-7.23147304e-02, 1.04549464e-01, 9.99523074e-01,
  1.19614518e-03, 1.14622269e-04,-3.08574304e-02]

qacc:
[ 2.48998555e+00, 1.41667443e-02, 8.76163322e-02,-6.18231848e-01,
 -2.73515859e+00, 1.66320822e+00,-6.90207082e+00, 1.35334604e+01,
  2.21428831e+00,-1.45984632e+00, 7.06800243e+00,-1.48691247e+01,
 -2.67760351e-02,-1.57475858e+01, 3.77602253e+01, 3.20580221e-01,
 -1.09108702e+00, 7.95382854e-01, 2.83965575e-01,-6.47759460e+00,
 -2.64776649e+01,-2.42462575e+01]

qfrc_actuator:
[ 4.98445512e-04,-5.43178346e-04,-2.19116785e-04,-3.87099841e-05,
 -6.37363091e-04,-6.23563154e-04,-2.56609151e-04, 2.21428314e-05,
 -4.85776589e-04,-4.54924926e-04,-1.31968633e-04,-5.63958168e-05,
  2.10000000e-01,-3.36287767e-03, 9.00000000e-02, 3.55670862e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008295622555826576
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.50267212e-01,  2.76651821e-01, -4.47782802e-01,  2.44781750e-01,
        9.60970223e-01,  1.28911307e-01,  4.65969487e-01, -1.38777878e-17,
       -8.84800790e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10293306, -0.09061662,  0.15007914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.5393622 , 10.44493747, -1.4076352 , 10.44493747, 10.78071547,
        1.79089004, -1.4076352 ,  1.79089004, 23.82812802,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045379164994147373
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05818492e-14, -3.51390995e-06,  1.00000000e+00,  1.07461864e-19,
        1.00000000e+00,  3.51390995e-06, -1.00000000e+00,  0.00000000e+00,
        3.05818492e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09322601, -0.06797545,  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:
[ 1.47940524e-05,-9.59699696e-07,-2.07306907e-06,-1.84879888e-06,
 -1.61433117e-05, 4.07097758e-05, 1.70792356e-06, 2.14069514e-05,
  1.30258154e-05, 7.48062578e-06, 1.33544143e-05,-2.11190899e-05,
  2.64165422e-01, 3.48251581e-03, 8.99227324e-02, 3.45632656e-02,
 -6.47130222e-04, 4.27767006e-04,-9.80969683e+00,-1.18531686e-02,
 -2.39944907e-02, 6.00653279e-05]


--- Step 935 ---
qpos:
[-1.35685732e-02, 1.35308218e-02, 1.00661182e-02, 1.47299491e-02,
 -1.90450145e-02,-9.09340357e-03,-1.74466274e-02, 1.63250672e-02,
 -1.21377279e-02,-6.69533831e-03,-1.43546147e-02, 1.51321507e-02,
  1.40350133e+00, 2.99932725e-02, 2.88308060e-01,-3.16237970e-02,
  9.52285525e-02,-7.23123816e-02, 1.04551733e-01, 9.99508961e-01,
  1.08893502e-03, 1.29510004e-04,-3.13150737e-02]

qacc:
[ 1.56654312e+00, 1.10538156e+00,-4.94572755e+00, 1.04664526e+01,
  4.41815396e+00,-3.95936888e+00, 1.73488304e+01,-3.25801888e+01,
  1.36564302e+00,-5.04688651e-01, 1.02662753e+00, 8.51817836e-01,
  3.34883303e-01,-9.10919031e+00, 1.03507216e+02,-1.38356729e+02,
 -2.22009367e+00, 5.69355089e-01,-5.19752201e-02, 6.43616744e+00,
 -5.45400046e+01, 2.60849725e+01]

qfrc_actuator:
[ 5.07351111e-04,-5.18884118e-04,-2.16705755e-04,-2.11874730e-05,
 -6.10837088e-04,-6.42574004e-04,-2.22632647e-04,-1.98539227e-05,
 -4.78135566e-04,-4.70870595e-04,-1.24740504e-04,-5.06535408e-05,
  2.10000000e-01,-3.30587896e-03, 9.00000000e-02, 3.55691646e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.34877644, -0.18126481, -0.29797328, -0.18126481,  2.34795236,
       -1.21615011, -0.29797328, -1.21615011,  1.08859182,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008334799162593734
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.85015364,  0.27689667, -0.44784709,  0.24498364,  0.9608997 ,
        0.12905339,  0.46607059,  0.        , -0.88474754])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10293001, -0.09061241,  0.15007999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.54333156,  9.30325948,  4.96096801,  9.30325948, 13.37676846,
       -5.31351917,  4.96096801, -5.31351917, 20.50772712,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045409479646960283
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.11228665e-14,  5.86509532e-06,  1.00000000e+00, -3.58491438e-19,
        1.00000000e+00, -5.86509532e-06, -1.00000000e+00,  0.00000000e+00,
        6.11228665e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10219796, -0.06426861,  0.06198069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.34236476e-06, 2.32644581e-05, 1.89529825e-06, 1.73735040e-05,
  2.60492224e-05, 5.02493629e-06, 4.33391526e-05,-3.97754533e-05,
  7.99765230e-06,-9.91986738e-06, 9.68163570e-06, 6.11245204e-06,
  2.64389604e-01, 3.69371231e-03, 8.68304747e-02, 3.36805310e-02,
 -7.50586615e-04, 4.67837154e-04,-9.80971585e+00,-1.18480656e-02,
 -2.39973076e-02, 5.18826714e-05]


--- Step 936 ---
qpos:
[-1.35685630e-02, 1.35312637e-02, 1.00649506e-02, 1.47303962e-02,
 -1.90440280e-02,-9.09300814e-03,-1.74460908e-02, 1.63247011e-02,
 -1.21377975e-02,-6.69501335e-03,-1.43540364e-02, 1.51318442e-02,
  1.40349918e+00, 2.99639346e-02, 2.88526124e-01,-3.15751282e-02,
  9.52174845e-02,-7.23132976e-02, 1.04552663e-01, 9.99497240e-01,
  1.04189636e-03, 5.53144688e-05,-3.16887648e-02]

qacc:
[   0.91927999,   1.66396949,  -6.28041437,  10.21054178,   5.75468497,
   -3.91680956,  16.5817605 , -31.16397046,  -5.27057526,   1.07342634,
   -3.93656007,   5.59466883,   0.32990278,  -3.33155463,  94.28900866,
 -212.92333273,  -1.74037454,  -0.81624003,  -0.33454962,  31.45906852,
  -43.53207199,  42.04534556]

qfrc_actuator:
[ 5.12624702e-04,-5.04480066e-04,-2.32622276e-04,-1.09602505e-05,
 -5.77603092e-04,-6.89741363e-04,-2.02673567e-04,-6.24908749e-05,
 -5.09362709e-04,-4.62695638e-04,-1.38622489e-04,-4.71283934e-05,
  2.10000000e-01,-3.27675560e-03, 9.00000000e-02, 3.55568371e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.34923661,  0.34791039,  0.03040672,  0.34791039,  0.35116956,
       -0.02211662,  0.03040672, -0.02211662,  0.60229266,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008354696660414447
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.50506336e-01,  2.76869560e-01, -4.47193716e-01,  2.45059292e-01,
        9.60907512e-01,  1.28851451e-01,  4.65386845e-01,  1.38777878e-17,
       -8.85107386e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10291147, -0.09060859,  0.15008855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.57464648, -7.60320997,  7.34944531, -7.60320997, 26.14436726,
       16.10731847,  7.34944531, 16.10731847, 27.23812505,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004564719990251334
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.08045525e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.08045525e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10022656, -0.05397924,  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:
[ 5.55417523e-06, 2.85562304e-05,-1.02761368e-05, 1.16276134e-05,
  3.39569714e-05,-3.71128418e-05, 2.49544508e-05,-4.16978116e-05,
 -3.10194800e-05, 4.87148670e-06,-1.45344844e-05, 3.55238315e-06,
  2.64380138e-01, 3.83855999e-03, 8.16157640e-02, 3.28308577e-02,
 -5.92677894e-04, 3.12281277e-04,-9.80984905e+00,-1.18224336e-02,
 -2.39889950e-02, 4.79526810e-05]


--- Step 937 ---
qpos:
[-1.35681447e-02, 1.35316853e-02, 1.00640016e-02, 1.47309655e-02,
 -1.90433406e-02,-9.09279962e-03,-1.74456505e-02, 1.63241961e-02,
 -1.21378963e-02,-6.69459707e-03,-1.43536249e-02, 1.51312306e-02,
  1.40348684e+00, 2.99292858e-02, 2.88758462e-01,-3.15265774e-02,
  9.51995272e-02,-7.23175431e-02, 1.04552061e-01, 9.99487823e-01,
  1.05048057e-03,-1.10533502e-04,-3.19839953e-02]

qacc:
[  3.54546466, -0.39355165,  0.8369478 ,  0.9535982 , -2.5973349 ,
  -0.258479  ,  1.15893697, -3.28249886, -0.26149327, -0.04520197,
   1.63430204, -6.7529903 ,  0.28475626,-31.62973333, 21.16423833,
 -44.16084868, -1.72232606, -0.83235627, -0.3830941 , 29.24625469,
 -44.88105886, 39.29637341]

qfrc_actuator:
[ 5.33472825e-04,-5.13937560e-04,-2.23768771e-04,-5.12919046e-06,
 -5.93958455e-04,-7.00210453e-04,-2.09037304e-04,-6.96921053e-05,
 -5.09956922e-04,-4.57980747e-04,-1.47016495e-04,-6.26886714e-05,
  2.10000000e-01,-3.31795064e-03, 9.00000000e-02, 3.54971839e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.35669605, 0.35489201, 0.03582925, 0.35489201, 0.35621199,
       0.00479471, 0.03582925, 0.00479471, 0.30920399, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0008710920627004457
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.51334454e-01,  2.75909118e-01, -4.46210495e-01,  2.44376732e-01,
        9.61183728e-01,  1.28085339e-01,  4.64230180e-01, -1.38777878e-17,
       -8.85714593e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10288192, -0.09061426,  0.15010016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.57678743,  -8.50583032,  -6.28643642,  -8.50583032,
        26.0417971 , -20.92485144,  -6.28643642, -20.92485144,
        38.88904955,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045663359991328367
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21566068e-13,  7.59787925e-15,  1.00000000e+00,  9.23644305e-28,
        1.00000000e+00, -7.59787925e-15, -1.00000000e+00,  0.00000000e+00,
       -1.21566068e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10023533, -0.05398816,  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:
[ 2.10148495e-05, 4.88884107e-06, 1.38879563e-05, 6.92519268e-06,
 -1.54097238e-05,-2.78789041e-05,-1.24113541e-05,-8.74320077e-06,
 -1.49841202e-06, 4.57919274e-06,-9.05399790e-06,-1.57840072e-05,
  2.64308570e-01, 3.85251133e-03, 7.88918444e-02, 3.29976325e-02,
 -3.84942118e-04, 1.46532130e-04,-9.80997750e+00,-1.18063832e-02,
 -2.39713800e-02, 4.82143436e-05]


--- Step 938 ---
qpos:
[-1.35678243e-02, 1.35316091e-02, 1.00639681e-02, 1.47316134e-02,
 -1.90428547e-02,-9.09260061e-03,-1.74453794e-02, 1.63235908e-02,
 -1.21376570e-02,-6.69428227e-03,-1.43532464e-02, 1.51304510e-02,
  1.40347490e+00, 2.98943071e-02, 2.88977466e-01,-3.14813495e-02,
  9.51855135e-02,-7.23215067e-02, 1.04552410e-01, 9.99477927e-01,
  1.04107489e-03,-2.22573359e-04,-3.22914984e-02]

qacc:
[-0.81166707,-3.05392064, 9.60432224,-9.34158821,-1.75430945, 0.25671225,
 -0.50410658,-0.96130449, 2.95090439,-0.38923075, 1.88412454,-4.61867988,
  0.75017033,-4.18022175,-9.72963223, 5.24785037, 0.98589906, 0.0704981 ,
  0.23777358,-9.85126474,26.59611073,-6.16812233]

qfrc_actuator:
[ 5.27816855e-04,-5.55273738e-04,-1.82702931e-04,-1.93145179e-06,
 -6.03867127e-04,-6.88710537e-04,-2.12973772e-04,-7.37274407e-05,
 -4.92503812e-04,-4.73125742e-04,-1.52117441e-04,-7.15950629e-05,
  2.10000000e-01,-3.34337419e-03, 9.00000000e-02, 3.54420425e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.35672096, 0.35434371, 0.04111421, 0.35434371, 0.35554391,
       0.01014438, 0.04111421, 0.01014438, 0.26929139, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0008712248045824122
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.85277893,  0.27392171, -0.44467403,  0.24288451,  0.96175199,
        0.12664998,  0.46235831,  0.        , -0.88669318])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10284187, -0.09063084,  0.15011859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004560364783524687
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.50978462e-14, -2.43450486e-13,  1.00000000e+00, -2.31516169e-26,
        1.00000000e+00,  2.43450486e-13, -1.00000000e+00,  0.00000000e+00,
       -9.50978462e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08193796, -0.0626536 ,  0.06198061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.05450632e-06,-3.54440563e-05, 4.40197354e-05, 4.02076824e-06,
 -1.03728602e-05,-7.05849969e-06,-1.15338264e-05,-5.83055432e-06,
  1.73943009e-05,-1.51294197e-05,-5.81605258e-06,-9.33041268e-06,
  2.64816635e-01, 4.09751238e-03, 7.81784071e-02, 3.29484894e-02,
 -2.68349152e-04, 1.77472597e-05,-9.81001296e+00,-1.17948370e-02,
 -2.39647301e-02, 5.24367764e-05]


--- Step 939 ---
qpos:
[-1.35679188e-02, 1.35312038e-02, 1.00641587e-02, 1.47323215e-02,
 -1.90421469e-02,-9.09235943e-03,-1.74451905e-02, 1.63225833e-02,
 -1.21379005e-02,-6.69417454e-03,-1.43526022e-02, 1.51295636e-02,
  1.40346365e+00, 2.98592843e-02, 2.89178361e-01,-3.14394828e-02,
  9.51752016e-02,-7.23253284e-02, 1.04553382e-01, 9.99467339e-01,
  1.01527528e-03,-2.83216061e-04,-3.26178911e-02]

qacc:
[ -3.58415508, -0.93068778,  2.44560461, -1.53493187,  1.92310055,
  -0.54566815,  3.71809101,-10.57062712, -4.20117153, -1.2296212 ,
   4.45645599, -6.60896055,  0.71382283, -2.66498429,-16.66154364,
  19.28279614,  0.92544148,  0.03543264,  0.15569701, -9.02427034,
  25.41055962, -9.47592059]

qfrc_actuator:
[ 5.06601213e-04,-5.79746337e-04,-1.76352043e-04,-3.19251522e-07,
 -5.92133192e-04,-6.81884484e-04,-2.15342669e-04,-9.35989467e-05,
 -5.17835716e-04,-4.82277771e-04,-1.37556960e-04,-7.65274699e-05,
  2.10000000e-01,-3.30893370e-03, 9.00000000e-02, 3.53751075e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008738053799466014
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.53830624e-01,  2.72351966e-01, -4.43618836e-01,  2.41678452e-01,
        9.62197696e-01,  1.25567191e-01,  4.61047493e-01, -1.38777878e-17,
       -8.87375461e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10280893, -0.09064325,  0.15013202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045891524780804216
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02404156e-14,  1.51202078e-14,  1.00000000e+00, -4.57241367e-28,
        1.00000000e+00, -1.51202078e-14, -1.00000000e+00,  0.00000000e+00,
        3.02404156e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194004, -0.06265101,  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:
[-2.13740330e-05,-3.50413914e-05, 4.58671770e-06, 1.69433676e-06,
  1.14244427e-05, 2.25491664e-07,-5.45469242e-06,-2.06872320e-05,
 -2.48524228e-05,-1.92174095e-05, 1.03920432e-05,-5.96482388e-06,
  2.64795666e-01, 4.15301525e-03, 7.88453532e-02, 3.30477678e-02,
 -2.62959703e-04, 6.27684630e-05,-9.81001166e+00,-1.18027281e-02,
 -2.39728975e-02, 5.49794028e-05]


--- Step 940 ---
qpos:
[-1.35679221e-02, 1.35307664e-02, 1.00640604e-02, 1.47326957e-02,
 -1.90409593e-02,-9.09223500e-03,-1.74449776e-02, 1.63213586e-02,
 -1.21387906e-02,-6.69421209e-03,-1.43518018e-02, 1.51286236e-02,
  1.40345512e+00, 2.98251834e-02, 2.89363261e-01,-3.13997473e-02,
  9.51683585e-02,-7.23292027e-02, 1.04554684e-01, 9.99455833e-01,
  9.74925906e-04,-2.94545672e-04,-3.29696819e-02]

qacc:
[ 7.82026786e-01, 7.61100260e-02, 1.07368447e+00,-6.36200811e+00,
  4.16895676e+00,-6.76360870e-01, 3.09110819e+00,-6.78846847e+00,
 -5.63717030e+00,-7.25979908e-01, 2.55165854e+00,-3.62755892e+00,
  6.53253823e-01, 3.29870604e+00,-1.72003737e+01, 2.58529607e+01,
  8.67200712e-01,-1.31312541e-02, 8.23585469e-02,-8.07838644e+00,
  2.43930979e+01,-1.27302314e+01]

qfrc_actuator:
[ 5.11911200e-04,-5.76317630e-04,-1.90504779e-04,-1.74238178e-05,
 -5.67756447e-04,-6.95663259e-04,-2.16790208e-04,-1.04877613e-04,
 -5.50400513e-04,-4.87687841e-04,-1.29237803e-04,-7.90673509e-05,
  2.10000000e-01,-3.23872848e-03, 9.00000000e-02, 3.52669587e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008112858241852241
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.54544914e-01,  2.71137313e-01, -4.42987074e-01,  2.40716073e-01,
        9.62540678e-01,  1.24784674e-01,  4.60226860e-01,  1.38777878e-17,
       -8.87801350e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10278262, -0.09065226,  0.15014096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004600696797589371
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50822673e-14, -7.54113367e-15,  1.00000000e+00,  1.13737394e-28,
        1.00000000e+00,  7.54113367e-15, -1.00000000e+00,  0.00000000e+00,
        1.50822673e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194138, -0.06264874,  0.06198044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.69195685e-06,-1.51516771e-05,-2.07657137e-05,-1.84133176e-05,
  2.46981064e-05,-1.56875878e-05,-2.79753832e-06,-1.18624366e-05,
 -3.32929702e-05,-1.42661961e-05, 5.42660524e-06,-3.11826760e-06,
  2.64759372e-01, 4.22961873e-03, 7.97509305e-02, 3.31077403e-02,
 -2.80740293e-04, 1.10736953e-04,-9.80999638e+00,-1.18114012e-02,
 -2.39791349e-02, 5.52671862e-05]


--- Step 941 ---
qpos:
[-1.35678616e-02, 1.35302114e-02, 1.00640601e-02, 1.47331916e-02,
 -1.90398335e-02,-9.09233233e-03,-1.74444731e-02, 1.63203486e-02,
 -1.21397196e-02,-6.69427319e-03,-1.43512311e-02, 1.51276717e-02,
  1.40344944e+00, 2.97923088e-02, 2.89528878e-01,-3.13625244e-02,
  9.51647589e-02,-7.23332821e-02, 1.04556070e-01, 9.99443184e-01,
  9.21247295e-04,-2.58529192e-04,-3.33527463e-02]

qacc:
[ 5.58188220e-01,-1.79882759e-01,-9.91924444e-02, 2.13473381e+00,
 -5.23388295e-01,-6.64902680e-01, 1.04118573e+00, 2.36847652e+00,
 -3.46573934e-01, 5.87179421e-01,-2.08749282e+00, 2.26524247e+00,
  4.82611251e-01, 5.31534744e+00,-2.08849890e+01, 3.17429784e+01,
  8.10879952e-01,-5.12654128e-02, 2.11487435e-02,-7.44553107e+00,
  2.34250203e+01,-1.56682852e+01]

qfrc_actuator:
[ 5.15043786e-04,-5.74066239e-04,-1.81031200e-04,-9.88340079e-06,
 -5.71645986e-04,-7.03910245e-04,-2.00005634e-04,-9.32719754e-05,
 -5.51442702e-04,-4.90831692e-04,-1.42412861e-04,-8.01836386e-05,
  2.10000000e-01,-3.16576562e-03, 9.00000000e-02, 3.52584644e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008166757693488782
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.85495369,  0.27022542, -0.44275548,  0.23995733,  0.96279708,
        0.12426687,  0.45986375,  0.        , -0.88798949])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10276233, -0.09065846,  0.1501454 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045981816956010974
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50905170e-14, -1.50905170e-14,  1.00000000e+00,  2.27723703e-28,
        1.00000000e+00,  1.50905170e-14, -1.00000000e+00,  0.00000000e+00,
        1.50905170e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194211, -0.06264671,  0.06198045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.28036769e-06,-1.12998230e-05, 3.14828615e-06, 5.81401060e-06,
 -3.18757832e-06,-1.81401487e-05, 1.27742166e-05, 1.06020282e-05,
 -2.00674253e-06,-1.01141426e-05,-1.55501429e-05,-1.59712551e-06,
  2.64622771e-01, 4.26034011e-03, 8.05507787e-02, 3.32058443e-02,
 -3.22110525e-04, 1.65231878e-04,-9.80996739e+00,-1.18213150e-02,
 -2.39836386e-02, 5.34633887e-05]


--- Step 942 ---
qpos:
[-1.35677638e-02, 1.35297602e-02, 1.00640672e-02, 1.47337510e-02,
 -1.90391076e-02,-9.09266134e-03,-1.74434874e-02, 1.63198185e-02,
 -1.21406545e-02,-6.69420649e-03,-1.43508874e-02, 1.51263488e-02,
  1.40344684e+00, 2.97609664e-02, 2.89672959e-01,-3.13282699e-02,
  9.51641755e-02,-7.23377241e-02, 1.04557334e-01, 9.99429152e-01,
  8.55282603e-04,-1.77031339e-04,-3.37728781e-02]

qacc:
[ 3.22079276e-01, 2.46440682e-01,-9.49378114e-01, 1.96297782e+00,
 -3.45389251e+00,-6.55943386e-01,-1.20232734e-01, 7.81579083e+00,
 -5.98233271e-02, 3.95864396e-02, 1.67046773e+00,-7.82254460e+00,
  3.15919675e-01, 7.39888965e+00,-2.28140248e+01, 3.37151600e+01,
  7.54052641e-01,-9.06508380e-02,-3.03931726e-02,-6.90223883e+00,
  2.25058853e+01,-1.85657896e+01]

qfrc_actuator:
[ 5.16860852e-04,-5.54670198e-04,-1.75405628e-04,-5.63039480e-06,
 -5.92145622e-04,-7.08686448e-04,-1.72559016e-04,-6.82807097e-05,
 -5.51673040e-04,-4.74926807e-04,-1.50408272e-04,-9.82181348e-05,
  2.10000000e-01,-3.14507898e-03, 9.00000000e-02, 3.52577389e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000823419188300656
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.55102255e-01,  2.69560355e-01, -4.42873964e-01,  2.39362012e-01,
        9.62983497e-01,  1.23970207e-01,  4.59897772e-01,  1.38777878e-17,
       -8.87971869e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10274763, -0.09066254,  0.15014581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045843775494552874
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.02719129e-14,  1.43791586e-13,  1.00000000e+00,  4.35284639e-27,
        1.00000000e+00, -1.43791586e-13, -1.00000000e+00,  0.00000000e+00,
       -3.02719129e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194236, -0.06264487,  0.06198051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.92634926e-06, 1.39738534e-05, 3.87902742e-06, 3.99057781e-06,
 -2.05988533e-05,-1.18692721e-05, 2.56271143e-05, 2.48599150e-05,
 -2.92957358e-07, 7.00134807e-06,-1.20446907e-05,-1.90348466e-05,
  2.64478686e-01, 4.22318267e-03, 8.15149418e-02, 3.33307814e-02,
 -3.87829339e-04, 2.29360611e-04,-9.80992422e+00,-1.18328567e-02,
 -2.39867237e-02, 4.96986558e-05]


--- Step 943 ---
qpos:
[-1.35676446e-02, 1.35295323e-02, 1.00637965e-02, 1.47343611e-02,
 -1.90382884e-02,-9.09302783e-03,-1.74425078e-02, 1.63196006e-02,
 -1.21419297e-02,-6.69403427e-03,-1.43506866e-02, 1.51251622e-02,
  1.40344767e+00, 2.97298984e-02, 2.89856149e-01,-3.13018941e-02,
  9.51577318e-02,-7.23446972e-02, 1.04557720e-01, 9.99417193e-01,
  8.48244759e-04,-1.73510308e-04,-3.41251433e-02]

qacc:
[ 1.72180250e-01, 1.17625200e+00,-3.98032153e+00, 5.13886158e+00,
  8.11275299e-01, 6.08400136e-01,-3.56260110e+00, 9.00754832e+00,
 -2.97786245e+00, 8.24880916e-01,-3.30447254e+00, 5.80380607e+00,
  2.53943334e-01, 3.82989395e+00, 8.17624946e+01,-2.01943450e+02,
 -1.46507598e+00,-6.32798696e-01,-2.19764747e-01, 3.07684774e+01,
 -3.79418853e+01, 3.39770625e+01]

qfrc_actuator:
[ 5.17889563e-04,-5.42914307e-04,-1.89790300e-04,-3.34051888e-06,
 -5.86743124e-04,-7.11281568e-04,-1.74526685e-04,-5.33618696e-05,
 -5.69186492e-04,-4.65487235e-04,-1.55206806e-04,-9.05344751e-05,
  2.10000000e-01,-3.12104942e-03, 9.00000000e-02, 3.52276302e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.34004562,  0.33868409,  0.03039916,  0.33868409,  0.34215127,
       -0.02345962,  0.03039916, -0.02345962,  0.6014147 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007986391538725107
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.55034211e-01,  2.69088003e-01, -4.43292391e-01,  2.38890794e-01,
        9.63115594e-01,  1.23852905e-01,  4.60269145e-01, -1.38777878e-17,
       -8.87779429e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10273807, -0.09066515,  0.1501427 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.57829825,  9.66559758,  4.29844357,  9.66559758, 12.81149263,
       -5.02162186,  4.29844357, -5.02162186, 21.87005426,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004567475678223173
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48318489e-06,  4.23767103e-06,  1.00000000e+00, -6.28524962e-12,
        1.00000000e+00, -4.23767103e-06, -1.00000000e+00,  8.07793567e-28,
        1.48318489e-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([ 0.09815377, -0.05504556,  0.06198058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10381995e-06, 2.05383132e-05,-1.08838322e-05, 3.10030863e-06,
  4.80474011e-06,-2.90728616e-06,-4.09829275e-07, 1.57800871e-05,
 -1.75215712e-05, 1.00845652e-05,-5.48392574e-06, 7.19871033e-06,
  2.64323760e-01, 4.17361598e-03, 8.25916838e-02, 3.34490972e-02,
 -4.79597288e-04, 3.06450721e-04,-9.80986674e+00,-1.18463483e-02,
 -2.39886023e-02, 4.40840063e-05]


--- Step 944 ---
qpos:
[-1.35682035e-02, 1.35293963e-02, 1.00636745e-02, 1.47349813e-02,
 -1.90381007e-02,-9.09309808e-03,-1.74422376e-02, 1.63192240e-02,
 -1.21434051e-02,-6.69378529e-03,-1.43505657e-02, 1.51244214e-02,
  1.40344050e+00, 2.96949383e-02, 2.90041179e-01,-3.12800246e-02,
  9.51454446e-02,-7.23542697e-02, 1.04557085e-01, 9.99407269e-01,
  8.94692260e-04,-2.50016633e-04,-3.44129087e-02]

qacc:
[ -5.87403069, -0.26218467,  1.08886751, -1.24321842, -5.51122327,
   2.05702288, -6.07814416,  4.22760362, -1.75021784,  1.24592745,
  -6.17170562, 13.9523464 ,  0.05686252,-22.98487134, 16.1472823 ,
 -53.0833499 , -1.46085953, -0.64982174, -0.25504564, 28.09729185,
 -39.05022873, 32.29513145]

qfrc_actuator:
[ 4.82941103e-04,-5.35903629e-04,-1.80393475e-04,-2.24109140e-06,
 -6.19390597e-04,-6.94916912e-04,-2.11600733e-04,-6.22633912e-05,
 -5.78980175e-04,-4.59955686e-04,-1.58080573e-04,-6.77788034e-05,
  2.10000000e-01,-3.07661644e-03, 9.00000000e-02, 3.51859893e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.35637263, 0.35454419, 0.03605367, 0.35454419, 0.35617549,
       0.00193863, 0.03605367, 0.00193863, 0.3373085 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0008693789239268764
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.85542264,  0.26776912, -0.44334164,  0.23773719,  0.96348311,
        0.12321254,  0.4601447 ,  0.        , -0.88784394])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10271897, -0.09067663,  0.15014282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.57668286,  -9.78864138,  -4.00608541,  -9.78864138,
        17.51913657, -16.96348996,  -4.00608541, -16.96348996,
        52.02600373,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004566257098732203
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08983749e-06,  5.97096431e-06,  1.00000000e+00, -1.24783451e-11,
        1.00000000e+00, -5.97096431e-06, -1.00000000e+00,  3.23117427e-27,
        2.08983749e-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([ 0.09816011, -0.05505475,  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:
[-3.48991033e-05, 1.63756972e-05, 1.24042896e-05, 1.66300229e-06,
 -3.25084940e-05, 1.53023787e-05,-3.71887801e-05,-8.73520946e-06,
 -1.02980095e-05, 1.03861201e-05,-1.20166854e-06, 2.31418864e-05,
  2.64151260e-01, 4.20814107e-03, 8.06363510e-02, 3.38014286e-02,
 -2.97526315e-04, 1.73062583e-04,-9.80999223e+00,-1.18295301e-02,
 -2.39717760e-02, 4.43335123e-05]


--- Step 945 ---
qpos:
[-1.35695217e-02, 1.35294551e-02, 1.00639210e-02, 1.47352355e-02,
 -1.90383058e-02,-9.09297593e-03,-1.74424200e-02, 1.63187395e-02,
 -1.21449867e-02,-6.69354041e-03,-1.43501649e-02, 1.51239443e-02,
  1.40343805e+00, 2.96619540e-02, 2.90214033e-01,-3.12625241e-02,
  9.51370292e-02,-7.23632189e-02, 1.04556944e-01, 9.99396697e-01,
  9.22925603e-04,-2.77317405e-04,-3.47176098e-02]

qacc:
[ -6.57550915, -1.51353849,  7.33685483,-14.42609438, -3.42732614,
   1.3030366 , -3.81002093,  2.51123144, -0.91839114, -0.24314061,
  -0.25133084,  4.36787195,  0.38973492, 10.49713031, -4.6949587 ,
  -9.49714455,  0.9679271 ,  0.15579972,  0.12347263, -9.95016159,
  24.26713606, -8.49371811]

qfrc_actuator:
[ 4.44849700e-04,-5.13945368e-04,-1.57043164e-04,-1.95880913e-05,
 -6.38675178e-04,-6.85247770e-04,-2.33527654e-04,-6.73584467e-05,
 -5.84146161e-04,-4.56782409e-04,-1.42052538e-04,-5.40965221e-05,
  2.10000000e-01,-3.03363746e-03, 9.00000000e-02, 3.51727133e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.33783796,  0.31999891, -0.10832904,  0.31999891,  0.64950137,
        0.92063913, -0.10832904,  0.92063913,  3.05736288,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007905092704163216
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.56396290e-01,  2.65525967e-01, -4.42810744e-01,  2.35862025e-01,
        9.64103709e-01,  1.21955501e-01,  4.59297833e-01, -1.38777878e-17,
       -8.88282332e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10269086, -0.0906982 ,  0.1501498 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004576545535939572
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.03237184e-14,  1.81942310e-13,  1.00000000e+00,  5.51716739e-27,
        1.00000000e+00, -1.81942310e-13, -1.00000000e+00,  0.00000000e+00,
       -3.03237184e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194257, -0.06263989,  0.06198055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.90877484e-05, 3.37569249e-05, 2.83261640e-05,-1.61809011e-05,
 -2.02131797e-05, 1.01522575e-05,-2.36504494e-05,-5.89528970e-06,
 -5.46696974e-06, 9.77372803e-06, 1.88435722e-05, 1.45399457e-05,
  2.64550343e-01, 4.44951567e-03, 8.05443491e-02, 3.40134899e-02,
 -1.79206372e-04, 6.27324928e-05,-9.81004425e+00,-1.18154408e-02,
 -2.39641278e-02, 4.82778069e-05]


--- Step 946 ---
qpos:
[-1.35702523e-02, 1.35297099e-02, 1.00638600e-02, 1.47360174e-02,
 -1.90380511e-02,-9.09273953e-03,-1.74428680e-02, 1.63181946e-02,
 -1.21466181e-02,-6.69349746e-03,-1.43497361e-02, 1.51236782e-02,
  1.40343959e+00, 2.96310285e-02, 2.90368614e-01,-3.12486117e-02,
  9.51322939e-02,-7.23716033e-02, 1.04557044e-01, 9.99385332e-01,
  9.33299824e-04,-2.56864332e-04,-3.50431431e-02]

qacc:
[  5.08223982,  2.19576333, -9.69788379, 19.19661984,  3.98201637,
   0.76128444, -2.2542702 ,  1.56560591, -0.42988952,  0.09037227,
  -1.5990769 ,  5.35404977,  0.11748637, 11.17640506,-16.06535939,
  17.22187272,  0.92002829,  0.14122655,  0.06033879, -9.75564529,
  23.54278177,-10.44317203]

qfrc_actuator:
[ 4.76235722e-04,-5.18663367e-04,-1.78857890e-04, 5.62681345e-06,
 -6.14422999e-04,-6.79610583e-04,-2.46339290e-04,-7.01568867e-05,
 -5.86549349e-04,-4.90479195e-04,-1.50516693e-04,-4.58545411e-05,
  2.10000000e-01,-2.97808912e-03, 9.00000000e-02, 3.52136268e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000793389158352014
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.85701063,  0.2637137 , -0.44270517,  0.23429941,  0.964601  ,
        0.12103183,  0.4589516 ,  0.        , -0.88846127])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10266932, -0.09071546,  0.15015178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045800382264898215
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.06011877e-14,  1.59078118e-13,  1.00000000e+00,  9.64032286e-27,
        1.00000000e+00, -1.59078118e-13, -1.00000000e+00,  0.00000000e+00,
       -6.06011877e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194254, -0.06263853,  0.06198053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.02645363e-05, 1.93516480e-05,-1.18952801e-05, 2.73314080e-05,
  2.36737118e-05, 6.17700483e-06,-1.38288300e-05,-3.29524205e-06,
 -2.57016992e-06,-2.36616991e-05,-3.60287764e-06, 9.59956769e-06,
  2.64313092e-01, 4.40980119e-03, 8.11531996e-02, 3.42728614e-02,
 -2.02689502e-04, 1.09436226e-04,-9.81002823e+00,-1.18215111e-02,
 -2.39684855e-02, 5.04655812e-05]


--- Step 947 ---
qpos:
[-1.35702566e-02, 1.35301209e-02, 1.00632853e-02, 1.47371155e-02,
 -1.90378527e-02,-9.09242144e-03,-1.74434563e-02, 1.63172705e-02,
 -1.21482658e-02,-6.69365386e-03,-1.43496745e-02, 1.51238864e-02,
  1.40344476e+00, 2.96023126e-02, 2.90501060e-01,-3.12379497e-02,
  9.51309925e-02,-7.23795825e-02, 1.04557170e-01, 9.99372949e-01,
  9.26665893e-04,-1.90326112e-04,-3.53950975e-02]

qacc:
[ 6.27715424e+00, 2.28162248e+00,-9.19184849e+00, 1.53941364e+01,
 -4.94939260e-01,-2.80016140e-01, 2.75833104e+00,-9.16076220e+00,
 -1.49505957e-01, 1.73909385e+00,-8.58577293e+00, 1.75292193e+01,
 -1.06448867e-01, 1.23096038e+01,-2.27865572e+01, 3.24810732e+01,
  8.58474780e-01, 1.01284779e-01, 6.33014936e-03,-9.30925270e+00,
  2.27179406e+01,-1.32395205e+01]

qfrc_actuator:
[ 5.12759561e-04,-5.21713773e-04,-2.09490493e-04, 2.01264037e-05,
 -6.18002074e-04,-6.76391375e-04,-2.53687602e-04,-8.93344399e-05,
 -5.87308846e-04,-5.10593291e-04,-1.73536081e-04,-2.31769035e-05,
  2.10000000e-01,-2.98688315e-03, 9.00000000e-02, 3.52170102e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007986108385444215
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.85730848,  0.26229143, -0.44297333,  0.23302311,  0.96498871,
        0.12040359,  0.45904509,  0.        , -0.88841297])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10265407, -0.09072895,  0.15014935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004571420417663549
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.03577150e-14, -1.97325147e-13,  1.00000000e+00, -5.99034058e-27,
        1.00000000e+00,  1.97325147e-13, -1.00000000e+00,  0.00000000e+00,
       -3.03577150e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194221, -0.06263721,  0.06198057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.73925267e-05, 6.52316999e-06,-2.71469023e-05, 1.54497419e-05,
 -2.89670460e-06, 3.67478116e-06,-7.89391876e-06,-1.94570848e-05,
 -8.47545120e-07,-3.36209243e-05,-2.79997586e-05, 2.17295397e-05,
  2.64112716e-01, 4.30120355e-03, 8.20667781e-02, 3.44556512e-02,
 -2.43535366e-04, 1.59931668e-04,-9.80999835e+00,-1.18290218e-02,
 -2.39712995e-02, 5.04239926e-05]


--- Step 948 ---
qpos:
[-1.35701676e-02, 1.35303607e-02, 1.00627776e-02, 1.47380358e-02,
 -1.90373534e-02,-9.09267751e-03,-1.74432868e-02, 1.63161461e-02,
 -1.21492201e-02,-6.69372392e-03,-1.43500283e-02, 1.51243315e-02,
  1.40345345e+00, 2.95760135e-02, 2.90609170e-01,-3.12305207e-02,
  9.51328573e-02,-7.23873684e-02, 1.04557137e-01, 9.99359285e-01,
  9.04111968e-04,-7.94227512e-05,-3.57798132e-02]

qacc:
[  0.81396971, -0.78146953,  3.20567976, -6.26048278,  2.64659869,
  -3.29237314, 11.4757127 ,-15.72202339,  6.03695998,  1.75036798,
  -7.0961881 , 11.81824073, -0.32039462, 13.87480262,-26.07664929,
  39.31430479,  0.79156928,  0.04832839, -0.039786  , -8.7426832 ,
  21.87161522,-16.41211022]

qfrc_actuator:
[ 5.16487226e-04,-5.41554749e-04,-2.09579348e-04, 1.04445618e-05,
 -6.02442454e-04,-7.27894006e-04,-2.22271943e-04,-1.00243768e-04,
 -5.51590486e-04,-4.86974318e-04,-1.87152064e-04,-9.93821344e-06,
  2.10000000e-01,-2.99975150e-03, 9.00000000e-02, 3.51989730e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008054235209617738
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.85733509,  0.26120394, -0.44356403,  0.23199326,  0.96528364,
        0.12002759,  0.45951678,  0.        , -0.88816909])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10264469, -0.09073931,  0.15014305])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045531561728274356
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.09589800e-14, -3.04794900e-14,  1.00000000e+00, -1.85799862e-27,
        1.00000000e+00,  3.04794900e-14, -1.00000000e+00,  0.00000000e+00,
       -6.09589800e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194164, -0.06263593,  0.06198064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.79816983e-06,-2.11246426e-05,-1.55183511e-06,-1.00423301e-05,
  1.54760322e-05,-5.19202156e-05, 3.05267628e-05,-1.14040197e-05,
  3.56871099e-05, 2.54849256e-08,-2.32383689e-05, 1.12556442e-05,
  2.63930240e-01, 4.18054307e-03, 8.31734232e-02, 3.46001185e-02,
 -3.04802649e-04, 2.17900842e-04,-9.80995487e+00,-1.18382073e-02,
 -2.39726725e-02, 4.82455953e-05]


--- Step 949 ---
qpos:
[-1.35700342e-02, 1.35301809e-02, 1.00626766e-02, 1.47388417e-02,
 -1.90370160e-02,-9.09346100e-03,-1.74427105e-02, 1.63152638e-02,
 -1.21493938e-02,-6.69391587e-03,-1.43502349e-02, 1.51252643e-02,
  1.40345916e+00, 2.95481848e-02, 2.90739047e-01,-3.12276696e-02,
  9.51275868e-02,-7.23979770e-02, 1.04555629e-01, 9.99348138e-01,
  9.42948207e-04,-6.73043121e-05,-3.60888508e-02]

qacc:
[   0.40475528,  -1.92808354,   6.55199054,  -8.87335987,  -1.38494567,
   -1.33234879,   2.72203641,   1.20020918,   6.82051467,   0.4184928 ,
   -3.80860696,  12.13060612,  -0.44506613,  -6.61237497,  46.02401325,
 -114.37131121,  -1.78385311,  -0.70566741,  -0.3685182 ,  32.44453542,
  -48.22824146,  37.90200726]

qfrc_actuator:
[ 5.18632221e-04,-5.71205125e-04,-1.91717174e-04, 4.37397233e-06,
 -6.11239654e-04,-7.58348650e-04,-2.03944970e-04,-8.84668248e-05,
 -5.12441074e-04,-4.90579338e-04,-1.77178284e-04, 1.54375125e-05,
  2.10000000e-01,-2.96289773e-03, 9.00000000e-02, 3.51871190e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.34388502,  0.34266045,  0.02899528,  0.34266045,  0.34415132,
       -0.00314701,  0.02899528, -0.00314701,  0.38107576,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000813361636995095
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.8571333 ,  0.26039101, -0.44443114,  0.23116422,  0.96550325,
        0.11986068,  0.46031035,  0.        , -0.88775807])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10264067, -0.09074727,  0.15013335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.56976552,  9.63579652,  4.34411885,  9.63579652, 12.98512001,
       -5.35755701,  4.34411885, -5.35755701, 22.45349406,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000456103138166436
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.04268632e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.04268632e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10031134, -0.05411587,  0.06198061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.27168240e-06,-4.22155097e-05, 1.29585494e-05,-7.22525486e-06,
 -8.36064742e-06,-5.36843228e-05, 1.09620357e-05, 1.03847070e-05,
  4.01777898e-05,-7.86098976e-06, 7.51608601e-06, 2.47923751e-05,
  2.63753629e-01, 4.09873678e-03, 8.43900981e-02, 3.47498770e-02,
 -3.89275490e-04, 2.87263033e-04,-9.80989767e+00,-1.18493976e-02,
 -2.39727858e-02, 4.40397984e-05]


--- Step 950 ---
qpos:
[-1.35698760e-02, 1.35296668e-02, 1.00628066e-02, 1.47392246e-02,
 -1.90374759e-02,-9.09452404e-03,-1.74420303e-02, 1.63152092e-02,
 -1.21494413e-02,-6.69435104e-03,-1.43502675e-02, 1.51268530e-02,
  1.40345654e+00, 2.95166427e-02, 2.90875316e-01,-3.12263884e-02,
  9.51152149e-02,-7.24115603e-02, 1.04552472e-01, 9.99339407e-01,
  1.03848442e-03,-1.54894843e-04,-3.63269619e-02]

qacc:
[  0.22751126, -1.9595466 ,  8.13058451,-15.57416077, -6.91430275,
   1.05698126, -7.77695513, 22.11828241,  1.11242629,  0.54032416,
  -5.16595327, 16.42207559, -0.31918874,-20.95231999, 14.01755262,
 -35.78890934, -1.77532819, -0.74368777, -0.41247019, 30.13194442,
 -48.76534769, 35.52885823]

qfrc_actuator:
[ 5.19839193e-04,-5.88671734e-04,-1.81203464e-04,-1.72746730e-05,
 -6.52060980e-04,-7.58238963e-04,-1.93423390e-04,-4.56877103e-05,
 -5.07102943e-04,-5.10345073e-04,-1.71199662e-04, 4.77497870e-05,
  2.10000000e-01,-2.92873629e-03, 9.00000000e-02, 3.50750970e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.34527053, 0.34377089, 0.03214516, 0.34377089, 0.34468083,
       0.00630647, 0.03214516, 0.00630647, 0.27782704, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0008188866667220804
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.57587562e-01,  2.58538937e-01, -4.44636022e-01,  2.29523380e-01,
        9.66000837e-01,  1.19001682e-01,  4.60285338e-01, -1.38777878e-17,
       -8.87771033e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10262517, -0.09076633,  0.15013076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.57207686, -10.03194895,  -3.33598702, -10.03194895,
        15.02959347, -13.40460222,  -3.33598702, -13.40460222,
        50.88227114,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004562778853290858
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.08304205e-14, -1.06453236e-13,  1.00000000e+00, -6.47559510e-27,
        1.00000000e+00,  1.06453236e-13, -1.00000000e+00,  0.00000000e+00,
       -6.08304205e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1003164, -0.0541264,  0.0619806])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26342306e-06,-3.87112757e-05, 3.13763065e-06,-2.31502245e-05,
 -4.10579845e-05,-2.72163634e-05, 1.13902545e-06, 4.10596597e-05,
  6.49215850e-06,-2.15257492e-05, 6.13925940e-06, 3.27166178e-05,
  2.63901747e-01, 4.21200010e-03, 8.33016002e-02, 3.48667257e-02,
 -2.00836682e-04, 1.41874515e-04,-9.81002046e+00,-1.18275250e-02,
 -2.39581811e-02, 4.60849990e-05]


--- Step 951 ---
qpos:
[-1.35700490e-02, 1.35290389e-02, 1.00624165e-02, 1.47393691e-02,
 -1.90380765e-02,-9.09557054e-03,-1.74413549e-02, 1.63156365e-02,
 -1.21490789e-02,-6.69494452e-03,-1.43501732e-02, 1.51277730e-02,
  1.40345763e+00, 2.94869395e-02, 2.90997699e-01,-3.12328046e-02,
  9.51065976e-02,-7.24244507e-02, 1.04550158e-01, 9.99329855e-01,
  1.11657610e-03,-1.93447816e-04,-3.65862972e-02]

qacc:
[-2.88642872e+00, 8.18412558e-01,-2.11980506e+00,-1.10134389e+00,
 -1.22142137e+00, 1.02948998e+00,-5.67003584e+00, 1.40024181e+01,
  3.58314379e+00,-1.94728971e+00, 9.45083379e+00,-2.10967279e+01,
  1.75205049e-02, 1.05584242e+01, 2.86908181e+00,-3.95939164e+01,
  9.38631402e-01, 1.73221963e-01, 2.10986393e-01,-9.60841031e+00,
  2.41746452e+01,-1.06441271e+01]

qfrc_actuator:
[ 5.02732579e-04,-5.98745395e-04,-2.10591077e-04,-3.01632204e-05,
 -6.58138800e-04,-7.39827575e-04,-1.87444917e-04,-2.04950300e-05,
 -4.86204249e-04,-5.21884518e-04,-1.67703793e-04, 1.28503203e-05,
  2.10000000e-01,-2.89339445e-03, 9.00000000e-02, 3.50083133e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.35208729,  0.35092673,  0.02856381,  0.35092673,  0.36503921,
       -0.15912359,  0.02856381, -0.15912359,  2.3070341 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008482568338636124
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.85873852,  0.25561805, -0.4441031 ,  0.22705223,  0.96677785,
        0.11742177,  0.45936416,  0.        , -0.88824803])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10259825, -0.09079691,  0.1501366 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045692666787458536
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.07440484e-14, -3.79650302e-15,  1.00000000e+00, -2.30614963e-28,
        1.00000000e+00,  3.79650302e-15, -1.00000000e+00,  0.00000000e+00,
       -6.07440484e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194169, -0.06263398,  0.06198057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70666099e-05,-3.20720016e-05,-3.78009297e-05,-1.48898256e-05,
 -7.24047551e-06, 5.18922390e-06, 1.92507039e-06, 2.48676556e-05,
  2.10881225e-05,-2.09014865e-05, 9.38389625e-07,-3.49731052e-05,
  2.64317811e-01, 4.43574765e-03, 8.29819332e-02, 3.48784175e-02,
 -9.64829866e-05, 2.64193446e-05,-9.81004744e+00,-1.18106232e-02,
 -2.39539938e-02, 5.21762444e-05]


--- Step 952 ---
qpos:
[-1.35700808e-02, 1.35286431e-02, 1.00612005e-02, 1.47393348e-02,
 -1.90387453e-02,-9.09626825e-03,-1.74410316e-02, 1.63159979e-02,
 -1.21488134e-02,-6.69559406e-03,-1.43498046e-02, 1.51282445e-02,
  1.40346318e+00, 2.94597560e-02, 2.91105262e-01,-3.12431362e-02,
  9.51016293e-02,-7.24366010e-02, 1.04548398e-01, 9.99319435e-01,
  1.17656084e-03,-1.84106162e-04,-3.68679795e-02]

qacc:
[  1.19589957,  2.24477611, -6.80776237,  4.86646722, -0.60945146,
   1.3100032 , -3.72223585,  2.88668543, -0.83645073, -1.76215469,
   8.07310313,-16.23914154, -0.21371036, 14.82543836, -9.9210692 ,
   3.25436167,  0.91227275,  0.18502518,  0.13827388, -9.92522769,
  23.58747273,-11.20680759]

qfrc_actuator:
[ 5.10489261e-04,-5.68964973e-04,-2.45508157e-04,-3.78111332e-05,
 -6.61460868e-04,-7.10619429e-04,-2.01877669e-04,-2.35921013e-05,
 -4.91808497e-04,-5.10723170e-04,-1.47967597e-04,-8.05624632e-06,
  2.10000000e-01,-2.80815360e-03, 9.00000000e-02, 3.50996964e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.33191978,  0.33092096,  0.02573046,  0.33092096,  0.3424827 ,
       -0.13585033,  0.02573046, -0.13585033,  2.0790987 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007696793270456046
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.85955566,  0.25311401, -0.44395649,  0.22488875,  0.96743646,
        0.11615399,  0.4588999 ,  0.        , -0.88848797])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10257767, -0.09082334,  0.15013795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004588178774253965
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.51234166e-14,  2.26851249e-14,  1.00000000e+00, -3.43076594e-28,
        1.00000000e+00, -2.26851249e-14, -1.00000000e+00,  0.00000000e+00,
        1.51234166e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194209, -0.06263385,  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:
[ 7.28242024e-06, 3.39687815e-06,-4.67115230e-05,-1.06191418e-05,
 -3.50068284e-06, 3.35924978e-05,-1.22558913e-05,-2.32246585e-06,
 -4.98777508e-06,-1.83578219e-06, 1.43194685e-05,-2.24521827e-05,
  2.64131450e-01, 4.43144055e-03, 8.36760361e-02, 3.53546271e-02,
 -1.17339012e-04, 7.19836002e-05,-9.81004607e+00,-1.18132257e-02,
 -2.39572760e-02, 5.72373861e-05]


--- Step 953 ---
qpos:
[-1.35693292e-02, 1.35283843e-02, 1.00598272e-02, 1.47388288e-02,
 -1.90391034e-02,-9.09698779e-03,-1.74402323e-02, 1.63170001e-02,
 -1.21489616e-02,-6.69607152e-03,-1.43493330e-02, 1.51287888e-02,
  1.40347459e+00, 2.94359576e-02, 2.91199981e-01,-3.12567382e-02,
  9.51002082e-02,-7.24479929e-02, 1.04546937e-01, 9.99308082e-01,
  1.21799923e-03,-1.27884740e-04,-3.71733363e-02]

qacc:
[  6.78224344, -0.36360031,  3.52780546,-11.51580986,  2.71359396,
  -0.0454822 , -2.59466237, 12.95064083, -3.61089009,  0.09680301,
  -0.31068547,  1.26773352, -0.47786788, 20.61609302, -8.88721857,
   4.03744269,  0.8867895 ,  0.18960677,  0.07492241,-10.1326769 ,
  23.06803541,-11.87233342]

qfrc_actuator:
[ 5.50576389e-04,-5.51077559e-04,-2.47723878e-04,-6.00314889e-05,
 -6.45393002e-04,-7.10777370e-04,-1.74950108e-04, 9.94986080e-06,
 -5.12971739e-04,-4.85980273e-04,-1.36437853e-04,-2.76693624e-06,
  2.10000000e-01,-2.74764744e-03, 9.00000000e-02, 3.51432555e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.32647977,  0.32016808, -0.06388616,  0.32016808,  0.44493001,
        0.5936182 , -0.06388616,  0.5936182 ,  3.30142149,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007515142302480124
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.86007174,  0.25101103, -0.44415094,  0.2230279 ,  0.96798423,
        0.11517418,  0.4588411 ,  0.        , -0.88851834])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10256335, -0.0908459 ,  0.15013541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045918787102140063
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.26668462e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.26668462e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0819421 , -0.06263351,  0.06198048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.03292902e-05, 9.68400299e-06,-7.63643305e-06,-2.38983229e-05,
  1.60001506e-05, 1.60189500e-05, 3.22840602e-05, 3.45138069e-05,
 -2.12882430e-05, 2.57022238e-05, 1.21347852e-05, 5.26876810e-06,
  2.63907384e-01, 4.36805903e-03, 8.44168486e-02, 3.55939026e-02,
 -1.52666525e-04, 1.20087811e-04,-9.81002951e+00,-1.18175372e-02,
 -2.39592581e-02, 6.00471678e-05]


--- Step 954 ---
qpos:
[-1.35684471e-02, 1.35280283e-02, 1.00587835e-02, 1.47380563e-02,
 -1.90396107e-02,-9.09767248e-03,-1.74390981e-02, 1.63183987e-02,
 -1.21490172e-02,-6.69656654e-03,-1.43489221e-02, 1.51294279e-02,
  1.40349080e+00, 2.94155204e-02, 2.91276560e-01,-3.12732049e-02,
  9.51021219e-02,-7.24587609e-02, 1.04545561e-01, 9.99295599e-01,
  1.24125506e-03,-2.63209167e-05,-3.75068539e-02]

qacc:
[ 1.14407413e+00,-1.60135140e+00, 6.64459260e+00,-1.17091285e+01,
 -1.28544839e+00,-7.10969326e-02,-1.34882691e+00, 7.64306700e+00,
  8.07726740e-01, 3.39772711e-01,-1.64820615e+00, 3.40176162e+00,
 -8.09015685e-01, 2.08551910e+01,-1.79419253e+01, 2.43666813e+01,
  8.33687459e-01, 1.55976484e-01, 2.11749448e-02,-9.92886282e+00,
  2.23003394e+01,-1.41181152e+01]

qfrc_actuator:
[ 5.56105487e-04,-5.58076516e-04,-2.30656933e-04,-7.28783299e-05,
 -6.53548117e-04,-7.10571217e-04,-1.59398971e-04, 2.92896828e-05,
 -5.07609513e-04,-5.06552073e-04,-1.47523032e-04, 1.45200151e-07,
  2.10000000e-01,-2.73936078e-03, 9.00000000e-02, 3.51412888e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007604916690728983
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.60264745e-01,  2.49325219e-01, -4.44726324e-01,  2.21480078e-01,
        9.68419813e-01,  1.14497335e-01,  4.59228857e-01,  1.38777878e-17,
       -8.88317993e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10255492, -0.09086425,  0.15012807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004583273207071359
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.0558414e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -6.0558414e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194179, -0.06263301,  0.06198051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.72338023e-06,-4.20058741e-06, 1.72876751e-05,-1.31649611e-05,
 -7.67703605e-06, 1.73298529e-05, 2.40347143e-05, 2.18152895e-05,
  4.77128745e-06,-3.46793061e-06,-4.09661807e-06, 4.53709842e-06,
  2.63614430e-01, 4.20891472e-03, 8.50588689e-02, 3.57554061e-02,
 -2.02366801e-04, 1.71467889e-04,-9.80999797e+00,-1.18236468e-02,
 -2.39600047e-02, 6.06078811e-05]


--- Step 955 ---
qpos:
[-1.35678497e-02, 1.35279887e-02, 1.00574980e-02, 1.47371219e-02,
 -1.90402115e-02,-9.09818944e-03,-1.74380454e-02, 1.63193396e-02,
 -1.21486630e-02,-6.69710202e-03,-1.43489124e-02, 1.51304696e-02,
  1.40351115e+00, 2.93985043e-02, 2.91331586e-01,-3.12924353e-02,
  9.51071271e-02,-7.24691020e-02, 1.04544085e-01, 9.99281735e-01,
  1.24707131e-03, 1.18965353e-04,-3.78740764e-02]

qacc:
[-2.48129279e+00, 7.65566888e-01,-1.43113119e+00,-1.22621778e+00,
 -8.17871875e-01,-4.90922306e-01, 4.00727886e+00,-1.19241741e+01,
  3.56432948e+00, 1.88926856e+00,-8.52651125e+00, 1.61805718e+01,
 -1.10930062e+00, 2.16547192e+01,-2.32794991e+01, 3.57524592e+01,
  7.72895400e-01, 1.06722514e-01,-2.50450685e-02,-9.53317952e+00,
  2.14978365e+01,-1.68933642e+01]

qfrc_actuator:
[ 5.41239082e-04,-5.26569911e-04,-2.37949704e-04,-8.01175166e-05,
 -6.58148747e-04,-7.10194559e-04,-1.68475448e-04, 4.59110533e-06,
 -4.86672966e-04,-5.18686601e-04,-1.72054740e-04, 1.93326053e-05,
  2.10000000e-01,-2.71047796e-03, 9.00000000e-02, 3.51306616e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007715136128793904
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.86018493,  0.2480024 , -0.44561945,  0.22020733,  0.96875942,
        0.11407857,  0.4599898 ,  0.        , -0.8879242 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10255208, -0.09087909,  0.15011677])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004564864192135032
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.08026317e-14, -1.52006579e-14,  1.00000000e+00, -9.24240005e-28,
        1.00000000e+00,  1.52006579e-14, -1.00000000e+00,  0.00000000e+00,
       -6.08026317e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194124, -0.06263236,  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:
[-1.46473471e-05, 3.21325866e-05,-6.49888053e-06,-7.07988879e-06,
 -4.80905260e-06, 1.59824903e-05,-1.77504639e-06,-2.26982179e-05,
  2.10836737e-05,-1.47208608e-05,-2.55952375e-05, 1.89851553e-05,
  2.63373287e-01, 4.07119468e-03, 8.59656671e-02, 3.58879469e-02,
 -2.70415772e-04, 2.30081896e-04,-9.80995227e+00,-1.18316834e-02,
 -2.39594513e-02, 5.89789376e-05]


--- Step 956 ---
qpos:
[-1.35674347e-02, 1.35282374e-02, 1.00560902e-02, 1.47364483e-02,
 -1.90405179e-02,-9.09869783e-03,-1.74367780e-02, 1.63203230e-02,
 -1.21480605e-02,-6.69739388e-03,-1.43493010e-02, 1.51310058e-02,
  1.40351923e+00, 2.93760692e-02, 2.91444826e-01,-3.12920045e-02,
  9.51035348e-02,-7.24765091e-02, 1.04542990e-01, 9.99270226e-01,
  1.24837305e-03, 1.46501870e-04,-3.81763723e-02]

qacc:
[-1.58992632e+00, 1.26320034e+00,-5.04649320e+00, 9.53708642e+00,
  2.56322958e+00,-5.06229547e-01, 1.63360756e+00,-1.23899599e+00,
  2.15062279e+00, 3.90046282e-01, 1.20397488e+00,-9.48952400e+00,
 -1.14695245e+00,-2.75196631e+01, 2.63568816e+01, 3.22151431e+01,
 -2.14939834e+00, 7.33503095e-01, 9.51954415e-02,-3.11355850e-02,
 -5.88777377e+01, 3.25577425e+01]

qfrc_actuator:
[ 5.32251114e-04,-5.07839855e-04,-2.41666057e-04,-6.62375022e-05,
 -6.42860032e-04,-7.09862410e-04,-1.56540913e-04, 7.42277906e-06,
 -4.74498519e-04,-4.90223585e-04,-1.86536967e-04,-5.31851276e-06,
  2.10000000e-01,-2.74165236e-03, 9.00000000e-02, 3.51691409e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.3487306 ,  0.3475064 ,  0.02919465,  0.3475064 ,  0.35094699,
       -0.02638193,  0.02919465, -0.02638193,  0.66275692,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008332827272256216
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.59862647e-01,  2.46992648e-01, -4.46800694e-01,  2.19170225e-01,
        9.69017354e-01,  1.13884943e-01,  4.61086370e-01, -1.38777878e-17,
       -8.87355261e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10255434, -0.09089093,  0.15010173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.60585935, 10.54777091, -1.10850412, 10.54777091, 10.77039805,
        1.56563831, -1.10850412,  1.56563831, 25.50340821,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004588164312270025
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.84396844e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.84396844e-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([ 0.10217749, -0.06448785,  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:
[-9.38010175e-06, 3.50246880e-05, 1.86784792e-06, 1.48931718e-05,
  1.51611832e-05, 7.95035949e-06, 1.42388904e-05, 3.01492871e-06,
  1.27903925e-05, 1.57537898e-05,-2.00234553e-05,-2.57999165e-05,
  2.63166260e-01, 3.86998193e-03, 8.70429922e-02, 3.60645351e-02,
 -3.59626166e-04, 2.99723129e-04,-9.80989239e+00,-1.18419377e-02,
 -2.39577276e-02, 5.52480360e-05]


--- Step 957 ---
qpos:
[-1.35671305e-02, 1.35284992e-02, 1.00550415e-02, 1.47359480e-02,
 -1.90406388e-02,-9.09896504e-03,-1.74357658e-02, 1.63216805e-02,
 -1.21476612e-02,-6.69751440e-03,-1.43495880e-02, 1.51308711e-02,
  1.40351475e+00, 2.93470010e-02, 2.91655630e-01,-3.12475286e-02,
  9.50907760e-02,-7.24762631e-02, 1.04541313e-01, 9.99260696e-01,
  1.18455155e-03, 4.81012869e-05,-3.84272769e-02]

qacc:
[-9.49210893e-01,-6.27429771e-01, 1.53359552e+00, 8.79866129e-01,
  1.59893997e+00, 1.79852049e+00,-7.53578686e+00, 1.42478133e+01,
 -1.77360017e+00,-1.43482151e+00, 8.28330032e+00,-2.01895865e+01,
 -3.90692644e-01,-3.55324121e+01, 1.06350657e+01, 1.71446628e+02,
 -2.29159311e+00, 1.91328202e+00,-1.45357326e-01,-3.01389449e+01,
 -6.41337497e+01, 2.57884909e+01]

qfrc_actuator:
[ 5.26801791e-04,-5.14626941e-04,-2.25506769e-04,-5.77964846e-05,
 -6.33740919e-04,-6.91712281e-04,-1.67768681e-04, 2.64555727e-05,
 -4.85336483e-04,-4.73175210e-04,-1.77079213e-04,-3.77729268e-05,
  2.10000000e-01,-2.73037889e-03, 9.00000000e-02, 3.52157647e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.34924557,  0.34724909,  0.03728997,  0.34724909,  0.36784196,
       -0.17317197,  0.03728997, -0.17317197,  1.96184571,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000835508625067317
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.60164940e-01,  2.45769215e-01, -4.46893466e-01,  2.18091277e-01,
        9.69328372e-01,  1.13307997e-01,  4.61034133e-01,  1.38777878e-17,
       -8.87382402e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10254214, -0.09090306,  0.15010015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.63392924, -10.35059053,   2.43838612, -10.35059053,
        12.76607675,   9.05065263,   2.43838612,   9.05065263,
        49.05261882,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004609038557741446
  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([ 0.10373243, -0.07328034,  0.0619804 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.69937927e-06, 1.38040291e-05, 2.41338744e-05, 1.02955200e-05,
  9.55913589e-06, 2.56826542e-05,-7.72425676e-06, 1.99249485e-05,
 -1.04503331e-05, 2.06001945e-05, 9.34556843e-06,-3.29761835e-05,
  2.63779746e-01, 4.15450905e-03, 8.41322471e-02, 3.51280892e-02,
 -2.14847073e-04, 1.44216484e-04,-9.80998837e+00,-1.18178607e-02,
 -2.39563889e-02, 5.48644718e-05]


--- Step 958 ---
qpos:
[-1.35665491e-02, 1.35287248e-02, 1.00545689e-02, 1.47348534e-02,
 -1.90403045e-02,-9.09901873e-03,-1.74348971e-02, 1.63232512e-02,
 -1.21473943e-02,-6.69788144e-03,-1.43493454e-02, 1.51310631e-02,
  1.40350244e+00, 2.93136260e-02, 2.91892773e-01,-3.12006600e-02,
  9.50709322e-02,-7.24798294e-02, 1.04538488e-01, 9.99253383e-01,
  1.18273953e-03,-1.46739359e-04,-3.86167919e-02]

qacc:
[  2.42053154, -2.88766065, 12.7269303 ,-23.89801617,  3.94388313,
   1.11377917, -4.47583304,  8.25339422, -1.13498556, -1.131194  ,
   2.18544506,  2.79819316,  0.15715253,-24.52729762, 31.48358219,
 -54.17389866, -1.77127445, -0.95310311, -0.28711574, 32.83199169,
 -46.95664888, 30.77334599]

qfrc_actuator:
[ 5.41229601e-04,-5.18811869e-04,-1.97854520e-04,-8.81410459e-05,
 -6.10579775e-04,-6.80860034e-04,-1.74756999e-04, 3.71078020e-05,
 -4.91877077e-04,-4.98506044e-04,-1.53598082e-04,-2.12839567e-05,
  2.10000000e-01,-2.67250246e-03, 9.00000000e-02, 3.51285111e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.342662  , 0.3406025 , 0.03751241, 0.3406025 , 0.34208014,
       0.00528308, 0.03751241, 0.00528308, 0.29469303, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0008085832856402782
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.86090379,  0.24511555, -0.44582848,  0.2176609 ,  0.96949387,
        0.11271809,  0.45985694,  0.        , -0.88799302])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10251374, -0.0909051 ,  0.15011274])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046268273726553233
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99941768e-14, -5.99883535e-14,  1.00000000e+00,  1.79930128e-27,
        1.00000000e+00,  5.99883535e-14, -1.00000000e+00,  0.00000000e+00,
        2.99941768e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10035477, -0.05421056,  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:
[ 1.42707377e-05, 8.94755370e-06, 3.38282690e-05,-2.87182578e-05,
  2.34396243e-05, 2.44800050e-05,-1.94447231e-06, 1.18731459e-05,
 -6.82373462e-06,-1.33113040e-05, 2.77425311e-05, 1.70529980e-05,
  2.64406253e-01, 4.54851568e-03, 7.92542715e-02, 3.28386759e-02,
 -2.12737811e-04, 6.02021979e-05,-9.80996569e+00,-1.18023443e-02,
 -2.39696413e-02, 5.51217988e-05]


--- Step 959 ---
qpos:
[-1.35657992e-02, 1.35287760e-02, 1.00545112e-02, 1.47337784e-02,
 -1.90400402e-02,-9.09891860e-03,-1.74341154e-02, 1.63252865e-02,
 -1.21472079e-02,-6.69831786e-03,-1.43488680e-02, 1.51317941e-02,
  1.40349162e+00, 2.92804847e-02, 2.92124184e-01,-3.11576546e-02,
  9.50551036e-02,-7.24834433e-02, 1.04537258e-01, 9.99245161e-01,
  1.17147127e-03,-2.87874225e-04,-3.88285024e-02]

qacc:
[ 1.47679198e+00,-1.35283261e+00, 4.40171752e+00,-4.59325768e+00,
 -6.11798782e-01, 1.40333524e+00,-6.66870059e+00, 1.47336400e+01,
 -6.93567676e-01, 3.63494176e-01,-3.70284245e+00, 1.27060519e+01,
  5.04246536e-01, 1.91605007e-01, 3.20682170e+00,-2.35542785e+01,
  1.00381352e+00,-1.18681796e-02, 3.98764356e-01,-5.76265202e+00,
  2.66370647e+01,-1.11381016e+01]

qfrc_actuator:
[ 5.49487474e-04,-5.39143850e-04,-1.81419838e-04,-8.78007852e-05,
 -6.14842501e-04,-6.74455315e-04,-1.79211420e-04, 6.04955499e-05,
 -4.95828723e-04,-4.95657177e-04,-1.39924284e-04, 6.08929529e-06,
  2.10000000e-01,-2.65734777e-03, 9.00000000e-02, 3.51092337e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.34169098, 0.33885954, 0.04389685, 0.33885954, 0.34027579,
       0.01092446, 0.04389685, 0.01092446, 0.25736013, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0008048504841661251
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.86227504,  0.24331004, -0.44416436,  0.21630031,  0.96994857,
        0.11141792,  0.45792569,  0.        , -0.88899048])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10247346, -0.09091936,  0.15013231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004679024951757399
  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([ 0.08194448, -0.06263165,  0.06198011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.67216086e-06,-9.58730518e-06, 2.14479835e-05, 1.33316107e-06,
 -3.59146489e-06, 2.01970584e-05, 7.68468909e-07, 2.45988351e-05,
 -4.14355939e-06, 1.85518974e-06, 1.49289314e-05, 2.80943927e-05,
  2.64796262e-01, 4.78397775e-03, 7.79376886e-02, 3.26998648e-02,
 -1.79128996e-04,-2.06595562e-05,-9.80997008e+00,-1.17958959e-02,
 -2.39672202e-02, 5.94675548e-05]


--- Step 960 ---
qpos:
[-1.35656457e-02, 1.35287272e-02, 1.00543641e-02, 1.47330870e-02,
 -1.90398292e-02,-9.09846700e-03,-1.74337569e-02, 1.63275840e-02,
 -1.21470705e-02,-6.69843762e-03,-1.43483849e-02, 1.51328132e-02,
  1.40348226e+00, 2.92478033e-02, 2.92343189e-01,-3.11183332e-02,
  9.50431160e-02,-7.24871084e-02, 1.04537195e-01, 9.99235940e-01,
  1.15031425e-03,-3.77165555e-04,-3.90649490e-02]

qacc:
[-5.16997620e+00, 9.17913294e-01,-5.06639332e+00, 1.19028888e+01,
 -4.82511807e-01, 2.18731974e+00,-8.23164775e+00, 1.31886595e+01,
 -4.32803686e-01, 9.96395312e-01,-4.16075996e+00, 8.90416557e+00,
  4.21172844e-01, 1.31607386e+00,-7.19825439e+00,-1.45516418e+00,
  9.60219025e-01,-1.28115433e-02, 2.91948213e-01,-5.95012552e+00,
  2.56955857e+01,-1.24070710e+01]

qfrc_actuator:
[ 5.18535870e-04,-5.51258917e-04,-1.89537455e-04,-6.94257095e-05,
 -6.17463958e-04,-6.52992201e-04,-1.99897205e-04, 7.34353555e-05,
 -4.98225988e-04,-4.58226407e-04,-1.32051763e-04, 2.18974325e-05,
  2.10000000e-01,-2.61738604e-03, 9.00000000e-02, 3.51005357e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008013768525316367
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.86327142,  0.24184168, -0.4430294 ,  0.21516194,  0.97031572,
        0.11042073,  0.45658273,  0.        , -0.88968096])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10243981, -0.09093029,  0.15014629])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047317647566657434
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46644947e-14,  2.19967420e-14,  1.00000000e+00, -3.22571106e-28,
        1.00000000e+00, -2.19967420e-14, -1.00000000e+00,  0.00000000e+00,
        1.46644947e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194599, -0.06263207,  0.06197988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.07045840e-05,-1.30130105e-05,-7.41953730e-06, 1.87300751e-05,
 -2.73625032e-06, 3.39592417e-05,-1.55710753e-05, 1.43101887e-05,
 -2.50849131e-06, 4.27483367e-05, 1.10646553e-05, 1.69506132e-05,
  2.64720676e-01, 4.81706361e-03, 7.82245864e-02, 3.28844234e-02,
 -1.61929630e-04, 7.85232785e-06,-9.80999247e+00,-1.17998421e-02,
 -2.39743415e-02, 6.26588857e-05]


--- Step 961 ---
qpos:
[-1.35662089e-02, 1.35285245e-02, 1.00544731e-02, 1.47319137e-02,
 -1.90393068e-02,-9.09780802e-03,-1.74338665e-02, 1.63296955e-02,
 -1.21469630e-02,-6.69822686e-03,-1.43478694e-02, 1.51347003e-02,
  1.40347457e+00, 2.92158576e-02, 2.92545186e-01,-3.10830963e-02,
  9.50347302e-02,-7.24909525e-02, 1.04537925e-01, 9.99225532e-01,
  1.11960527e-03,-4.16639529e-04,-3.93307676e-02]

qacc:
[ -6.20422959, -1.90016551,  8.53529766,-17.19519129,  2.68527081,
   1.19318588, -3.08007817,  0.46392241, -0.26533324,  2.13313994,
 -10.63666316, 25.36509849,  0.33194351,  2.89876817,-12.77782   ,
   8.2227981 ,  0.90047503, -0.0447604 ,  0.19807783, -5.75024487,
  24.68595556,-14.72482581]

qfrc_actuator:
[ 4.82508607e-04,-5.58448527e-04,-1.76542957e-04,-9.38594980e-05,
 -6.01336564e-04,-6.58258485e-04,-2.29950746e-04, 6.23701949e-05,
 -4.99689900e-04,-4.35910029e-04,-1.27524896e-04, 6.63070631e-05,
  2.10000000e-01,-2.58061243e-03, 9.00000000e-02, 3.50107882e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000805811660540637
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.63937182e-01,  2.40679931e-01, -4.42363783e-01,  2.14229723e-01,
        9.70604539e-01,  1.09692548e-01,  4.55761091e-01,  1.38777878e-17,
       -8.90102145e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10241258, -0.09093833,  0.15015529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047605521830205305
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.28790867e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.28790867e-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([ 0.08194683, -0.06263213,  0.06197976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.69127671e-05,-1.52133165e-05, 1.00397820e-05,-2.48828860e-05,
  1.60347233e-05, 1.11119860e-05,-2.44644481e-05,-9.87061443e-06,
 -1.52558867e-06, 4.92269718e-05, 1.53042786e-05, 4.69537941e-05,
  2.64646187e-01, 4.83538058e-03, 7.88451129e-02, 3.29789505e-02,
 -1.64302972e-04, 4.14700491e-05,-9.80999841e+00,-1.18051626e-02,
 -2.39798255e-02, 6.39525365e-05]


--- Step 962 ---
qpos:
[-1.35665102e-02, 1.35281384e-02, 1.00550366e-02, 1.47304466e-02,
 -1.90385956e-02,-9.09730427e-03,-1.74338912e-02, 1.63313215e-02,
 -1.21468745e-02,-6.69753214e-03,-1.43473406e-02, 1.51367408e-02,
  1.40347144e+00, 2.91859887e-02, 2.92735558e-01,-3.10498226e-02,
  9.50297602e-02,-7.24951010e-02, 1.04539113e-01, 9.99213770e-01,
  1.07987834e-03,-4.07839674e-04,-3.96296572e-02]

qacc:
[  2.28818981, -2.12237973,  8.44785024,-14.11447787,  1.64542405,
  -1.44425663,  6.89657197,-15.31461985, -0.1725648 ,  0.91864166,
  -2.99466638,  5.27188608,  0.25379192, 11.18740829,-11.1537145 ,
  14.30591702,  0.85395979, -0.07609102,  0.1143678 , -5.46093558,
  23.92208457,-16.57443502]

qfrc_actuator:
[ 4.97052948e-04,-5.62588796e-04,-1.51190900e-04,-1.07761285e-04,
 -5.92055877e-04,-6.79558902e-04,-2.29905554e-04, 3.72455854e-05,
 -5.00593276e-04,-4.05050194e-04,-1.25034522e-04, 7.39245480e-05,
  2.10000000e-01,-2.58171660e-03, 9.00000000e-02, 3.49097904e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000715591959892592
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.86433558,  0.23976424, -0.4420827 ,  0.21346324,  0.97083114,
        0.10918029,  0.45536518,  0.        , -0.89030475])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10239148, -0.09094432,  0.15016031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004769657865529575
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.90959817e-14,  1.45479909e-14,  1.00000000e+00, -4.23288076e-28,
        1.00000000e+00, -1.45479909e-14, -1.00000000e+00,  0.00000000e+00,
        2.90959817e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194712, -0.06263191,  0.06197972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34838293e-05,-1.16333514e-05, 2.25928086e-05,-1.46880435e-05,
  9.72025109e-06,-2.05761852e-05,-1.02159389e-06,-2.56889546e-05,
 -9.50341257e-07, 6.35548942e-05, 1.61662324e-05, 1.11696860e-05,
  2.64561668e-01, 4.80167475e-03, 7.96957208e-02, 3.30822450e-02,
 -1.88256787e-04, 8.23887614e-05,-9.80998903e+00,-1.18119116e-02,
 -2.39837481e-02, 6.34121985e-05]


--- Step 963 ---
qpos:
[-1.35659455e-02, 1.35277983e-02, 1.00557948e-02, 1.47291578e-02,
 -1.90381235e-02,-9.09723605e-03,-1.74335184e-02, 1.63329937e-02,
 -1.21464531e-02,-6.69638726e-03,-1.43472839e-02, 1.51382046e-02,
  1.40347277e+00, 2.91584495e-02, 2.92910544e-01,-3.10194120e-02,
  9.50279799e-02,-7.24997080e-02, 1.04540475e-01, 9.99200432e-01,
  1.03166173e-03,-3.52490661e-04,-3.99663456e-02]

qacc:
[ 7.51283067e+00,-1.31287192e-01,-2.21498358e-01, 2.98820768e+00,
 -2.05703689e+00,-1.58674546e+00, 4.63446467e+00,-4.15661562e+00,
  2.88159899e+00, 7.21263723e-01, 7.17068776e-01,-1.02656964e+01,
  1.27265494e-02, 1.30348185e+01,-1.39697297e+01, 1.61405348e+01,
  7.97423290e-01,-1.14616037e-01, 4.37031372e-02,-5.17072932e+00,
  2.30673288e+01,-1.89391646e+01]

qfrc_actuator:
[ 5.41248141e-04,-5.47055834e-04,-1.36477714e-04,-9.75866900e-05,
 -6.04637963e-04,-7.10200143e-04,-2.12166841e-04, 3.95643110e-05,
 -4.83406773e-04,-4.04855178e-04,-1.59265006e-04, 4.20815362e-05,
  2.10000000e-01,-2.57167763e-03, 9.00000000e-02, 3.48193075e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007233817535585099
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.86443313,  0.23909964, -0.44225189,  0.21285964,  0.97099504,
        0.10890093,  0.45546256,  0.        , -0.89025494])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10237579, -0.09094795,  0.15015984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047627655644927325
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45690436e-14,  2.91380871e-14,  1.00000000e+00, -4.24514061e-28,
        1.00000000e+00, -2.91380871e-14, -1.00000000e+00,  0.00000000e+00,
        1.45690436e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194698, -0.06263144,  0.06197975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.45903802e-05, 1.30796857e-05, 1.45874638e-05, 1.01718333e-05,
 -1.23299522e-05,-4.34816725e-05, 1.24651089e-05, 8.99687050e-07,
  1.71444519e-05, 3.95461824e-05,-1.87275234e-05,-2.83435358e-05,
  2.64332140e-01, 4.71181694e-03, 8.02771078e-02, 3.30899744e-02,
 -2.33013418e-04, 1.32448951e-04,-9.80996472e+00,-1.18204143e-02,
 -2.39861928e-02, 6.11062959e-05]


--- Step 964 ---
qpos:
[-1.35652000e-02, 1.35276632e-02, 1.00563976e-02, 1.47276591e-02,
 -1.90374613e-02,-9.09738922e-03,-1.74330162e-02, 1.63350170e-02,
 -1.21461745e-02,-6.69517438e-03,-1.43474788e-02, 1.51393105e-02,
  1.40347840e+00, 2.91334783e-02, 2.93066775e-01,-3.09925498e-02,
  9.50291898e-02,-7.25048802e-02, 1.04541775e-01, 9.99185308e-01,
  9.75111062e-04,-2.52141139e-04,-4.03448420e-02]

qacc:
[ 1.55866479e+00, 2.70260455e-01, 3.10479169e-01,-3.83983759e+00,
  1.65838448e+00, 6.52776540e-02,-2.14520742e+00, 8.18317072e+00,
 -1.25529573e+00, 5.83575922e-02, 1.43776504e+00,-7.28505187e+00,
 -2.44422105e-01, 1.48391256e+01,-1.68534001e+01, 1.90572020e+01,
  7.47518591e-01,-1.41316729e-01,-1.56409807e-02,-5.06939198e+00,
  2.22938432e+01,-2.09447485e+01]

qfrc_actuator:
[ 5.49267125e-04,-5.37627618e-04,-1.45822595e-04,-1.08825957e-04,
 -5.94479906e-04,-7.10598238e-04,-2.01911307e-04, 5.80115077e-05,
 -4.91215689e-04,-4.23218863e-04,-1.79542660e-04, 2.27362785e-05,
  2.10000000e-01,-2.53828379e-03, 9.00000000e-02, 3.48078292e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007334888695345238
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.64287722e-01,  2.38624358e-01, -4.42792445e-01,  2.12375208e-01,
        9.71111948e-01,  1.08804204e-01,  4.55964368e-01,  1.38777878e-17,
       -8.89998031e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10236524, -0.09095006,  0.15015489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004743076542141969
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46295212e-14, -7.31476062e-15,  1.00000000e+00,  1.07011446e-28,
        1.00000000e+00,  7.31476062e-15, -1.00000000e+00,  0.00000000e+00,
        1.46295212e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0819465 , -0.06263078,  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:
[ 9.31479372e-06, 2.01862542e-05,-4.50258209e-06,-9.97933037e-06,
  9.77671626e-06,-2.21211118e-05, 2.83588368e-06, 1.70322306e-05,
 -7.34750206e-06,-1.34555774e-06,-1.54038902e-05,-1.88524525e-05,
  2.64107881e-01, 4.63234834e-03, 8.10465463e-02, 3.32216972e-02,
 -3.01083730e-04, 1.94704854e-04,-9.80992577e+00,-1.18308486e-02,
 -2.39873082e-02, 5.71119627e-05]


--- Step 965 ---
qpos:
[-1.35647084e-02, 1.35275967e-02, 1.00566585e-02, 1.47260683e-02,
 -1.90363383e-02,-9.09725643e-03,-1.74328811e-02, 1.63368689e-02,
 -1.21459923e-02,-6.69417990e-03,-1.43472339e-02, 1.51401650e-02,
  1.40348603e+00, 2.91104376e-02, 2.93194269e-01,-3.09718897e-02,
  9.50331532e-02,-7.25107169e-02, 1.04542824e-01, 9.99168142e-01,
  9.10051250e-04,-1.08580904e-04,-4.07698922e-02]

qacc:
[ -2.21267123,  0.8612944 , -2.54340051,  1.43864198,  3.98535304,
   1.04278403, -2.45959763, -0.11630108, -0.82348938, -2.03306915,
   7.89434286,-12.78928596, -0.51507791, 11.23514962,-23.61600387,
  21.21006598,  0.68841119, -0.16612417, -0.06251793, -5.12764592,
  21.39315104,-23.31908055]

qfrc_actuator:
[ 5.35919224e-04,-5.49792323e-04,-1.69330007e-04,-1.14844104e-04,
 -5.71011351e-04,-6.75137720e-04,-2.13789097e-04, 5.03072673e-05,
 -4.95926813e-04,-4.34763011e-04,-1.55975117e-04, 1.09015229e-05,
  2.10000000e-01,-2.50979977e-03, 9.00000000e-02, 3.48633370e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008274799648128023
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.63935759e-01,  2.38297471e-01, -4.43654504e-01,  2.11980392e-01,
        9.71192213e-01,  1.08857695e-01,  4.56814313e-01,  1.38777878e-17,
       -8.89562074e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1023595 , -0.09095117,  0.15014596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047133530694180165
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.84022229e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.84022229e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194574, -0.06262996,  0.06197996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30704778e-05,-2.25793967e-06,-2.02463657e-05,-5.50536791e-06,
  2.37366422e-05, 2.43854377e-05,-1.55163955e-05,-8.22444986e-06,
 -4.96475359e-06,-1.63027421e-05, 2.07355703e-05,-1.27930847e-05,
  2.63891750e-01, 4.53566995e-03, 8.19843429e-02, 3.34546574e-02,
 -3.92953558e-04, 2.71060164e-04,-9.80987203e+00,-1.18434492e-02,
 -2.39872707e-02, 5.14785575e-05]


--- Step 966 ---
qpos:
[-1.35643805e-02, 1.35276309e-02, 1.00565892e-02, 1.47247585e-02,
 -1.90356327e-02,-9.09644168e-03,-1.74334016e-02, 1.63385824e-02,
 -1.21462138e-02,-6.69320022e-03,-1.43467978e-02, 1.51412072e-02,
  1.40349334e+00, 2.90869188e-02, 2.93352084e-01,-3.09598769e-02,
  9.50297643e-02,-7.25195809e-02, 1.04542465e-01, 9.99153620e-01,
  9.14662310e-04,-6.20807260e-05,-4.11242395e-02]

qacc:
[-1.43100459e+00, 1.63767596e+00,-6.82719365e+00, 1.21383493e+01,
 -3.65691439e+00, 2.45461370e+00,-6.84839745e+00, 4.98709653e+00,
 -3.51799889e+00,-1.60679724e-01,-2.35306478e-01, 3.17332405e+00,
 -5.51539371e-01, 6.25614498e-01, 7.10812250e+01,-1.83468650e+02,
 -1.83808768e+00,-7.56802667e-01,-3.52202440e-01, 3.67876576e+01,
 -4.70371089e+01, 3.54162691e+01]

qfrc_actuator:
[ 5.27866161e-04,-5.39353036e-04,-1.83333647e-04,-1.00010846e-04,
 -5.93161220e-04,-6.18580842e-04,-2.38502153e-04, 4.50468367e-05,
 -5.16521218e-04,-4.24203629e-04,-1.42196461e-04, 2.13622232e-05,
  2.10000000e-01,-2.46689876e-03, 9.00000000e-02, 3.49098515e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.34985416,  0.34853897,  0.03030714,  0.34853897,  0.35062739,
       -0.00889227,  0.03030714, -0.00889227,  0.45211732,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008381704107249693
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.63443010e-01,  2.38058970e-01, -4.44740482e-01,  2.11634702e-01,
        9.71250702e-01,  1.09008375e-01,  4.57904927e-01,  1.38777878e-17,
       -8.89001169e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10235832, -0.09095208,  0.15013438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.75866046,  9.83331968,  4.36515738,  9.83331968, 12.81358897,
       -4.62910434,  4.36515738, -4.62910434, 21.18656921,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000469948573594961
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.38260981e-14, -5.90608785e-14,  1.00000000e+00, -4.36023421e-27,
        1.00000000e+00,  5.90608785e-14, -1.00000000e+00,  0.00000000e+00,
       -7.38260981e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10039369, -0.05429639,  0.06198002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.42686444e-06, 4.73584013e-06,-1.71595983e-05, 1.39279643e-05,
 -2.14675286e-05, 6.66032277e-05,-2.18862996e-05,-4.91596422e-06,
 -2.07833864e-05, 5.16585578e-06, 1.25193694e-05, 1.02300377e-05,
  2.63791515e-01, 4.48467370e-03, 8.34212078e-02, 3.38112842e-02,
 -5.11748473e-04, 3.64693585e-04,-9.80980328e+00,-1.18584028e-02,
 -2.39863380e-02, 4.42429079e-05]


--- Step 967 ---
qpos:
[-1.35641516e-02, 1.35276625e-02, 1.00560965e-02, 1.47236565e-02,
 -1.90351982e-02,-9.09528739e-03,-1.74344278e-02, 1.63405983e-02,
 -1.21466814e-02,-6.69222485e-03,-1.43458999e-02, 1.51420005e-02,
  1.40349115e+00, 2.90594898e-02, 2.93510650e-01,-3.09508065e-02,
  9.50190402e-02,-7.25315866e-02, 1.04540500e-01, 9.99141636e-01,
  9.82793660e-04,-1.14124466e-04,-4.14127097e-02]

qacc:
[ -0.87171857,  1.609997  , -6.61953488, 10.8905855 , -2.37472325,
   2.48796082, -9.48942597, 15.2739865 , -2.13348318, -1.80412828,
   7.48218605,-12.53062186, -0.56771931,-21.63068357,  9.82707135,
 -33.24183707, -1.83379744, -0.78544572, -0.40153357, 33.76042141,
 -47.89393876, 33.00601538]

qfrc_actuator:
[ 5.23001387e-04,-5.50916253e-04,-2.09262678e-04,-9.07555411e-05,
 -6.06482881e-04,-6.20887050e-04,-2.70481084e-04, 5.90408247e-05,
 -5.28546981e-04,-4.18250994e-04,-1.16465718e-04, 9.35666476e-06,
  2.10000000e-01,-2.43146376e-03, 9.00000000e-02, 3.49203909e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.35174408, 0.35008793, 0.03409316, 0.35008793, 0.3510272 ,
       0.00736139, 0.03409316, 0.00736139, 0.27615312, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0008466715662994392
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.86358706,  0.23670159, -0.44518507,  0.21039125,  0.9715824 ,
        0.10845813,  0.45820619,  0.        , -0.88884593])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10234525, -0.09096499,  0.15012927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.76747599, -10.2378973 ,  -3.33526581, -10.2378973 ,
        14.47833838, -11.39082465,  -3.33526581, -11.39082465,
        45.73263306,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00047057401155033846
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17964762e-13,  9.58463690e-14,  1.00000000e+00,  1.13064941e-26,
        1.00000000e+00, -9.58463690e-14, -1.00000000e+00,  0.00000000e+00,
       -1.17964762e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10039915, -0.05430873,  0.06198   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.10355745e-06,-1.18776864e-05,-2.65861256e-05, 9.13491179e-06,
 -1.39428087e-05, 3.01736649e-05,-2.10954336e-05, 1.59943571e-05,
 -1.26630759e-05, 1.18627554e-05, 2.86957104e-05,-1.11509931e-05,
  2.63806257e-01, 4.54724434e-03, 8.19051989e-02, 3.42542216e-02,
 -2.94447426e-04, 2.10707957e-04,-9.80997776e+00,-1.18352417e-02,
 -2.39648134e-02, 4.44098818e-05]


--- Step 968 ---
qpos:
[-1.35643275e-02, 1.35276004e-02, 1.00547686e-02, 1.47227149e-02,
 -1.90345825e-02,-9.09419234e-03,-1.74358963e-02, 1.63421234e-02,
 -1.21469456e-02,-6.69143365e-03,-1.43448676e-02, 1.51426901e-02,
  1.40349242e+00, 2.90340308e-02, 2.93653876e-01,-3.09478097e-02,
  9.50119471e-02,-7.25433457e-02, 1.04539221e-01, 9.99128507e-01,
  1.03569012e-03,-1.18388618e-04,-4.17269655e-02]

qacc:
[ -3.53263607,  2.54849782, -9.93217743, 14.10229134,  1.5604556 ,
   0.14451163,  1.43821412, -9.17649918,  1.78301908, -0.83584808,
   3.05970011, -4.92993353, -0.16437737, 11.45468654, -4.18806188,
 -17.99899906,  0.9077243 ,  0.06166247,  0.17171757, -8.60115677,
  23.54109308,-12.92809749]

qfrc_actuator:
[ 5.02297787e-04,-5.75617846e-04,-2.59874169e-04,-8.48861573e-05,
 -5.96734430e-04,-6.58441486e-04,-3.06707211e-04, 3.09441639e-05,
 -5.17675116e-04,-4.50572231e-04,-1.19416242e-04, 1.98520538e-06,
  2.10000000e-01,-2.41463770e-03, 9.00000000e-02, 3.49426044e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.33059249,  0.32944039,  0.02757575,  0.32944039,  0.34002908,
       -0.11273654,  0.02757575, -0.11273654,  1.67742676,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000765170767273354
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.64453593e-01,  2.34176429e-01, -4.44838607e-01,  2.08224522e-01,
        9.72194116e-01,  1.07150120e-01,  4.57561509e-01,  1.38777878e-17,
       -8.89177972e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10232057, -0.09099066,  0.15013318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046868360894926353
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.70126764e-15,  2.96101411e-14,  1.00000000e+00,  1.09595057e-28,
        1.00000000e+00, -2.96101411e-14, -1.00000000e+00,  0.00000000e+00,
       -3.70126764e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194432, -0.06262708,  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:
[-2.08471685e-05,-3.64547727e-05,-5.60266776e-05, 4.61763184e-06,
  9.32327678e-06,-2.43739852e-05,-3.20433699e-05,-2.72227608e-05,
  1.04650352e-05,-2.02297571e-05, 2.65260784e-06,-6.08609756e-06,
  2.64280343e-01, 4.76278616e-03, 8.18677506e-02, 3.44235723e-02,
 -1.57843380e-04, 8.26790355e-05,-9.81005167e+00,-1.18160211e-02,
 -2.39544582e-02, 4.88090371e-05]


--- Step 969 ---
qpos:
[-1.35647499e-02, 1.35273913e-02, 1.00531059e-02, 1.47218236e-02,
 -1.90342001e-02,-9.09340755e-03,-1.74368476e-02, 1.63432663e-02,
 -1.21474233e-02,-6.69059342e-03,-1.43445242e-02, 1.51436593e-02,
  1.40349781e+00, 2.90110573e-02, 2.93780508e-01,-3.09512791e-02,
  9.50083682e-02,-7.25547911e-02, 1.04538345e-01, 9.99114159e-01,
  1.07271682e-03,-7.59032198e-05,-4.20682918e-02]

qacc:
[ -2.14490346,  0.84957091, -3.51551146,  5.02006281, -2.00490492,
  -2.63729996, 10.42979544,-17.65140487, -1.88609006,  2.56890963,
 -10.24052288, 16.13991057, -0.36872282, 14.883659  , -4.81467405,
 -18.40265892,  0.87857484,  0.07841669,  0.10046759, -8.9042945 ,
  23.00921501,-13.57216027]

qfrc_actuator:
[ 4.90188794e-04,-5.72605077e-04,-2.71456209e-04,-8.10842504e-05,
 -6.08993017e-04,-6.63623990e-04,-2.74332144e-04, 1.37705959e-05,
 -5.28921029e-04,-4.52418327e-04,-1.57185315e-04, 1.51014496e-05,
  2.10000000e-01,-2.37778782e-03, 9.00000000e-02, 3.49406252e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.33450314,  0.33348141,  0.02612473,  0.33348141,  0.34793662,
       -0.17147794,  0.02612473, -0.17147794,  2.5234137 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007786158744328853
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.86502715,  0.23199292, -0.44486774,  0.2063088 ,  0.97271747,
        0.10610087,  0.45734528,  0.        , -0.88928921])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10230191, -0.09101307,  0.15013281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000469069941906361
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.69821922e-15,  5.91715076e-14,  1.00000000e+00,  2.18829207e-28,
        1.00000000e+00, -5.91715076e-14, -1.00000000e+00,  0.00000000e+00,
       -3.69821922e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194408, -0.0626262 ,  0.06198006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27009781e-05,-2.87511607e-05,-2.58520651e-05, 3.91741858e-07,
 -1.20222134e-05,-2.66166896e-05, 2.24436432e-05,-1.98584681e-05,
 -1.09953194e-05,-1.28619499e-05,-4.18308575e-05, 1.22223616e-05,
  2.64106194e-01, 4.70400046e-03, 8.26347743e-02, 3.47252727e-02,
 -1.96801784e-04, 1.38166867e-04,-9.81003569e+00,-1.18211497e-02,
 -2.39568642e-02, 5.16024585e-05]


--- Step 970 ---
qpos:
[-1.35649689e-02, 1.35269115e-02, 1.00518670e-02, 1.47212926e-02,
 -1.90343128e-02,-9.09283629e-03,-1.74374745e-02, 1.63448854e-02,
 -1.21476878e-02,-6.68978292e-03,-1.43446374e-02, 1.51447724e-02,
  1.40350914e+00, 2.89916054e-02, 2.93893894e-01,-3.09595300e-02,
  9.50081997e-02,-7.25658948e-02, 1.04537620e-01, 9.99098501e-01,
  1.09355111e-03, 1.24723788e-05,-4.24380547e-02]

qacc:
[  1.7802928 , -0.80418178,  0.82060954,  4.94425942, -4.28500139,
  -0.19987955, -1.69300532,  9.55801092,  1.84724598,  1.52899967,
  -6.122942  ,  9.37277389, -0.59662437, 21.57098395, -4.89124791,
 -10.7678821 ,  0.85260195,  0.08542394,  0.03802366, -9.05467421,
  22.56887956,-14.25719501]

qfrc_actuator:
[ 5.00992887e-04,-5.70625650e-04,-2.42034161e-04,-6.07240691e-05,
 -6.34113763e-04,-6.66861246e-04,-2.54836954e-04, 3.87438476e-05,
 -5.17596736e-04,-4.53891486e-04,-1.79570773e-04, 2.24157246e-05,
  2.10000000e-01,-2.36573245e-03, 9.00000000e-02, 3.49092001e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007283753463704242
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.86531974,  0.23014963, -0.445256  ,  0.20464671,  0.97315525,
        0.10530232,  0.4575385 ,  0.        , -0.88918981])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10228909, -0.09103225,  0.15012818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000468082384718467
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.70602170e-15,  2.96481736e-14,  1.00000000e+00,  1.09876775e-28,
        1.00000000e+00, -2.96481736e-14, -1.00000000e+00,  0.00000000e+00,
       -3.70602170e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194354, -0.06262524,  0.0619801 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04578181e-05,-1.94135828e-05, 2.03157457e-05, 1.82421276e-05,
 -2.54961930e-05,-1.43544971e-05, 1.60709675e-05, 2.42224820e-05,
  1.09694638e-05,-1.67720189e-05,-2.97673521e-05, 5.55457500e-06,
  2.63900023e-01, 4.59428436e-03, 8.34644544e-02, 3.50171569e-02,
 -2.51441175e-04, 1.98577210e-04,-9.81000459e+00,-1.18281151e-02,
 -2.39580964e-02, 5.22883948e-05]


--- Step 971 ---
qpos:
[-1.35650566e-02, 1.35266255e-02, 1.00507891e-02, 1.47209671e-02,
 -1.90347264e-02,-9.09218873e-03,-1.74379331e-02, 1.63460736e-02,
 -1.21474702e-02,-6.68912003e-03,-1.43452736e-02, 1.51459845e-02,
  1.40351042e+00, 2.89683867e-02, 2.94005055e-01,-3.09686238e-02,
  9.50005195e-02,-7.25799884e-02, 1.04535270e-01, 9.99085455e-01,
  1.17846208e-03, 9.59970171e-07,-4.27418299e-02]

qacc:
[  1.14083888,  0.22698545, -1.30880607,  4.46848192, -2.60931602,
  -1.25136996,  6.43727486,-14.23246097,  4.19402335,  1.46191161,
  -5.92793985,  8.60146729, -0.86162874,-20.4035575 , -0.91409699,
  -2.00996048, -1.87792074, -0.74747292, -0.40640387, 34.1271489 ,
 -48.50327122, 33.07448603]

qfrc_actuator:
[ 5.07440999e-04,-5.33578322e-04,-2.24139699e-04,-4.85117627e-05,
 -6.48844064e-04,-6.51151360e-04,-2.43083669e-04, 1.72891812e-05,
 -4.93071649e-04,-4.72834378e-04,-2.10435472e-04, 2.62726963e-05,
  2.10000000e-01,-2.37058400e-03, 9.00000000e-02, 3.49320194e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.34126346, 0.34002375, 0.029062  , 0.34002375, 0.3406953 ,
       0.00664747, 0.029062  , 0.00664747, 0.26348842, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0008032232274880457
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.65340004e-01,  2.28642477e-01, -4.45992484e-01,  2.03237140e-01,
        9.73510461e-01,  1.04747540e-01,  4.58128086e-01,  1.38777878e-17,
       -8.88886189e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10228193, -0.09104824,  0.15011927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.75204277,  9.85396115,  4.30184536,  9.85396115, 13.10054627,
       -5.37956628,  4.30184536, -5.37956628, 23.07467008,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046947789664857076
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.95600451e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.95600451e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10041983, -0.05435335,  0.06198004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.77440931e-06, 3.11780795e-05, 1.70179928e-05, 1.24379785e-05,
 -1.54881023e-05, 1.20355887e-05, 1.16085909e-05,-2.10409262e-05,
  2.48039059e-05,-3.42217127e-05,-3.78019015e-05, 2.21606952e-06,
  2.63601668e-01, 4.41558247e-03, 8.41266686e-02, 3.52790280e-02,
 -3.21697659e-04, 2.64715543e-04,-9.80995854e+00,-1.18370193e-02,
 -2.39581932e-02, 5.08707810e-05]


--- Step 972 ---
qpos:
[-1.35650657e-02, 1.35264774e-02, 1.00499489e-02, 1.47207917e-02,
 -1.90353138e-02,-9.09179112e-03,-1.74378032e-02, 1.63466629e-02,
 -1.21473054e-02,-6.68888710e-03,-1.43458728e-02, 1.51468858e-02,
  1.40350268e+00, 2.89413065e-02, 2.94119869e-01,-3.09769789e-02,
  9.49853713e-02,-7.25972658e-02, 1.04531088e-01, 9.99074846e-01,
  1.32348881e-03,-1.10805159e-04,-4.29847422e-02]

qacc:
[  0.68635782, -0.17377659,  0.2475102 ,  1.87357611, -1.48697076,
  -3.20287097, 13.47495956,-24.60134414, -0.45196153, -1.31047534,
   5.16178001,-10.28460907, -0.37649045,-21.7614126 ,  2.96486295,
  -3.0265019 , -1.86700803, -0.79595952, -0.45805856, 32.17141481,
 -48.75992853, 30.51477832]

qfrc_actuator:
[ 5.11266112e-04,-5.29104468e-04,-2.13068501e-04,-4.11774083e-05,
 -6.57336227e-04,-6.77535489e-04,-2.18196694e-04,-1.35529056e-05,
 -4.96485505e-04,-5.02129339e-04,-2.10633339e-04, 1.02900318e-05,
  2.10000000e-01,-2.32644212e-03, 9.00000000e-02, 3.48788438e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.33367684, 0.33227108, 0.03059682, 0.33227108, 0.33278086,
       0.00973007, 0.03059682, 0.00973007, 0.22801152, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0007757330692743888
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.86609308,  0.22595978, -0.44589792,  0.2008981 ,  0.97413663,
        0.10343005,  0.45773653,  0.        , -0.88908788])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10226293, -0.09107709,  0.1501198 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.73923445, -10.28476086,  -3.09109214, -10.28476086,
        14.54643581, -12.6674178 ,  -3.09109214, -12.6674178 ,
        52.8865911 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004685640504178759
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.48088482e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.48088482e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10042463, -0.05436324,  0.06198008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.05383937e-06, 2.59607812e-05, 2.00373465e-05, 9.50093843e-06,
 -8.95430598e-06,-1.81480918e-05, 2.80803371e-05,-3.03325502e-05,
 -2.73318456e-06,-5.61459661e-05,-1.18501849e-05,-1.87158664e-05,
  2.64103884e-01, 4.65023936e-03, 8.42378619e-02, 3.52679833e-02,
 -1.62040768e-04, 1.28221024e-04,-9.81005118e+00,-1.18147192e-02,
 -2.39459705e-02, 5.51557733e-05]


--- Step 973 ---
qpos:
[-1.35650284e-02, 1.35262969e-02, 1.00493507e-02, 1.47207275e-02,
 -1.90356540e-02,-9.09179301e-03,-1.74372792e-02, 1.63472568e-02,
 -1.21475275e-02,-6.68908865e-03,-1.43461506e-02, 1.51468788e-02,
  1.40349376e+00, 2.89135219e-02, 2.94242244e-01,-3.09826366e-02,
  9.49731363e-02,-7.26119639e-02, 1.04528887e-01, 9.99062753e-01,
  1.42714475e-03,-1.90453523e-04,-4.32613343e-02]

qacc:
[  0.41079517, -0.49160672,  1.21991786,  0.34233939,  2.16603982,
  -1.6239332 ,  4.99859994, -5.25081311, -3.36065493, -3.33511104,
  14.90600443,-30.83601879,  0.05626045, -3.99529719,  2.97994062,
   5.71328324,  0.72829146,  0.64484422,  0.49548007,-21.3574017 ,
  15.1320009 ,-16.87515198]

qfrc_actuator:
[ 5.13517674e-04,-5.44196302e-04,-2.06232207e-04,-3.67967774e-05,
 -6.44339633e-04,-7.11127683e-04,-2.03669476e-04,-1.41820431e-05,
 -5.16320750e-04,-5.19541505e-04,-1.92782024e-04,-3.49789499e-05,
  2.10000000e-01,-2.25130279e-03, 9.00000000e-02, 3.48143320e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.33175164,  0.33038626,  0.0300678 ,  0.33038626,  0.34123893,
       -0.1042467 ,  0.0300678 , -0.1042467 ,  1.4772189 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000769105212277419
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.86759111,  0.22208641, -0.44493066,  0.19761525,  0.97502699,
        0.10134392,  0.45632651,  0.        , -0.8898124 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10223209, -0.09111905,  0.15013046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000471195696780417
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.94522804e-14,  4.01106611e-06,  1.00000000e+00,  1.18135044e-19,
        1.00000000e+00, -4.01106611e-06, -1.00000000e+00, -2.40741243e-35,
       -2.94522804e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08342351, -0.06666437,  0.06197997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.39190158e-06, 3.97228372e-06, 1.49945799e-05, 6.37099381e-06,
  1.27152963e-05,-3.92220667e-05, 1.31953739e-05,-1.02375587e-06,
 -1.99353097e-05,-5.20660111e-05, 4.14498600e-06,-4.84496309e-05,
  2.64554444e-01, 4.92069842e-03, 8.40551894e-02, 3.51665089e-02,
 -7.75441010e-05, 1.44613387e-05,-9.81005166e+00,-1.17962589e-02,
 -2.39433618e-02, 6.36347968e-05]


--- Step 974 ---
qpos:
[-1.35653091e-02, 1.35263676e-02, 1.00487416e-02, 1.47206975e-02,
 -1.90358361e-02,-9.09198927e-03,-1.74366346e-02, 1.63478312e-02,
 -1.21483306e-02,-6.68944406e-03,-1.43463245e-02, 1.51459626e-02,
  1.40348442e+00, 2.88853345e-02, 2.94372036e-01,-3.09848413e-02,
  9.49637258e-02,-7.26241219e-02, 1.04528259e-01, 9.99049151e-01,
  1.48990115e-03,-2.37892864e-04,-4.35719706e-02]

qacc:
[ -2.76136564,  0.43848566, -1.2168655 ,  1.63175184,  1.37956012,
  -0.63622363,  1.97309443, -2.35341905, -5.06536759, -2.35517189,
  11.95887534,-27.76693472,  0.11873298, -2.4062534 ,  0.48824744,
  14.14677408,  0.70613159,  0.63501695,  0.39308334,-21.12947772,
  15.18029603,-17.05785162]

qfrc_actuator:
[ 4.97073177e-04,-5.17654500e-04,-2.02036454e-04,-3.42094169e-05,
 -6.36553965e-04,-7.13289908e-04,-1.95399230e-04,-1.47996988e-05,
 -5.45653505e-04,-5.11894869e-04,-1.82152874e-04,-7.93451218e-05,
  2.10000000e-01,-2.17693002e-03, 9.00000000e-02, 3.48295274e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.33269345,  0.33124531,  0.03100772,  0.33124531,  0.35103256,
       -0.19591066,  0.03100772, -0.19591066,  2.42554276,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007723325180418264
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.86880484,  0.21887866, -0.44415119,  0.19488848,  0.97575209,
        0.09963106,  0.45518857,  0.        , -0.89039506])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10220501, -0.09115324,  0.15013962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004741462134508338
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.92690048e-14, -3.32256310e-06,  1.00000000e+00, -9.72481153e-20,
        1.00000000e+00,  3.32256310e-06, -1.00000000e+00,  0.00000000e+00,
       -2.92690048e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08342227, -0.06666444,  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:
[-1.63613327e-05, 3.21318471e-05, 7.08226674e-06, 3.40007181e-06,
  8.13020497e-06,-2.13966160e-05, 1.76234683e-06,-1.86147702e-06,
 -2.99095078e-05,-2.26867047e-05,-1.28753848e-06,-4.73953881e-05,
  2.64612161e-01, 5.03270529e-03, 8.36770130e-02, 3.50468125e-02,
 -1.26745950e-04, 5.56230978e-05,-9.81006265e+00,-1.17945992e-02,
 -2.39507171e-02, 7.11935563e-05]


--- Step 975 ---
qpos:
[-1.35654396e-02, 1.35265323e-02, 1.00482278e-02, 1.47210569e-02,
 -1.90359233e-02,-9.09239681e-03,-1.74361801e-02, 1.63487629e-02,
 -1.21491340e-02,-6.68988002e-03,-1.43464513e-02, 1.51448612e-02,
  1.40346911e+00, 2.88542162e-02, 2.94516585e-01,-3.09710163e-02,
  9.49562461e-02,-7.26318641e-02, 1.04529175e-01, 9.99033484e-01,
  1.49038869e-03,-2.71723012e-04,-4.39295265e-02]

qacc:
[ 1.30277417e+00, 6.57308016e-01,-3.81156771e+00, 1.03330699e+01,
  8.21829067e-01, 9.85314544e-01,-5.43022600e+00, 1.20772770e+01,
 -5.91778535e-04,-6.19525201e-01, 2.83665668e+00,-6.05877675e+00,
  2.06943688e-01,-1.77912659e+01,-2.68914673e+01, 1.25301931e+02,
  4.82689504e-01, 1.10393207e+00, 3.86127492e-01,-3.14053551e+01,
  5.40634034e+00,-2.34851974e+01]

qfrc_actuator:
[ 5.05262180e-04,-5.19661065e-04,-1.99268829e-04,-1.49129146e-05,
 -6.31904565e-04,-7.32144743e-04,-2.08519901e-04, 2.36419639e-06,
 -5.44830741e-04,-5.07072410e-04,-1.75768167e-04,-8.73002322e-05,
  2.10000000e-01,-2.17404768e-03, 9.00000000e-02, 3.48374548e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007734889053329062
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.86974091,  0.21632223, -0.44357124,  0.19270721,  0.97632202,
        0.09828142,  0.45432882,  0.        , -0.89083406])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10218163, -0.09117982,  0.15014704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.84142346,   3.70253776, -10.18958668,   3.70253776,
        49.86958198,  14.18146146, -10.18958668,  14.18146146,
        15.99446825,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004757514866844184
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.91702458e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.91702458e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0847609 , -0.07033568,  0.06197977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.73257820e-06, 1.75745911e-05, 1.03983833e-05, 2.09858811e-05,
  4.87432170e-06,-3.05260548e-05,-1.73857127e-05, 1.62718313e-05,
 -2.28468421e-08,-1.01407945e-05,-8.87490653e-08,-9.89092800e-06,
  2.64632686e-01, 5.05829753e-03, 8.33062116e-02, 3.48820864e-02,
 -1.88348518e-04, 1.03239123e-04,-9.81005327e+00,-1.17957055e-02,
 -2.39585429e-02, 7.57623787e-05]


--- Step 976 ---
qpos:
[-1.35654712e-02, 1.35267571e-02, 1.00477880e-02, 1.47216506e-02,
 -1.90356092e-02,-9.09278938e-03,-1.74362653e-02, 1.63498884e-02,
 -1.21495763e-02,-6.69039943e-03,-1.43471237e-02, 1.51447505e-02,
  1.40345367e+00, 2.88225267e-02, 2.94667731e-01,-3.09506930e-02,
  9.49511047e-02,-7.26378410e-02, 1.04531035e-01, 9.99015683e-01,
  1.45516354e-03,-2.73551641e-04,-4.43336586e-02]

qacc:
[  0.86005388,  0.35373757, -2.13857545,  6.03669741,  3.46774753,
   1.91947698, -7.64595277, 11.86544949,  3.13756752,  3.44759071,
 -16.64702743, 34.7406171 ,  0.51376544, -4.47709715, -9.97718807,
  48.91859005,  0.5845907 ,  0.44134202,  0.23582496,-18.54673291,
  15.16587477,-23.33151392]

qfrc_actuator:
[ 5.10137755e-04,-5.20987227e-04,-1.97459858e-04,-3.71232143e-06,
 -6.11384343e-04,-7.25415229e-04,-2.34212735e-04, 1.20754606e-05,
 -5.26262848e-04,-5.21708847e-04,-2.07420218e-04,-3.82637159e-05,
  2.10000000e-01,-2.15811233e-03, 9.00000000e-02, 3.47915581e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007534420002980522
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.87049287,  0.21459335, -0.4429355 ,  0.19125762,  0.97670348,
        0.09731819,  0.45350048,  0.        , -0.89125603])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10215953, -0.09119623,  0.15015628])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.83160125, -3.54137958, 10.2363185 , -3.54137958, 43.61042228,
       11.34023403, 10.2363185 , 11.34023403, 14.75489391,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047507076969870133
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.43961547e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.43961547e-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([ 0.08342061, -0.06666392,  0.0619798 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.10266358e-06, 1.15564893e-05, 7.44715292e-06, 1.27219163e-05,
  2.06573347e-05,-1.32294832e-05,-3.35758356e-05, 8.11820576e-06,
  1.85838662e-05,-2.07185531e-05,-3.40897215e-05, 4.84085102e-05,
  2.64930105e-01, 5.22372633e-03, 8.25683260e-02, 3.40347133e-02,
 -3.01616709e-04, 1.56865451e-04,-9.81001385e+00,-1.17965694e-02,
 -2.39721846e-02, 7.68933277e-05]


--- Step 977 ---
qpos:
[-1.35657888e-02, 1.35271111e-02, 1.00470996e-02, 1.47220425e-02,
 -1.90353961e-02,-9.09316686e-03,-1.74366799e-02, 1.63507615e-02,
 -1.21501367e-02,-6.69125877e-03,-1.43477444e-02, 1.51445295e-02,
  1.40343777e+00, 2.87901525e-02, 2.94822962e-01,-3.09237426e-02,
  9.49480962e-02,-7.26423854e-02, 1.04533569e-01, 9.98995384e-01,
  1.38656990e-03,-2.44674257e-04,-4.47910791e-02]

qacc:
[ -2.49057056,  0.4548648 , -0.51356115, -2.68667667, -0.88784521,
   0.42244607, -0.40847337, -3.44848034, -1.02458484, -0.81878751,
   2.73696596, -4.48285684,  0.5448186 , -5.36236631,-14.09532954,
  57.90342234,  0.53321811,  0.35812349,  0.16861784,-17.35394804,
  14.55910857,-26.69109445]

qfrc_actuator:
[ 4.95263651e-04,-5.21908961e-04,-2.13995629e-04,-1.51227599e-05,
 -6.17191279e-04,-7.21229474e-04,-2.49270509e-04,-4.16901835e-07,
 -5.32914558e-04,-5.47985512e-04,-2.08062413e-04,-4.48972050e-05,
  2.10000000e-01,-2.11778006e-03, 9.00000000e-02, 3.46987339e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007584260143983981
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.71021043e-01,  2.13360822e-01, -4.42492375e-01,  1.90221917e-01,
        9.76973469e-01,  9.66357224e-02,  4.52921588e-01,  1.38777878e-17,
       -8.91550355e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10214034, -0.09120679,  0.15016375])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047362649286453884
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.74516757e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.74516757e-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([ 0.08341999, -0.06666344,  0.06197986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47280676e-05, 7.62758012e-06,-1.27910532e-05,-1.04099987e-05,
 -5.20301469e-06,-9.80364736e-06,-2.16500058e-05,-1.40647191e-05,
 -6.10035621e-06,-4.28047140e-05,-7.44016517e-06,-7.75837486e-06,
  2.64936238e-01, 5.29571206e-03, 8.22384833e-02, 3.36169902e-02,
 -4.09790617e-04, 2.33553318e-04,-9.80996422e+00,-1.18036631e-02,
 -2.39817915e-02, 7.52316560e-05]


--- Step 978 ---
qpos:
[-1.35659376e-02, 1.35275307e-02, 1.00462540e-02, 1.47219516e-02,
 -1.90352537e-02,-9.09376364e-03,-1.74369015e-02, 1.63511266e-02,
 -1.21504268e-02,-6.69238677e-03,-1.43483333e-02, 1.51431873e-02,
  1.40342306e+00, 2.87577349e-02, 2.94986105e-01,-3.08880566e-02,
  9.49470997e-02,-7.26457232e-02, 1.04536542e-01, 9.98972320e-01,
  1.28635241e-03,-1.85809497e-04,-4.53057948e-02]

qacc:
[  1.45837955, -0.47113343,  3.83945807,-11.98840048, -0.60377717,
  -1.87314043,  8.4060232 ,-17.34919826,  2.36500756, -2.75639335,
  14.03962394,-33.29105598,  0.624827  , -1.67135957,-14.78544303,
  68.61651403,  0.50299937,  0.30165085,  0.10967983,-16.47271747,
  14.23033213,-28.69770668]

qfrc_actuator:
[ 5.04390570e-04,-5.22681046e-04,-2.23492549e-04,-3.97573121e-05,
 -6.20700059e-04,-7.36328722e-04,-2.40189032e-04,-2.58627237e-05,
 -5.18857826e-04,-5.63203812e-04,-2.08230473e-04,-1.01980596e-04,
  2.10000000e-01,-2.15123066e-03, 9.00000000e-02, 3.47347988e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006980096410522132
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.71362961e-01,  2.12545865e-01, -4.42211313e-01,  1.89535269e-01,
        9.77151091e-01,  9.61879764e-02,  4.52551624e-01, -2.77555756e-17,
       -8.91738206e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10212361, -0.09121245,  0.15016975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047114378061938937
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.08890348e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.08890348e-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([ 0.0834192 , -0.06666291,  0.06197997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.70015923e-06, 4.11862930e-07,-9.85292204e-06,-2.49515462e-05,
 -3.64393086e-06,-2.56655587e-05, 3.90054489e-06,-2.68891067e-05,
  1.39065688e-05,-4.10024517e-05,-1.01862872e-05,-5.93242856e-05,
  2.64957810e-01, 5.29971005e-03, 8.20343140e-02, 3.33217301e-02,
 -5.49461778e-04, 3.28756978e-04,-9.80989611e+00,-1.18134385e-02,
 -2.39920637e-02, 7.10128157e-05]


--- Step 979 ---
qpos:
[-1.35663207e-02, 1.35278889e-02, 1.00456176e-02, 1.47215571e-02,
 -1.90351541e-02,-9.09437935e-03,-1.74370818e-02, 1.63508231e-02,
 -1.21498556e-02,-6.69348107e-03,-1.43496730e-02, 1.51418778e-02,
  1.40341454e+00, 2.87277893e-02, 2.95138086e-01,-3.08564723e-02,
  9.49485913e-02,-7.26501930e-02, 1.04539086e-01, 9.98946972e-01,
  1.17988122e-03,-7.74484470e-05,-4.58644663e-02]

qacc:
[ -2.02497908, -1.28744622,  5.76123352,-11.31236545, -0.37132735,
  -1.51525683,  8.19128635,-19.81710002,  7.4938145 ,  2.19492625,
  -7.92540951,  9.69503469,  0.55279733, 12.91875352, -3.9813587 ,
  -9.76416513,  0.62203673, -0.28298611, -0.10736084, -4.24748729,
  24.55256594,-22.03824584]

qfrc_actuator:
[ 4.92072203e-04,-5.23351535e-04,-2.11005490e-04,-5.42119621e-05,
 -6.22819941e-04,-7.27265338e-04,-2.34767328e-04,-5.87240622e-05,
 -4.74964727e-04,-5.53969772e-04,-2.43620107e-04,-9.95157667e-05,
  2.10000000e-01,-2.15830793e-03, 9.00000000e-02, 3.48434377e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007470537943515799
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.87152396,  0.21210873, -0.44210392,  0.18916202,  0.97724607,
        0.09595751,  0.45239775,  0.        , -0.89181628])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10210901, -0.09121363,  0.15017396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.74116894, -3.82374812, 10.03751266, -3.82374812, 34.77811916,
        9.15677483, 10.03751266,  9.15677483, 14.2294037 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004687023153541747
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48044797e-14,  4.44134390e-14,  1.00000000e+00, -6.57517856e-28,
        1.00000000e+00, -4.44134390e-14, -1.00000000e+00,  0.00000000e+00,
        1.48044797e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08195692, -0.06261404,  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:
[-1.20709771e-05,-3.53585657e-06, 1.04961287e-05,-1.52636618e-05,
 -2.20932876e-06,-5.64176498e-06,-3.31117557e-07,-3.43496698e-05,
  4.43307251e-05,-1.83210072e-05,-4.71617501e-05,-7.98605338e-07,
  2.64897118e-01, 5.29821357e-03, 8.16388300e-02, 3.29936251e-02,
 -7.19576955e-04, 4.43008515e-04,-9.80980903e+00,-1.18261133e-02,
 -2.40032508e-02, 6.43545491e-05]


--- Step 980 ---
qpos:
[-1.35668485e-02, 1.35280730e-02, 1.00452110e-02, 1.47206601e-02,
 -1.90357701e-02,-9.09484643e-03,-1.74373344e-02, 1.63508047e-02,
 -1.21487615e-02,-6.69460343e-03,-1.43511300e-02, 1.51395355e-02,
  1.40341196e+00, 2.87005864e-02, 2.95275386e-01,-3.08296025e-02,
  9.49525176e-02,-7.26557643e-02, 1.04541058e-01, 9.98919125e-01,
  1.06688148e-03, 7.82700795e-05,-4.64697422e-02]

qacc:
[ -1.24379584, -1.90515356,  8.58452468,-17.52525213, -6.21734188,
   0.99695082, -4.45270518,  9.37061649,  4.56032344, -1.84425329,
  10.86800507,-28.52040598,  0.23163666, 15.03016157, -7.30570617,
  -5.6225431 ,  0.60867351, -0.27540945, -0.14277951, -4.34717791,
  23.47650114,-23.36269787]

qfrc_actuator:
[ 4.84975104e-04,-5.41612934e-04,-2.03384234e-04,-8.02974348e-05,
 -6.59611215e-04,-7.03817045e-04,-2.31466939e-04,-4.24130678e-05,
 -4.49374144e-04,-5.48011841e-04,-2.46114924e-04,-1.50790598e-04,
  2.10000000e-01,-2.11655406e-03, 9.00000000e-02, 3.48629431e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007525161945509452
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.87146289,  0.21176312, -0.44238989,  0.18882608,  0.97732102,
        0.09585577,  0.45265566,  0.        , -0.8916854 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10209893, -0.09121434,  0.15017316])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046522928504758726
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.86437476e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.86437476e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08195916, -0.06261197,  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:
[-7.45086807e-06,-1.87145467e-05, 7.66010474e-06,-2.61696374e-05,
 -3.68302467e-05, 1.87486853e-05, 9.04536420e-07, 1.53891300e-05,
  2.69140715e-05,-1.40631453e-05,-1.21219202e-05,-5.37098431e-05,
  2.64587025e-01, 5.21952311e-03, 8.21969085e-02, 3.32182413e-02,
 -8.54927669e-04, 5.62255921e-04,-9.80973066e+00,-1.18464487e-02,
 -2.40051613e-02, 5.58464472e-05]


--- Step 981 ---
qpos:
[-1.35671123e-02, 1.35279848e-02, 1.00446652e-02, 1.47198417e-02,
 -1.90368218e-02,-9.09535502e-03,-1.74371986e-02, 1.63509737e-02,
 -1.21477123e-02,-6.69586214e-03,-1.43520070e-02, 1.51358713e-02,
  1.40341289e+00, 2.86739890e-02, 2.95449857e-01,-3.08094550e-02,
  9.49487201e-02,-7.26642393e-02, 1.04541407e-01, 9.98894412e-01,
  1.03575223e-03, 1.43969554e-04,-4.69985134e-02]

qacc:
[ 2.28777692e+00, 1.86420647e-01,-1.52626983e+00, 3.31728064e+00,
 -3.77094764e+00,-7.46766673e-01, 1.80442371e+00, 8.35850081e-01,
 -3.73169265e-01,-4.52072187e+00, 2.14412880e+01,-4.51508923e+01,
  3.32350255e-02, 5.99647846e+00, 7.54228253e+01,-1.83861396e+02,
 -1.93096785e+00,-7.25885300e-01,-4.05770934e-01, 4.29779152e+01,
 -4.30179417e+01, 3.83350708e+01]

qfrc_actuator:
[ 4.98767342e-04,-5.70291549e-04,-2.16539307e-04,-7.75358084e-05,
 -6.81010291e-04,-7.07403041e-04,-2.11589674e-04,-3.27901411e-05,
 -4.52523824e-04,-5.43971301e-04,-2.11453395e-04,-2.15504136e-04,
  2.10000000e-01,-2.10001879e-03, 9.00000000e-02, 3.48489744e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.32875354,  0.3272536 ,  0.03136837,  0.3272536 ,  0.32947536,
       -0.00753047,  0.03136837, -0.00753047,  0.40731586,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000759008748266851
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.87120894,  0.21149012, -0.44302022,  0.18851629,  0.97738014,
        0.0958628 ,  0.4532732 ,  0.        , -0.89137165])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10209318, -0.09121486,  0.15016788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.72721855,  9.93240291,  4.05223275,  9.93240291, 12.21826937,
       -3.65470554,  4.05223275, -3.65470554, 19.68524494,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046770328484281587
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.93444103e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.93444103e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1005052 , -0.05448884,  0.06198012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35717279e-05,-3.86665841e-05,-1.69768705e-05, 1.71667009e-06,
 -2.24336683e-05, 7.75403227e-06, 2.44025281e-05, 1.07600640e-05,
 -2.31810504e-06,-8.65377292e-06, 2.83941370e-05,-6.67835427e-05,
  2.64288732e-01, 5.10177593e-03, 8.29309941e-02, 3.34400168e-02,
 -1.01761984e-03, 6.98836628e-04,-9.80963623e+00,-1.18689615e-02,
 -2.40059789e-02, 4.57284446e-05]


--- Step 982 ---
qpos:
[-1.35668638e-02, 1.35275834e-02, 1.00439722e-02, 1.47194143e-02,
 -1.90377772e-02,-9.09578513e-03,-1.74365707e-02, 1.63512339e-02,
 -1.21467078e-02,-6.69691009e-03,-1.43527048e-02, 1.51328236e-02,
  1.40340790e+00, 2.86446510e-02, 2.95630260e-01,-3.07902042e-02,
  9.49372469e-02,-7.26758296e-02, 1.04539951e-01, 9.98872607e-01,
  1.07895941e-03, 1.17088039e-04,-4.74587899e-02]

qacc:
[  4.44288165,  0.79419368, -5.09805339, 12.34778059,  0.85052081,
  -1.08476708,  3.63098293, -2.89523756, -0.38713517,  1.04730643,
  -5.93222002, 16.1604398 , -0.15259855,-15.34367952, 11.34663655,
 -27.31232138, -1.91890603, -0.77884437, -0.45144122, 39.29627221,
 -44.45720579, 34.33109325]

qfrc_actuator:
[ 5.24742553e-04,-5.87300047e-04,-2.24130545e-04,-5.78459719e-05,
 -6.75414943e-04,-6.91573661e-04,-1.82198078e-04,-2.71964746e-05,
 -4.54806279e-04,-5.05456429e-04,-1.90653594e-04,-1.81062891e-04,
  2.10000000e-01,-2.06206938e-03, 9.00000000e-02, 3.48543203e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.33010541, 0.32828944, 0.03457778, 0.32828944, 0.32923751,
       0.00823997, 0.03457778, 0.00823997, 0.25187326, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0007635293429067596
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.87152668,  0.21004209, -0.44308416,  0.18723404,  0.97769234,
        0.09518979,  0.45319385,  0.        , -0.89141199])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10207578, -0.09122806,  0.15016773])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.74737745,  -9.74405567,  -4.53425862,  -9.74405567,
        15.61078005, -10.45138127,  -4.53425862, -10.45138127,
        33.20724342,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004691454748772042
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.91619809e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.91619809e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10051463, -0.0545061 ,  0.06198006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.63651471e-05,-4.20512366e-05,-1.76083973e-05, 1.74785686e-05,
  4.96722602e-06, 2.56973033e-05, 3.43848363e-05, 6.98308375e-06,
 -2.28627176e-06, 3.66456606e-05, 2.01896482e-05, 3.37521079e-05,
  2.64112194e-01, 5.11304346e-03, 8.10725430e-02, 3.37815238e-02,
 -6.87490368e-04, 4.69936199e-04,-9.80990350e+00,-1.18399994e-02,
 -2.39689307e-02, 4.42943065e-05]


--- Step 983 ---
qpos:
[-1.35663055e-02, 1.35270273e-02, 1.00434317e-02, 1.47184940e-02,
 -1.90386583e-02,-9.09582422e-03,-1.74359898e-02, 1.63515559e-02,
 -1.21460826e-02,-6.69735328e-03,-1.43539136e-02, 1.51305537e-02,
  1.40339822e+00, 2.86128331e-02, 2.95822057e-01,-3.07677882e-02,
  9.49181781e-02,-7.26908003e-02, 1.04536482e-01, 9.98853442e-01,
  1.19180735e-03,-3.40111256e-06,-4.78579265e-02]

qacc:
[  2.69327163, -1.65124716,  7.66266678,-16.31416322,  0.63665074,
   0.77374852, -2.2725826 ,  3.1332128 , -3.33609452,  3.83463283,
 -15.78661962, 29.61026027,  0.14215104,-14.3713899 ,  7.13166536,
  -0.83503282, -1.89892656, -0.84511958, -0.50305377, 36.99736997,
 -45.06569089, 30.65270044]

qfrc_actuator:
[ 5.39920847e-04,-5.79404093e-04,-2.10567202e-04,-8.16009824e-05,
 -6.71733379e-04,-6.64198448e-04,-1.82862085e-04,-2.39990147e-05,
 -4.74303408e-04,-4.64302143e-04,-2.13507456e-04,-1.41796342e-04,
  2.10000000e-01,-1.99041480e-03, 9.00000000e-02, 3.47616023e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.30030545, 0.2984327 , 0.03348561, 0.2984327 , 0.29911273,
       0.01062981, 0.03348561, 0.01062981, 0.2055698 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0006717762960533523
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.8725432 ,  0.20734098, -0.44235514,  0.18493279,  0.97826873,
        0.09375578,  0.45218162,  0.        , -0.89192588])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204705, -0.09125523,  0.15017644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.74179172,  -9.81737657,  -4.35949614,  -9.81737657,
        16.48326407, -12.92952082,  -4.35949614, -12.92952082,
        39.8584535 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004687468090427277
  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([ 0.10052237, -0.05451913,  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:
[ 1.59475300e-05,-1.85096719e-05, 3.30773311e-06,-2.58281097e-05,
  3.83957824e-06, 4.91830491e-05, 9.13220977e-06, 5.62635643e-06,
 -1.94991818e-05, 6.72306892e-05,-1.16387905e-05, 4.21912068e-05,
  2.64407770e-01, 5.32542388e-03, 8.07761369e-02, 3.37336794e-02,
 -4.52914160e-04, 2.77000371e-04,-9.81005821e+00,-1.18140390e-02,
 -2.39455024e-02, 4.73685099e-05]


--- Step 984 ---
qpos:
[-1.35655688e-02, 1.35264168e-02, 1.00429942e-02, 1.47172861e-02,
 -1.90394885e-02,-9.09559074e-03,-1.74356485e-02, 1.63519427e-02,
 -1.21456952e-02,-6.69729706e-03,-1.43553903e-02, 1.51291139e-02,
  1.40338403e+00, 2.85783348e-02, 2.96026304e-01,-3.07419035e-02,
  9.48915628e-02,-7.27093746e-02, 1.04530803e-01, 9.98836635e-01,
  1.37081899e-03,-2.18268021e-04,-4.82021808e-02]

qacc:
[  1.55005578, -0.95530743,  4.51068015, -9.6062596 ,  0.43114677,
   1.1615556 , -3.89407278,  5.19885335, -2.09222617,  3.12120879,
 -13.66993183, 28.09239353,  0.40281538,-16.06072979,  7.74798446,
  -0.78649177, -1.88658283, -0.90087897, -0.55252278, 35.30097679,
 -45.51883761, 27.52226835]

qfrc_actuator:
[ 5.48618560e-04,-5.74351161e-04,-2.02304388e-04,-9.51901066e-05,
 -6.69216532e-04,-6.65744933e-04,-2.01217331e-04,-2.22464708e-05,
 -4.86024230e-04,-4.39795153e-04,-2.26429614e-04,-1.00042518e-04,
  2.10000000e-01,-1.96871234e-03, 9.00000000e-02, 3.46773535e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.29918765, 0.29711264, 0.03517571, 0.29711264, 0.29751737,
       0.01410804, 0.03517571, 0.01410804, 0.18002364, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0006685442888613371
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.74216340e-01,  2.03408066e-01, -4.40875208e-01,  1.81619585e-01,
        9.79094050e-01,  9.15923994e-02,  4.50288926e-01, -1.38777878e-17,
       -8.92882906e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10200651, -0.09129591,  0.15019315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.71565699,  -9.88415664,  -4.13868969,  -9.88415664,
        17.29231408, -15.70659164,  -4.13868969, -15.70659164,
        48.22666261,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004668718837442243
  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([ 0.10052879, -0.05452882,  0.06198015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.18059537e-06,-5.73853397e-06, 3.94454170e-06,-1.47728276e-05,
  2.63786305e-06, 2.81172808e-05,-6.86650604e-06, 4.28747573e-06,
 -1.22219449e-05, 6.14799830e-05, 9.86743002e-07, 4.50533651e-05,
  2.64640324e-01, 5.47504418e-03, 8.02065332e-02, 3.34912246e-02,
 -3.00221631e-04, 1.12308246e-04,-9.81011554e+00,-1.17908406e-02,
 -2.39329744e-02, 5.48701997e-05]


--- Step 985 ---
qpos:
[-1.35647328e-02, 1.35257538e-02, 1.00425918e-02, 1.47169650e-02,
 -1.90399372e-02,-9.09524760e-03,-1.74354913e-02, 1.63530558e-02,
 -1.21451061e-02,-6.69695118e-03,-1.43566809e-02, 1.51288718e-02,
  1.40336727e+00, 2.85418643e-02, 2.96242088e-01,-3.07102108e-02,
  9.48681460e-02,-7.27262747e-02, 1.04527798e-01, 9.98818077e-01,
  1.51059715e-03,-4.00714182e-04,-4.85798964e-02]

qacc:
[  0.86327643,  1.65723844, -9.75624656, 25.08899691,  3.30415739,
   2.14768963,-10.52660549, 23.32633406,  1.76191016,  2.32472115,
 -12.79688777, 33.02291259,  0.67767562,-12.69109064, -0.6610204 ,
  26.73039274,  0.79958579,  0.41855841,  0.66846926,-20.37775154,
  15.22281983,-16.77129276]

qfrc_actuator:
[ 5.53435496e-04,-5.71042644e-04,-1.97233586e-04,-4.94300459e-05,
 -6.49652374e-04,-6.66929747e-04,-2.12223312e-04, 1.41167705e-05,
 -4.75316360e-04,-4.25413086e-04,-2.15678883e-04,-3.94071506e-05,
  2.10000000e-01,-1.99354112e-03, 9.00000000e-02, 3.47208848e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.27937638,  0.2773627 ,  0.0334827 ,  0.2773627 ,  0.28279513,
       -0.0283201 ,  0.0334827 , -0.0283201 ,  0.51397327,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006123178606620607
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.87653123,  0.19823594, -0.43862912,  0.1772782 ,  0.98015433,
        0.08871262,  0.44751026,  0.        , -0.8942788 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10195392, -0.09135018,  0.1502179 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.80671133,  -9.43669603,  -5.26628692,  -9.43669603,
        31.11120871, -36.38376957,  -5.26628692, -36.38376957,
        76.00304019,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00047333628587730456
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.31161452e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.31161452e-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([ 0.08340169, -0.06665321,  0.06197987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.11002663e-06, 2.55149217e-07, 3.84978960e-06, 4.53606670e-05,
  1.96366856e-05, 1.33348085e-05,-5.88612360e-06, 3.74157085e-05,
  1.03957587e-05, 5.08794888e-05, 2.51281311e-05, 6.41810944e-05,
  2.64865230e-01, 5.58843302e-03, 7.95842461e-02, 3.33613717e-02,
 -2.18377038e-04,-3.20932328e-05,-9.81008598e+00,-1.17697763e-02,
 -2.39296926e-02, 6.67382321e-05]


--- Step 986 ---
qpos:
[-1.35638449e-02, 1.35250016e-02, 1.00425402e-02, 1.47175222e-02,
 -1.90398034e-02,-9.09483370e-03,-1.74354223e-02, 1.63542493e-02,
 -1.21443931e-02,-6.69646542e-03,-1.43576883e-02, 1.51286802e-02,
  1.40334922e+00, 2.85038185e-02, 2.96469518e-01,-3.06737320e-02,
  9.48477965e-02,-7.27415194e-02, 1.04526938e-01, 9.98797696e-01,
  1.61288306e-03,-5.50296776e-04,-4.89924317e-02]

qacc:
[  0.4628523 ,  0.71002328, -6.41298143, 21.12366217,  5.05438607,
   0.49526961, -1.98627146,  3.48273807,  1.08739207, -0.50462125,
   1.85075366, -1.52876528,  0.84547488,-10.66128692,  2.609425  ,
  15.56006996,  0.76684701,  0.41383838,  0.53616672,-19.52782152,
  15.47501368,-17.45091114]

qfrc_actuator:
[ 5.55931681e-04,-5.68760782e-04,-1.76298563e-04,-4.62492279e-06,
 -6.20210564e-04,-6.67843696e-04,-2.18779265e-04, 1.73009651e-05,
 -4.69248284e-04,-4.34848630e-04,-2.08823827e-04,-3.91529490e-05,
  2.10000000e-01,-1.97491431e-03, 9.00000000e-02, 3.47130890e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.28319165,  0.28102533,  0.03496104,  0.28102533,  0.28831601,
       -0.04119081,  0.03496104, -0.04119081,  0.61429336,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006230399076099511
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.87856708,  0.19365391, -0.43659827,  0.17342082,  0.98106991,
        0.08618036,  0.44502259,  0.        , -0.89551934])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10190532, -0.0913976 ,  0.15024138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004791024888708306
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.48152481e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.48152481e-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([ 0.08340009, -0.066651  ,  0.06197963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.67098516e-06, 5.13258105e-06, 2.30203438e-05, 4.58297145e-05,
  2.99937479e-05, 6.95354960e-06,-3.22746097e-06, 4.28030598e-06,
  6.38299953e-06, 2.69395714e-05, 2.26744970e-05, 4.55160557e-06,
  2.64992095e-01, 5.71011211e-03, 7.90075653e-02, 3.30632376e-02,
 -2.77635846e-04, 2.77696267e-05,-9.81010990e+00,-1.17663691e-02,
 -2.39425191e-02, 7.91198397e-05]


--- Step 987 ---
qpos:
[-1.35622440e-02, 1.35244378e-02, 1.00426868e-02, 1.47178959e-02,
 -1.90393179e-02,-9.09435625e-03,-1.74353887e-02, 1.63547784e-02,
 -1.21439577e-02,-6.69612595e-03,-1.43581327e-02, 1.51281662e-02,
  1.40332936e+00, 2.84635518e-02, 2.96731555e-01,-3.06212498e-02,
  9.48299120e-02,-7.27528060e-02, 1.04528105e-01, 9.98775318e-01,
  1.65552213e-03,-6.84259770e-04,-4.94434450e-02]

qacc:
[  6.18401034, -0.69519966,  3.59424591, -7.20502346,  3.0513223 ,
  -1.19024151,  7.16065697,-18.63741518, -2.4021023 , -2.42555302,
   9.73810789,-16.12145726,  0.99445002,-14.10018442,  2.57463953,
  64.88727777,  0.61623779,  0.98952951,  0.50674565,-30.17916118,
   6.30770876,-19.26097394]

qfrc_actuator:
[ 5.92548355e-04,-5.49284666e-04,-1.63927377e-04,-1.39970786e-05,
 -6.02948535e-04,-6.68600082e-04,-2.22687452e-04,-1.68192920e-05,
 -4.83719545e-04,-4.58540821e-04,-1.86725104e-04,-5.67067086e-05,
  2.10000000e-01,-1.91206939e-03, 9.00000000e-02, 3.47087011e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26544211,  0.26296762,  0.03615999,  0.26296762,  0.27969105,
       -0.10362308,  0.03615999, -0.10362308,  1.01902397,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005732611970696502
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88032069,  0.18964736, -0.43482106,  0.17003627,  0.98185227,
        0.08398684,  0.44285793,  0.        , -0.8965918 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10186054, -0.09143826,  0.15026283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.94640543,  4.96857196, -9.7538241 ,  4.96857196, 38.94687835,
       14.26336617, -9.7538241 , 14.26336617, 18.21212608,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004828978588789709
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.18463934e-15, -2.87385573e-14,  1.00000000e+00,  2.06476170e-28,
        1.00000000e+00,  2.87385573e-14, -1.00000000e+00,  0.00000000e+00,
        7.18463934e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08469799, -0.07033333,  0.06197947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.67192066e-05, 2.90319802e-05, 1.78413920e-05,-7.46587471e-06,
  1.81094923e-05, 2.65440665e-06,-2.72414482e-06,-3.38522102e-05,
 -1.42855407e-05,-3.77299350e-06, 3.06058199e-05,-1.55278463e-05,
  2.65055500e-01, 5.85642593e-03, 7.84255109e-02, 3.28196212e-02,
 -3.49148866e-04, 9.51137279e-05,-9.81011574e+00,-1.17655930e-02,
 -2.39552756e-02, 8.86479750e-05]


--- Step 988 ---
qpos:
[-1.35605610e-02, 1.35241644e-02, 1.00426611e-02, 1.47181670e-02,
 -1.90386293e-02,-9.09376954e-03,-1.74356925e-02, 1.63545647e-02,
 -1.21436988e-02,-6.69638436e-03,-1.43578447e-02, 1.51288742e-02,
  1.40330819e+00, 2.84213872e-02, 2.97032695e-01,-3.05367911e-02,
  9.48160011e-02,-7.27581101e-02, 1.04530220e-01, 9.98750159e-01,
  1.60272267e-03,-8.00674438e-04,-4.99490806e-02]

qacc:
[  0.70093598,  0.65284846, -1.34004111, -0.37102568,  1.75050629,
  -0.44526465,  4.92839806,-17.32179708, -1.50699618, -0.31805663,
  -5.16762639, 25.5838627 ,  1.16018517,-13.24433701,-39.15017852,
 220.48918356,  0.99340589,  1.49561864,  0.23713445,-48.11103462,
   6.35784639,-27.32833953]

qfrc_actuator:
[ 5.95697555e-04,-5.37486497e-04,-1.74434790e-04,-1.96596711e-05,
 -5.92996553e-04,-6.69283016e-04,-2.42777275e-04,-5.48572028e-05,
 -4.92409985e-04,-5.08309412e-04,-1.55873303e-04, 4.17067797e-06,
  2.10000000e-01,-1.83917058e-03, 9.00000000e-02, 3.46577207e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23402887,  0.21833691,  0.08425265,  0.21833691,  0.41232777,
       -0.46205345,  0.08425265, -0.46205345,  1.43141929,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048306880373968745
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88178238,  0.18652502, -0.43320695,  0.16741253,  0.98245021,
        0.08224736,  0.44094545,  0.        , -0.89753391])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10181738, -0.09146783,  0.15028327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.95968206, -4.87829106, -9.81411776, -4.87829106, 28.8961068 ,
       -8.91563588, -9.81411776, -8.91563588, 15.39136588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004837851899583199
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.70282828e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.70282828e-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([ 0.08231005, -0.07537263,  0.06197943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.23565361e-06, 3.13519425e-05,-2.59172567e-06,-3.95154045e-06,
  1.04569107e-05,-1.22323760e-06,-2.10549878e-05,-3.86791017e-05,
 -9.10749339e-06,-4.62432711e-05, 3.33008671e-05, 6.14723288e-05,
  2.65144212e-01, 6.04585236e-03, 7.66954524e-02, 3.19685812e-02,
 -4.74240407e-04, 1.59839990e-04,-9.81008594e+00,-1.17637225e-02,
 -2.39750852e-02, 9.49551363e-05]


--- Step 989 ---
qpos:
[-1.35595423e-02, 1.35240053e-02, 1.00422851e-02, 1.47187489e-02,
 -1.90381716e-02,-9.09324514e-03,-1.74364663e-02, 1.63539286e-02,
 -1.21428564e-02,-6.69710003e-03,-1.43569347e-02, 1.51313318e-02,
  1.40330196e+00, 2.83842123e-02, 2.97361118e-01,-3.04572429e-02,
  9.48054151e-02,-7.27646847e-02, 1.04532707e-01, 9.98723528e-01,
  1.54800811e-03,-8.56742315e-04,-5.04795398e-02]

qacc:
[-5.77087299e+00, 1.78192176e+00,-7.42710340e+00, 1.32617965e+01,
 -2.01853988e+00, 3.65497520e-01, 3.67633672e-01,-6.88871233e+00,
  5.12070423e+00, 1.24949031e+00,-1.27372976e+01, 4.23818971e+01,
  1.20911272e+00, 2.83091221e+01, 5.54865270e+01,-1.34908597e+02,
  8.31223264e-01,-3.17623315e-01, 9.29639893e-02,-2.47224533e+00,
  3.00673748e+01,-1.24806010e+01]

qfrc_actuator:
[ 5.61359401e-04,-5.48225161e-04,-1.98378244e-04,-5.35149362e-06,
 -6.05175280e-04,-6.87745657e-04,-2.72259861e-04,-7.71487216e-05,
 -4.62116631e-04,-5.19955851e-04,-1.20164295e-04, 9.29385393e-05,
  2.10000000e-01,-1.75967408e-03, 9.00000000e-02, 3.45386579e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23429073,  0.23201446, -0.03257971,  0.23201446,  0.24757374,
        0.09459415, -0.03257971,  0.09459415,  0.90793734,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048388706845129987
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.82847745e-01,  1.84727443e-01, -4.31805085e-01,  1.65942105e-01,
        9.82789790e-01,  8.11630831e-02,  4.39366678e-01, -1.38777878e-17,
       -8.98307811e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10177698, -0.09148098,  0.15030236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.98315163,  0.15495776, 10.98205845,  0.15495776, 25.26087207,
       -0.20145983, 10.98205845, -0.20145983, 10.98599425,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048534496051889225
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42968290e-14,  2.14452435e-14,  1.00000000e+00, -3.06598979e-28,
        1.00000000e+00, -2.14452435e-14, -1.00000000e+00,  0.00000000e+00,
        1.42968290e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08197653, -0.06258479,  0.06197937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.41952832e-05, 6.02864506e-06,-1.79431956e-05, 1.54811865e-05,
 -1.18929056e-05,-2.51744956e-05,-3.36758881e-05,-2.38272848e-05,
  3.00168455e-05,-2.80051100e-05, 3.23834945e-05, 8.91346018e-05,
  2.65207591e-01, 6.22666134e-03, 7.47407743e-02, 3.02508566e-02,
 -6.92216807e-04, 2.73413514e-04,-9.80998151e+00,-1.17652092e-02,
 -2.40087550e-02, 9.66010221e-05]


--- Step 990 ---
qpos:
[-1.35589428e-02, 1.35238447e-02, 1.00416756e-02, 1.47195050e-02,
 -1.90378634e-02,-9.09297701e-03,-1.74372710e-02, 1.63533703e-02,
 -1.21413129e-02,-6.69785212e-03,-1.43556646e-02, 1.51337616e-02,
  1.40330630e+00, 2.83512519e-02, 2.97694622e-01,-3.03820004e-02,
  9.47981846e-02,-7.27723402e-02, 1.04535274e-01, 9.98695355e-01,
  1.49037507e-03,-8.55177538e-04,-5.10356378e-02]

qacc:
[-3.64165409e+00, 1.01661628e+00,-4.35069980e+00, 7.72658325e+00,
 -1.29482915e+00,-8.97127544e-02,-4.95889323e-01, 2.07641912e+00,
  6.13235498e+00,-1.12347047e+00, 4.03311981e+00,-5.04215127e+00,
  4.69992344e-01, 2.40663234e+01, 2.07837552e+01,-6.12389761e+01,
  8.38878986e-01,-2.70219144e-01, 2.01117776e-02,-2.92180533e+00,
  2.86853770e+01,-1.28853864e+01]

qfrc_actuator:
[ 5.40747551e-04,-5.54673266e-04,-2.12383723e-04, 2.81415428e-06,
 -6.12527075e-04,-6.98995610e-04,-2.71605206e-04,-7.22631134e-05,
 -4.26874989e-04,-5.08630446e-04,-9.94760367e-05, 9.09085409e-05,
  2.10000000e-01,-1.71785273e-03, 9.00000000e-02, 3.44383472e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23534656,  0.23339644,  0.03023418,  0.23339644,  0.25410377,
       -0.14479861,  0.03023418, -0.14479861,  1.35313722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048715549097969935
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88344837,  0.18319937, -0.43122728,  0.16463347,  0.98307578,
        0.08036061,  0.43865111,  0.        , -0.89865745])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10174235, -0.09149112,  0.15031076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.98376062,   2.33140771, -10.73347732,   2.33140771,
       107.11116214,  20.87973524, -10.73347732,  20.87973524,
        15.5190267 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00048538528492470673
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42956413e-14,  7.14782063e-15,  1.00000000e+00, -1.02182679e-28,
        1.00000000e+00, -7.14782063e-15, -1.00000000e+00,  0.00000000e+00,
        1.42956413e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08198122, -0.06258259,  0.06197937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.15870112e-05,-6.16948891e-06,-1.44454709e-05, 8.10357241e-06,
 -7.70922292e-06,-3.33251425e-05,-9.52301054e-06, 2.17722902e-06,
  3.60963955e-05, 6.15442534e-06, 2.19652827e-05,-3.78398526e-07,
  2.64459300e-01, 6.02592640e-03, 7.33772815e-02, 3.03962609e-02,
 -7.24781213e-04, 3.62332845e-04,-9.80995803e+00,-1.17827040e-02,
 -2.40135788e-02, 9.50957134e-05]


--- Step 991 ---
qpos:
[-1.35585951e-02, 1.35235799e-02, 1.00412386e-02, 1.47199929e-02,
 -1.90376457e-02,-9.09316518e-03,-1.74377189e-02, 1.63532188e-02,
 -1.21400481e-02,-6.69865582e-03,-1.43546209e-02, 1.51351554e-02,
  1.40331977e+00, 2.83225487e-02, 2.98023606e-01,-3.03124939e-02,
  9.47942640e-02,-7.27810148e-02, 1.04537667e-01, 9.98665465e-01,
  1.42952440e-03,-7.98483685e-04,-5.16198321e-02]

qacc:
[-2.17616296e+00,-1.16838913e+00, 5.10601951e+00,-9.95631689e+00,
 -7.66811619e-01,-7.60833559e-01, 1.23091538e-01, 6.67935151e+00,
 -2.44045064e+00,-1.56351632e+00, 9.85861619e+00,-2.73987573e+01,
 -7.64941285e-02, 2.50110502e+01, 1.09312146e+01,-4.73312688e+01,
  8.27474215e-01,-2.54785690e-01,-4.38385498e-02,-3.02422124e+00,
  2.74248005e+01,-1.41132617e+01]

qfrc_actuator:
[ 5.28392199e-04,-5.58476983e-04,-2.02650509e-04,-1.04460392e-05,
 -6.16971719e-04,-7.23451703e-04,-2.53119406e-04,-5.14025106e-05,
 -4.42273431e-04,-5.37017783e-04,-1.23292398e-04, 3.54774609e-05,
  2.10000000e-01,-1.69985704e-03, 9.00000000e-02, 3.42618841e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23957184,  0.23781952,  0.02892306,  0.23781952,  0.25622375,
       -0.13692011,  0.02892306, -0.13692011,  1.36539586,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004997624946187367
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.83669967e-01,  1.81898415e-01, -4.31323957e-01,  1.63465203e-01,
        9.83317327e-01,  7.97882252e-02,  4.38641673e-01,  1.38777878e-17,
       -8.98662052e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10171374, -0.09149907,  0.1503106 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048385135404999807
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.4340962e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.4340962e-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([ 0.08198454, -0.06258052,  0.06197943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.29685783e-05,-9.92067871e-06, 6.95319365e-06,-1.38671506e-05,
 -4.67700937e-06,-4.49790146e-05, 1.05013332e-05, 1.91450102e-05,
 -1.43563349e-05,-2.04675870e-05,-1.98730261e-05,-5.44201488e-05,
  2.63928176e-01, 5.84020698e-03, 7.31238002e-02, 3.04352774e-02,
 -7.80573623e-04, 4.58428396e-04,-9.80991579e+00,-1.18012091e-02,
 -2.40166243e-02, 9.19085836e-05]


--- Step 992 ---
qpos:
[-1.35583983e-02, 1.35232446e-02, 1.00409100e-02, 1.47203180e-02,
 -1.90374827e-02,-9.09392984e-03,-1.74375739e-02, 1.63533173e-02,
 -1.21393220e-02,-6.69951206e-03,-1.43539132e-02, 1.51365735e-02,
  1.40334160e+00, 2.82983378e-02, 2.98341813e-01,-3.02503448e-02,
  9.47935975e-02,-7.27906424e-02, 1.04539669e-01, 9.98633686e-01,
  1.36493170e-03,-6.88817179e-04,-5.22343156e-02]

qacc:
[ -1.30260013, -0.72864753,  3.15410435, -6.09609107, -0.44689553,
  -1.90239083,  4.62342756, -0.82002292, -4.71110735,  0.92858161,
  -3.49834036,  4.47701171, -0.57670898, 27.17306395,  6.61788826,
 -45.59150033,  0.81352048, -0.23823139, -0.09743217, -3.24648448,
  26.33199528,-15.20955552]

qfrc_actuator:
[ 5.20991023e-04,-5.60590759e-04,-1.96739297e-04,-1.84363298e-05,
 -6.19671277e-04,-7.55528948e-04,-2.24310136e-04,-3.90695629e-05,
 -4.69603735e-04,-5.35945115e-04,-1.37863937e-04, 3.77881080e-05,
  2.10000000e-01,-1.68013272e-03, 9.00000000e-02, 3.41138926e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24526842,  0.2437404 ,  0.02733525,  0.2437404 ,  0.26203071,
       -0.14946445,  0.02733525, -0.14946445,  1.57799893,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005161697854498938
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.83559863e-01,  1.80793413e-01, -4.32013553e-01,  1.62418279e-01,
        9.83521094e-01,  7.94138584e-02,  4.39251944e-01, -1.38777878e-17,
       -8.98363918e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10169105, -0.0915053 ,  0.15030287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048107377901790427
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44237624e-14,  1.44237624e-14,  1.00000000e+00, -2.08044923e-28,
        1.00000000e+00, -1.44237624e-14, -1.00000000e+00,  0.00000000e+00,
        1.44237624e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08198676, -0.06257857,  0.06197955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.76474661e-06,-6.83775579e-06, 4.23433655e-06,-8.44498323e-06,
 -2.83870839e-06,-5.42494394e-05, 2.14724692e-05, 1.11411986e-05,
 -2.77318479e-05,-1.68593569e-05,-2.31451074e-05,-3.15782571e-07,
  2.63469822e-01, 5.65395677e-03, 7.33504290e-02, 3.05742723e-02,
 -8.61463718e-04, 5.64528420e-04,-9.80985710e+00,-1.18208170e-02,
 -2.40178709e-02, 8.70779117e-05]


--- Step 993 ---
qpos:
[-1.35586364e-02, 1.35230214e-02, 1.00405723e-02, 1.47205293e-02,
 -1.90376981e-02,-9.09472186e-03,-1.74375444e-02, 1.63531959e-02,
 -1.21382391e-02,-6.70042183e-03,-1.43534164e-02, 1.51379992e-02,
  1.40337059e+00, 2.82786888e-02, 2.98641876e-01,-3.01964490e-02,
  9.47961132e-02,-7.28011396e-02, 1.04541110e-01, 9.98599832e-01,
  1.29571037e-03,-5.28141590e-04,-5.28811665e-02]

qacc:
[ -3.77357277, -0.05384093,  0.90055618, -2.95359777, -3.28849869,
  -0.15994899,  1.45782742, -5.07246878,  3.10825825,  0.52826638,
  -2.02904514,  2.54926339, -1.06359362, 28.23964837, -1.54510353,
 -32.79414103,  0.79554561, -0.21742029, -0.14047399, -3.65309282,
  25.3260063 ,-16.24899418]

qfrc_actuator:
[ 4.98809397e-04,-5.43929984e-04,-1.93126125e-04,-2.32629491e-05,
 -6.39075984e-04,-7.38618266e-04,-2.25190964e-04,-4.96119230e-05,
 -4.50463904e-04,-5.34927485e-04,-1.46688324e-04, 3.85927138e-05,
  2.10000000e-01,-1.66130911e-03, 9.00000000e-02, 3.40756630e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25207108,  0.25077714,  0.02550796,  0.25077714,  0.26684618,
       -0.14525883,  0.02550796, -0.14525883,  1.68015843,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005355664243738144
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88315447,  0.17986261, -0.43322931,  0.16147992,  0.98369174,
        0.07921359,  0.44041165,  0.        , -0.89779595])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10167415, -0.09151017,  0.15028837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047733534972317637
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45367275e-14, -7.26836375e-15,  1.00000000e+00,  1.05658223e-28,
        1.00000000e+00,  7.26836375e-15, -1.00000000e+00,  0.00000000e+00,
        1.45367275e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08198814, -0.0625767 ,  0.06197971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.23925101e-05, 1.33386539e-05, 2.42743119e-06,-5.13765712e-06,
 -1.94808389e-05,-8.51973953e-06,-9.05737835e-06,-1.19074390e-05,
  1.83601036e-05,-1.32387098e-05,-1.51762524e-05,-7.25625303e-07,
  2.63049966e-01, 5.45481065e-03, 7.38899255e-02, 3.09040970e-02,
 -9.66005355e-04, 6.81430175e-04,-9.80978249e+00,-1.18417447e-02,
 -2.40175240e-02, 8.06252636e-05]


--- Step 994 ---
qpos:
[-1.35594831e-02, 1.35226959e-02, 1.00400893e-02, 1.47207182e-02,
 -1.90384890e-02,-9.09515953e-03,-1.74382855e-02, 1.63529453e-02,
 -1.21372798e-02,-6.70158299e-03,-1.43531948e-02, 1.51387629e-02,
  1.40340601e+00, 2.82637966e-02, 2.98918702e-01,-3.01516485e-02,
  9.48017346e-02,-7.28124184e-02, 1.04541849e-01, 9.98563714e-01,
  1.22081099e-03,-3.18187663e-04,-5.35622802e-02]

qacc:
[ -5.27805136,  0.23566415, -0.92439723,  0.82678176, -5.02673664,
   2.36493724, -7.1906916 ,  5.90714509, -1.08258141, -0.92399833,
   5.61158426,-16.44916337, -1.52251359, 30.09879962, -6.50078267,
 -26.31881757,  0.77642932, -0.19537901, -0.17519538, -4.14558206,
  24.43174652,-17.19772024]

qfrc_actuator:
[ 4.68104067e-04,-5.69416785e-04,-2.08570401e-04,-2.61750950e-05,
 -6.68158266e-04,-7.10386006e-04,-2.61167305e-04,-5.57568051e-05,
 -4.57379840e-04,-5.69426150e-04,-1.69807743e-04, 2.99534761e-06,
  2.10000000e-01,-1.60938720e-03, 9.00000000e-02, 3.40893768e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25967544,  0.25859778,  0.02363307,  0.25859778,  0.27398482,
       -0.15657611,  0.02363307, -0.15657611,  1.97296273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000557056319221126
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88249155,  0.17908666, -0.43489842,  0.16063947,  0.9838333 ,
        0.07916433,  0.44204482,  0.        , -0.89699296])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10166293, -0.091514  ,  0.150268  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047287724903675304
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.33688702e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.33688702e-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([ 0.08198885, -0.06257491,  0.0619799 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.13347679e-05,-1.77466320e-05,-1.25645713e-05,-2.35514058e-06,
 -2.96165922e-05, 2.10879810e-05,-3.92605975e-05,-7.05384853e-06,
 -6.37010528e-06,-4.50983264e-05,-2.77617542e-05,-3.67073322e-05,
  2.62689556e-01, 5.28488128e-03, 7.47977045e-02, 3.13306438e-02,
 -1.09361542e-03, 8.09850403e-04,-9.80969200e+00,-1.18641551e-02,
 -2.40158585e-02, 7.25455245e-05]


--- Step 995 ---
qpos:
[-1.35610357e-02, 1.35220163e-02, 1.00395336e-02, 1.47212443e-02,
 -1.90389322e-02,-9.09557090e-03,-1.74391131e-02, 1.63529628e-02,
 -1.21367546e-02,-6.70316045e-03,-1.43529271e-02, 1.51394390e-02,
  1.40344727e+00, 2.82538618e-02, 2.99168542e-01,-3.01174340e-02,
  9.48103743e-02,-7.28243954e-02, 1.04541780e-01, 9.98525124e-01,
  1.13909787e-03,-6.05365407e-05,-5.42796138e-02]

qacc:
[ -6.11641081,  0.4415582 , -3.65636706,  9.84686887,  3.01578725,
   0.82211045, -4.02393247,  8.79658976, -3.78155674, -0.85165409,
   2.6212777 , -3.91934586, -1.95410957, 32.04606111, -7.50242897,
 -30.78631601,  0.75458722, -0.17457538, -0.20235268, -4.68361398,
  23.60936587,-18.17820867]

qfrc_actuator:
[ 4.32632007e-04,-6.02269920e-04,-2.17556498e-04,-1.02319484e-05,
 -6.49440750e-04,-7.11236828e-04,-2.64241562e-04,-4.15132873e-05,
 -4.79591688e-04,-5.89510047e-04,-1.65850343e-04,-5.18726148e-07,
  2.10000000e-01,-1.57513125e-03, 9.00000000e-02, 3.40851421e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.27258549,  0.26720102, -0.05391162,  0.26720102,  0.35604656,
        0.41365636, -0.05391162,  0.41365636,  2.32278173,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005932811907842556
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88159941,  0.17845492, -0.43696262,  0.15989233,  0.98394809,
        0.07925025,  0.44409113,  0.        , -0.89598162])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10165726, -0.09151698,  0.15024245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046790326053974124
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48297618e-14,  2.96595236e-14,  1.00000000e+00, -4.39843671e-28,
        1.00000000e+00, -2.96595236e-14, -1.00000000e+00,  0.00000000e+00,
        1.48297618e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08198905, -0.06257318,  0.06198011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.63642545e-05,-4.54553445e-05,-1.42706568e-05, 1.47051266e-05,
  1.78991851e-05, 2.54824745e-06,-3.78843275e-06, 1.36543072e-05,
 -2.23696841e-05,-5.26439555e-05,-1.00580560e-05,-7.12354067e-06,
  2.62366691e-01, 5.08703753e-03, 7.59601264e-02, 3.17813349e-02,
 -1.24355103e-03, 9.50272234e-04,-9.80958565e+00,-1.18882142e-02,
 -2.40130852e-02, 6.28166955e-05]


--- Step 996 ---
qpos:
[-1.35623120e-02, 1.35213782e-02, 1.00389820e-02, 1.47219010e-02,
 -1.90391473e-02,-9.09597810e-03,-1.74399665e-02, 1.63531494e-02,
 -1.21364990e-02,-6.70489913e-03,-1.43527168e-02, 1.51396961e-02,
  1.40348013e+00, 2.82425933e-02, 2.99395417e-01,-3.00929428e-02,
  9.48120534e-02,-7.28389603e-02, 1.04540532e-01, 9.98488951e-01,
  1.14482800e-03, 1.24061107e-04,-5.49407726e-02]

qacc:
[  2.39562533,  0.30725988, -1.57519843,  3.80579605,  1.97921449,
   0.42157123, -2.21547224,  5.18585828, -2.35199672, -0.91035031,
   4.71367884,-11.76273834, -2.31468278, -3.43404306, -4.5018644 ,
 -33.4789902 , -1.74015082, -0.64695081, -0.29444329, 45.64012317,
 -34.06760966, 28.1506333 ]

qfrc_actuator:
[ 4.47898692e-04,-5.68239595e-04,-2.04929632e-04,-1.07882477e-06,
 -6.38241561e-04,-7.11598543e-04,-2.65703249e-04,-3.31351398e-05,
 -4.92868321e-04,-5.82926993e-04,-1.63610572e-04,-2.05976503e-05,
  2.10000000e-01,-1.57133086e-03, 9.00000000e-02, 3.40930196e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.31505711, 0.3138425 , 0.02763806, 0.3138425 , 0.31468899,
       0.00418012, 0.02763806, 0.00418012, 0.26759   , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0007155205118421783
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88051906,  0.17794635, -0.43934186,  0.15922638,  0.98404019,
        0.07944725,  0.4464674 ,  0.        , -0.8947999 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10165705, -0.09151945,  0.15021279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.66222711,  9.89079713,  3.98186125,  9.89079713, 12.21289353,
       -3.85179847,  3.98186125, -3.85179847, 20.22995307,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004629885255139315
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03367226e-06,  2.95334932e-06,  1.00000000e+00, -3.05279527e-12,
        1.00000000e+00, -2.95334932e-06, -1.00000000e+00,  0.00000000e+00,
        1.03367226e-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([ 0.09855472, -0.05562204,  0.06198032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.42320882e-05, 6.33448533e-06, 2.00684458e-06, 7.00245357e-06,
  1.17396637e-05, 8.88202411e-07,-9.25047262e-07, 8.62223381e-06,
 -1.38825845e-05,-2.52605398e-05,-1.01237102e-05,-2.28216392e-05,
  2.62073066e-01, 4.84812450e-03, 7.73099488e-02, 3.23186493e-02,
 -1.41595406e-03, 1.10363131e-03,-9.80946339e+00,-1.19140801e-02,
 -2.40094071e-02, 5.14085660e-05]


--- Step 997 ---
qpos:
[-1.35623609e-02, 1.35211601e-02, 1.00381196e-02, 1.47222890e-02,
 -1.90395709e-02,-9.09621163e-03,-1.74408897e-02, 1.63530707e-02,
 -1.21367488e-02,-6.70630948e-03,-1.43529958e-02, 1.51393317e-02,
  1.40350358e+00, 2.82291719e-02, 2.99604326e-01,-3.00750740e-02,
  9.48057371e-02,-7.28566100e-02, 1.04537318e-01, 9.98455733e-01,
  1.23599208e-03, 2.16463122e-04,-5.55389399e-02]

qacc:
[ 10.62265264,  0.85033882, -1.12789899, -3.2951964 , -1.81473583,
  -0.11794376,  1.87988076, -6.49419847, -4.43247643,  0.52988705,
   1.38007489,-11.61551277, -1.99460929, -8.75899529, -6.55820547,
 -15.70607895, -1.99887072, -0.7712215 , -0.49174322, 45.17948258,
 -43.64538694, 31.58736443]

qfrc_actuator:
[ 5.10661263e-04,-5.29838379e-04,-2.14888045e-04,-1.36805548e-05,
 -6.49325435e-04,-6.93902570e-04,-2.66223384e-04,-4.60368893e-05,
 -5.18527441e-04,-5.42679696e-04,-1.80069010e-04,-5.02491617e-05,
  2.10000000e-01,-1.52823777e-03, 9.00000000e-02, 3.41115363e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.32114144, 0.31982729, 0.02902289, 0.31982729, 0.32024815,
       0.00984381, 0.02902289, 0.00984381, 0.21266429, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0007343869468316537
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88011559,  0.17612749, -0.44088055,  0.15747429,  0.98436736,
        0.07888436,  0.44788213,  0.        , -0.89409261])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10164753, -0.09153719,  0.15019256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.70223265, -10.01126408,  -3.78317001, -10.01126408,
        15.10672987, -11.65545949,  -3.78317001, -11.65545949,
        41.54564775,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004659025831082256
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48934437e-14,  7.44672186e-15,  1.00000000e+00, -1.10907333e-28,
        1.00000000e+00, -7.44672186e-15, -1.00000000e+00,  0.00000000e+00,
        1.48934437e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10066811, -0.05476138,  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:
[ 6.32029905e-05, 4.27068653e-05,-8.14717121e-06,-1.21224061e-05,
 -1.07214671e-05, 1.83829681e-05,-1.50214542e-07,-1.27279014e-05,
 -2.60043109e-05, 2.30436375e-05,-2.37138659e-05,-3.15282004e-05,
  2.62491831e-01, 4.96255860e-03, 7.84586491e-02, 3.28234516e-02,
 -1.06693461e-03, 8.98133500e-04,-9.80977481e+00,-1.18827573e-02,
 -2.39606536e-02, 4.92064691e-05]


--- Step 998 ---
qpos:
[-1.35620015e-02, 1.35212741e-02, 1.00374353e-02, 1.47221546e-02,
 -1.90401235e-02,-9.09634750e-03,-1.74415203e-02, 1.63528223e-02,
 -1.21366135e-02,-6.70740932e-03,-1.43535564e-02, 1.51389472e-02,
  1.40350955e+00, 2.82082078e-02, 2.99883687e-01,-3.00230335e-02,
  9.47906507e-02,-7.28666305e-02, 1.04534022e-01, 9.98424169e-01,
  1.28693241e-03, 1.66188941e-04,-5.61025462e-02]

qacc:
[ 3.54026578e+00,-1.14189711e+00, 6.90189796e+00,-1.64605505e+01,
 -1.11335911e+00,-1.03516983e+00, 4.59867623e+00,-8.07901332e+00,
  3.34699317e+00, 1.14945672e+00,-3.43025086e+00, 3.31903609e+00,
 -1.38793149e+00,-3.85920113e+01, 4.09678419e-01, 1.48986627e+02,
 -2.19251565e+00, 1.90730193e+00,-2.03477290e-02,-1.61235400e+01,
 -7.23237497e+01, 1.73835010e+01]

qfrc_actuator:
[ 5.29849386e-04,-5.06962492e-04,-2.02578978e-04,-3.89882451e-05,
 -6.55681299e-04,-6.83295777e-04,-2.48371689e-04,-5.35872949e-05,
 -4.98014493e-04,-5.18164168e-04,-1.89538925e-04,-4.97686538e-05,
  2.10000000e-01,-1.47796892e-03, 9.00000000e-02, 3.40484617e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.32577871,  0.32315993,  0.04122408,  0.32315993,  0.32703341,
       -0.00983575,  0.04122408, -0.00983575,  0.4028822 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007492292240622487
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88048346,  0.17288686, -0.44142837,  0.1545513 ,  0.98494169,
        0.07748394,  0.44817716,  0.        , -0.89394476])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10162659, -0.09157125,  0.15018339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.73360364,  -2.45849219, -10.44825647,  -2.45849219,
        33.08929096,  -5.26033055, -10.44825647,  -5.26033055,
        11.9713682 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004681611023442389
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.9286377e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -5.9286377e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10339192, -0.07396029,  0.0619801 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10436617e-05, 4.45778662e-05, 1.97050003e-05,-2.39980568e-05,
 -6.63811420e-06, 2.03216914e-05, 2.11951959e-05,-7.01416997e-06,
  1.98335511e-05, 3.11570052e-05,-8.71640405e-06, 3.58270841e-08,
  2.62961158e-01, 5.12473905e-03, 7.93573596e-02, 3.30916044e-02,
 -7.35643908e-04, 6.66797110e-04,-9.81002009e+00,-1.18452781e-02,
 -2.39223678e-02, 5.21743014e-05]


--- Step 999 ---
qpos:
[-1.35617587e-02, 1.35214435e-02, 1.00372826e-02, 1.47220741e-02,
 -1.90407478e-02,-9.09644342e-03,-1.74421727e-02, 1.63525147e-02,
 -1.21358876e-02,-6.70855425e-03,-1.43540964e-02, 1.51385962e-02,
  1.40350302e+00, 2.81806148e-02, 3.00257268e-01,-2.99329576e-02,
  9.47668785e-02,-7.28696799e-02, 1.04530343e-01, 9.98393878e-01,
  1.29630663e-03,-1.80612254e-05,-5.66390651e-02]

qacc:
[-9.96135416e-01,-1.30041742e+00, 4.51857549e+00,-4.48009931e+00,
 -6.23450199e-01,-7.40561029e-03, 3.55523020e-01,-1.37890891e+00,
  5.15678856e+00,-5.85092700e-02,-3.61271580e-02, 6.32571862e-01,
 -4.17221710e-01,-3.42587401e+01, 2.38919147e+01, 1.17913373e+02,
 -2.17144385e+00, 1.74278654e+00,-9.57242709e-02,-1.69951811e+01,
 -6.80310934e+01, 1.36409142e+01]

qfrc_actuator:
[ 5.23220792e-04,-5.11234376e-04,-1.77273962e-04,-3.60529874e-05,
 -6.59196325e-04,-6.94688578e-04,-2.55336610e-04,-5.79164080e-05,
 -4.68239258e-04,-5.38706492e-04,-1.94827702e-04,-4.93146055e-05,
  2.10000000e-01,-1.43489637e-03, 9.00000000e-02, 3.39337925e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.30390965,  0.30032341,  0.04655023,  0.30032341,  0.30657091,
       -0.0171694 ,  0.04655023, -0.0171694 ,  0.41467973,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006822633429469646
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88150853,  0.1699137 , -0.44053608,  0.15199048,  0.98545895,
        0.07595762,  0.44703647,  0.        , -0.89451573])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1015883 , -0.09159937,  0.15019202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.76862559, -8.02092314,  7.18526889, -8.02092314, 23.35845329,
       14.05403777,  7.18526889, 14.05403777, 26.45716259,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047065544146591975
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.89721762e-14, -3.50147296e-14,  1.00000000e+00, -2.06489480e-27,
        1.00000000e+00,  3.50147296e-14, -1.00000000e+00,  0.00000000e+00,
       -5.89721762e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10337946, -0.07397578,  0.06197999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.00180782e-06, 2.36924735e-05, 3.61043670e-05, 5.05853376e-06,
 -3.68672426e-06, 4.06614515e-06,-3.92456170e-07,-2.85983006e-06,
  3.04017866e-05,-4.91206008e-06, 7.38645792e-08, 1.48754199e-06,
  2.63833817e-01, 5.55080874e-03, 7.58353575e-02, 3.12685342e-02,
 -6.77793540e-04, 4.06023640e-04,-9.81009524e+00,-1.17976649e-02,
 -2.39372266e-02, 5.54251579e-05]


--- Step 1000 ---
qpos:
[-1.35619420e-02, 1.35216694e-02, 1.00374803e-02, 1.47220418e-02,
 -1.90410644e-02,-9.09639419e-03,-1.74429211e-02, 1.63518042e-02,
 -1.21354989e-02,-6.70989956e-03,-1.43543464e-02, 1.51386002e-02,
  1.40348667e+00, 2.81466577e-02, 3.00737837e-01,-2.98015254e-02,
  9.47345457e-02,-7.28663700e-02, 1.04526020e-01, 9.98364499e-01,
  1.26411943e-03,-3.28686900e-04,-5.71543663e-02]

qacc:
[ -3.68317675, -0.79793054,  2.76189416, -2.5410011 ,  2.66548366,
  -0.37389196,  3.30354267,-10.21927949, -2.93106177, -0.33802365,
  -0.66867471,  6.48907187,  0.36447334,-33.84916057, 32.71113347,
 114.43599894, -2.14015134,  1.58982273, -0.1611589 ,-17.16883301,
 -64.24951057, 10.69988708]

qfrc_actuator:
[ 5.01463929e-04,-5.13898504e-04,-1.62348960e-04,-3.42919651e-05,
 -6.43260015e-04,-6.83757224e-04,-2.59241615e-04,-7.81078645e-05,
 -4.86524150e-04,-5.50546855e-04,-1.80044692e-04,-3.11691278e-05,
  2.10000000e-01,-1.44729620e-03, 9.00000000e-02, 3.37706341e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2869663 ,  0.28202504,  0.05302389,  0.28202504,  0.29056277,
       -0.01912901,  0.05302389, -0.01912901,  0.38871027,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006336823672255037
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.83087134e-01,  1.67213054e-01, -4.38402679e-01,  1.49772374e-01,
        9.85920785e-01,  7.43534895e-02,  4.44663187e-01,  1.38777878e-17,
       -8.95697856e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10153279, -0.09162121,  0.1502159 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.77535621, -7.92002481,  7.30626501, -7.92002481, 27.39788732,
       18.01890003,  7.30626501, 18.01890003, 30.30792654,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047113159104325564
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.83688638e-14,  5.89125759e-14,  1.00000000e+00, -5.20603740e-27,
        1.00000000e+00, -5.89125759e-14, -1.00000000e+00,  0.00000000e+00,
        8.83688638e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10337001, -0.07398813,  0.06197997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.19275295e-05, 1.82491895e-05, 2.44384647e-05, 4.12374727e-06,
  1.58435561e-05, 1.30229101e-05,-3.20497096e-06,-2.00849018e-05,
 -1.73673307e-05,-1.45196244e-05, 1.38210338e-05, 1.79640020e-05,
  2.64456426e-01, 5.87778368e-03, 7.11253482e-02, 2.92038972e-02,
 -7.40857255e-04, 2.24879668e-04,-9.81007546e+00,-1.17585272e-02,
 -2.39566516e-02, 6.10858129e-05]


--- Step 1001 ---
qpos:
[-1.35623849e-02, 1.35219646e-02, 1.00379052e-02, 1.47216928e-02,
 -1.90408427e-02,-9.09612750e-03,-1.74434684e-02, 1.63504817e-02,
 -1.21353311e-02,-6.71154613e-03,-1.43538061e-02, 1.51391450e-02,
  1.40347094e+00, 2.81119307e-02, 3.01223477e-01,-2.96791376e-02,
  9.47063474e-02,-7.28656982e-02, 1.04524227e-01, 9.98334132e-01,
  1.22618572e-03,-5.76353087e-04,-5.76812360e-02]

qacc:
[  -2.24519882,  -1.19150402,   5.72629947, -11.63141768,   4.67661034,
   -1.54270519,   8.48660575, -19.5444265 ,  -1.89763977,  -1.49001913,
    2.45874601,   5.85018592,   0.7681442 ,  -5.28311206,  34.82630902,
 -111.10784733,   1.03361967,  -0.65951903,   0.63252607,  -4.66903992,
   31.256568  ,  -5.84183873]

qfrc_actuator:
[ 4.88738719e-04,-5.15621265e-04,-1.53683211e-04,-5.10040711e-05,
 -6.16003526e-04,-6.59552564e-04,-2.43474971e-04,-1.07449497e-04,
 -4.97448192e-04,-5.56992723e-04,-1.35743536e-04,-2.74393108e-06,
  2.10000000e-01,-1.47284006e-03, 9.00000000e-02, 3.36308576e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.28489079,  0.28105421,  0.04659714,  0.28105421,  0.30485097,
       -0.12039131,  0.04659714, -0.12039131,  1.01104015,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006278255218610002
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88512464,  0.16478085, -0.43520298,  0.14787298,  0.9863302 ,
        0.07270701,  0.44123457,  0.        , -0.89739181])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10146022, -0.0916366 ,  0.15025272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.94847504, -9.44543879,  5.53649634, -9.44543879, 18.07019168,
       12.14987502,  5.53649634, 12.14987502, 31.67654814,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048303641765756744
  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([ 0.082     , -0.06253433,  0.06197946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.33627722e-05, 1.37071732e-05, 1.55916344e-05,-1.50027973e-05,
  2.77267743e-05, 2.99813842e-05, 1.73697981e-05,-2.92853224e-05,
 -1.13762678e-05,-1.09562424e-05, 4.36239097e-05, 2.86310398e-05,
  2.64944588e-01, 6.18071309e-03, 6.57772152e-02, 2.69967051e-02,
 -9.02641207e-04, 1.08968691e-04,-9.80997808e+00,-1.17258460e-02,
 -2.39802394e-02, 6.89353648e-05]


--- Step 1002 ---
qpos:
[-1.35629771e-02, 1.35221434e-02, 1.00379829e-02, 1.47212110e-02,
 -1.90406405e-02,-9.09580992e-03,-1.74437984e-02, 1.63495286e-02,
 -1.21352950e-02,-6.71306231e-03,-1.43531168e-02, 1.51393240e-02,
  1.40345632e+00, 2.80770462e-02, 3.01701875e-01,-2.95615330e-02,
  9.46821364e-02,-7.28674401e-02, 1.04524330e-01, 9.98302488e-01,
  1.18470304e-03,-7.63849454e-04,-5.82250492e-02]

qacc:
[ -1.30368703,  0.54529165, -1.60222632, -0.06153164, -0.16346263,
   0.22020885, -2.24655965,  8.25329812, -1.14684385, -0.99421969,
   5.34341994,-12.01227799,  0.74838368, -2.65936412,  3.72469036,
 -28.69283875,  0.99681417, -0.60342904,  0.47396806, -3.51096046,
  29.92168319, -8.53040405]

qfrc_actuator:
[ 4.81436539e-04,-5.52319924e-04,-1.84295265e-04,-6.07016779e-05,
 -6.17813961e-04,-6.63019558e-04,-2.33916661e-04,-8.86530235e-05,
 -5.03937213e-04,-5.42268223e-04,-1.27605888e-04,-2.17363730e-05,
  2.10000000e-01,-1.45606108e-03, 9.00000000e-02, 3.35922264e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24957837,  0.24626444,  0.04053625,  0.24626444,  0.25890582,
       -0.05666581,  0.04053625, -0.05666581,  0.59383256,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005284807549614891
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.86742083e-01,  1.62535743e-01, -4.32747745e-01,  1.46069621e-01,
        9.86702656e-01,  7.12848758e-02,  4.38579690e-01, -1.38777878e-17,
       -8.98692303e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10139515, -0.09165026,  0.15028202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.08802606,  9.7348105 , -5.30827528,  9.7348105 , 24.281676  ,
       24.19574629, -5.30827528, 24.19574629, 55.46044317,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004921810532330512
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.40982548e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.40982548e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08200555, -0.06252637,  0.06197908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.69762490e-06,-2.64429906e-05,-2.63729386e-05,-8.86107194e-06,
 -1.00142927e-06, 1.56329646e-05, 1.68736254e-05, 2.01107136e-05,
 -6.76957757e-06, 1.88300077e-05, 1.22384317e-05,-1.73949594e-05,
  2.64910484e-01, 6.24623133e-03, 6.55250070e-02, 2.74106741e-02,
 -8.49710974e-04, 1.82628143e-04,-9.81000116e+00,-1.17424464e-02,
 -2.39933809e-02, 7.36344137e-05]


--- Step 1003 ---
qpos:
[-1.35639973e-02, 1.35221390e-02, 1.00374537e-02, 1.47206445e-02,
 -1.90408061e-02,-9.09553948e-03,-1.74442144e-02, 1.63488420e-02,
 -1.21353364e-02,-6.71394205e-03,-1.43531037e-02, 1.51389209e-02,
  1.40344414e+00, 2.80427279e-02, 3.02169171e-01,-2.94504141e-02,
  9.46617787e-02,-7.28714094e-02, 1.04525775e-01, 9.98269309e-01,
  1.14126053e-03,-8.93546964e-04,-5.87901905e-02]

qacc:
[ -3.72533972,  1.28754589, -4.57204003,  4.19888295, -3.19535557,
   0.73283256, -3.81865594,  8.5943243 , -0.70929502,  1.53316906,
  -1.78608996, -7.67906695,  0.6908576 ,  1.50108941,  3.21344098,
 -35.08532571,  0.96335997, -0.55685399,  0.33562729, -2.66816338,
  28.78009763,-10.72408763]

qfrc_actuator:
[ 4.59629118e-04,-5.74340721e-04,-2.20237947e-04,-6.62477800e-05,
 -6.36722009e-04,-6.83009951e-04,-2.45932762e-04,-7.72154609e-05,
 -5.07766096e-04,-4.97400032e-04,-1.58593571e-04,-5.07366246e-05,
  2.10000000e-01,-1.41419271e-03, 9.00000000e-02, 3.35071231e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24782539,  0.24462903,  0.03967445,  0.24462903,  0.25756769,
       -0.06007013,  0.03967445, -0.06007013,  0.61821232,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005234831752706594
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88798165,  0.16044913, -0.43098106,  0.14434601,  0.98704411,
        0.0700582 ,  0.43663809,  0.        , -0.89963725])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10133718, -0.0916626 ,  0.15030396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.17793721,  9.65754496, -5.62833063,  9.65754496, 30.03557201,
       32.35745514, -5.62833063, 32.35745514, 66.69947608,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004978743648775263
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.96851896e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.96851896e-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([ 0.08200955, -0.06251977,  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:
[-2.20434813e-05,-4.26161887e-05,-4.49524761e-05,-7.76267763e-06,
 -1.89384870e-05,-6.90909677e-06,-6.01489318e-06, 1.30823560e-05,
 -3.96955197e-06, 5.71808546e-05,-2.61919493e-05,-2.81080576e-05,
  2.64852337e-01, 6.30604757e-03, 6.58883951e-02, 2.75650938e-02,
 -8.29068641e-04, 2.61633672e-04,-9.81000948e+00,-1.17587720e-02,
 -2.40036356e-02, 7.64661189e-05]


--- Step 1004 ---
qpos:
[-1.35649261e-02, 1.35219450e-02, 1.00367229e-02, 1.47203341e-02,
 -1.90408524e-02,-9.09526643e-03,-1.74449934e-02, 1.63472756e-02,
 -1.21350778e-02,-6.71440768e-03,-1.43531942e-02, 1.51388527e-02,
  1.40343545e+00, 2.80096199e-02, 3.02622048e-01,-2.93479331e-02,
  9.46451466e-02,-7.28774387e-02, 1.04528086e-01, 9.98234360e-01,
  1.09681848e-03,-9.67536412e-04,-5.93803209e-02]

qacc:
[  0.78888152,  0.83907428, -4.43913965,  9.33657709,  1.02473837,
  -0.79493245,  6.55172591,-21.19984941,  2.60826058,  1.52099936,
  -6.05221189, 11.71945738,  0.55265775,  5.4238014 ,  4.86467116,
 -47.87886952,  0.93137983, -0.51500441,  0.21655853, -2.14660466,
  27.76139423,-12.55626124]

qfrc_actuator:
[ 4.64962101e-04,-5.69688901e-04,-2.23475116e-04,-5.15454494e-05,
 -6.30027271e-04,-6.95084076e-04,-2.70677061e-04,-1.23496178e-04,
 -4.92247693e-04,-4.70509074e-04,-1.59033156e-04,-3.21210084e-05,
  2.10000000e-01,-1.35793143e-03, 9.00000000e-02, 3.33799998e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25093037,  0.24783707,  0.03927893,  0.24783707,  0.26162808,
       -0.06749903,  0.03927893, -0.06749903,  0.67682697,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005323267766898349
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.88813255e-01,  1.58752758e-01, -4.29893661e-01,  1.42913937e-01,
        9.87318369e-01,  6.91234017e-02,  4.35415439e-01, -6.93889390e-18,
       -9.00229635e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.101286  , -0.0916741 ,  0.15031896])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.2235939 ,  9.47964973, -6.00876867,  9.47964973, 38.8315926 ,
       43.55537244, -6.00876867, 43.55537244, 79.93811715,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005007097048392098
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38581175e-14,  3.46452937e-14,  1.00000000e+00, -4.80118549e-28,
        1.00000000e+00, -3.46452937e-14, -1.00000000e+00,  0.00000000e+00,
        1.38581175e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08201228, -0.06251423,  0.06197872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.69220476e-06,-2.87693713e-05,-1.78334730e-05, 1.11725516e-05,
  6.14332151e-06,-1.66200476e-05,-2.64569248e-05,-4.65291635e-05,
  1.54594786e-05, 5.22548604e-05, 7.17415861e-06, 1.96130683e-05,
  2.64727149e-01, 6.34381355e-03, 6.64447065e-02, 2.77626094e-02,
 -8.37686204e-04, 3.48732133e-04,-9.81000315e+00,-1.17753918e-02,
 -2.40112901e-02, 7.76030184e-05]


--- Step 1005 ---
qpos:
[-1.35654389e-02, 1.35214831e-02, 1.00359652e-02, 1.47201998e-02,
 -1.90404734e-02,-9.09487837e-03,-1.74459093e-02, 1.63458274e-02,
 -1.21346349e-02,-6.71451584e-03,-1.43532772e-02, 1.51390071e-02,
  1.40343341e+00, 2.79793083e-02, 3.03064528e-01,-2.92519156e-02,
  9.46321459e-02,-7.28853959e-02, 1.04530846e-01, 9.98197448e-01,
  1.05218769e-03,-9.87427549e-04,-5.99981089e-02]

qacc:
[  3.61109816,  0.07666088, -1.54263492,  4.84294444,  3.68562453,
   0.7703666 , -3.03844005,  5.23380446,  1.60335624,  0.90671974,
  -3.49316741,  7.0779599 ,  0.37319595, 14.9766357 ,  4.3312498 ,
 -37.13105355,  0.90782662, -0.48195352,  0.11216716, -1.71268851,
  26.97967701,-13.89227945]

qfrc_actuator:
[ 4.86231254e-04,-5.84459123e-04,-2.25004138e-04,-4.27535659e-05,
 -6.08310932e-04,-6.66934070e-04,-2.67241530e-04,-1.14604817e-04,
 -4.83220078e-04,-4.54436724e-04,-1.59198539e-04,-2.11252875e-05,
  2.10000000e-01,-1.32941024e-03, 9.00000000e-02, 3.32501635e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22218453,  0.21969577,  0.0331622 ,  0.21969577,  0.23102019,
       -0.05853524,  0.0331622 , -0.05853524,  0.60997379,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004424629788491456
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.88773535e-01,  1.59276536e-01, -4.29782025e-01,  1.43391303e-01,
        9.87234007e-01,  6.93393783e-02,  4.35339567e-01,  1.38777878e-17,
       -9.00266328e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10124133, -0.09168506,  0.15032731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005012060621034237
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.07665901e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.07665901e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08201402, -0.06250949,  0.0619787 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.14109890e-05,-3.40295260e-05,-9.27211246e-06, 7.16102482e-06,
  2.18931586e-05, 1.14013130e-05,-4.86632606e-06, 6.35792067e-06,
  9.50562140e-06, 4.76132524e-05, 1.21875747e-05, 1.38638225e-05,
  2.64549607e-01, 6.32130307e-03, 6.71668578e-02, 2.80649929e-02,
 -8.73633363e-04, 4.46017511e-04,-9.80998212e+00,-1.17927026e-02,
 -2.40166199e-02, 7.71680190e-05]


--- Step 1006 ---
qpos:
[-1.35660370e-02, 1.35209530e-02, 1.00351026e-02, 1.47201514e-02,
 -1.90398371e-02,-9.09449478e-03,-1.74462450e-02, 1.63451520e-02,
 -1.21337422e-02,-6.71407466e-03,-1.43536827e-02, 1.51385997e-02,
  1.40343611e+00, 2.79513613e-02, 3.03486165e-01,-2.91680325e-02,
  9.46226472e-02,-7.28951097e-02, 1.04533720e-01, 9.98158355e-01,
  1.00705521e-03,-9.55029154e-04,-6.06462860e-02]

qacc:
[-7.42981695e-01, 3.81468942e-01,-1.85105141e+00, 3.55321958e+00,
  2.25374425e+00,-4.07144291e-02,-3.13413239e+00, 1.55937846e+01,
  3.90591300e+00, 4.62733781e-01, 1.76254886e+00,-1.13612450e+01,
  2.08045343e-02, 1.29894726e+01, 6.04097842e+00,-6.55608033e+01,
  8.75544630e-01,-4.39187585e-01, 2.84349774e-02,-1.83289116e+00,
  2.60655258e+01,-1.52598252e+01]

qfrc_actuator:
[ 4.81195537e-04,-5.75223062e-04,-2.25602286e-04,-3.75303208e-05,
 -5.95687810e-04,-6.50268300e-04,-2.29226504e-04,-7.32564559e-05,
 -4.60338665e-04,-4.27211893e-04,-1.77021651e-04,-5.02284798e-05,
  2.10000000e-01,-1.33735606e-03, 9.00000000e-02, 3.31199802e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25618556,  0.25361666,  0.03618884,  0.25361666,  0.26755682,
       -0.07969142,  0.03618884, -0.07969142,  0.81467467,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005472148125133168
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.88499554e-01,  1.59623405e-01, -4.30219607e-01,  1.43667431e-01,
        9.87177982e-01,  6.95650835e-02,  4.35807539e-01,  6.93889390e-18,
       -9.00039882e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10120279, -0.09169533,  0.1503283 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000499812114003885
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.77660093e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.77660093e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08201496, -0.06250539,  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:
[-4.40413961e-06,-1.13782481e-05,-8.51794300e-06, 3.58349417e-06,
  1.32572813e-05, 2.23025123e-05, 3.99852194e-05, 4.17905110e-05,
  2.31737640e-05, 5.69493980e-05,-6.01263312e-06,-2.63726794e-05,
  2.64214359e-01, 6.18278235e-03, 6.76878390e-02, 2.82583093e-02,
 -9.33658920e-04, 5.54412963e-04,-9.80994681e+00,-1.18110868e-02,
 -2.40197046e-02, 7.52482285e-05]


--- Step 1007 ---
qpos:
[-1.35670351e-02, 1.35204251e-02, 1.00347401e-02, 1.47201141e-02,
 -1.90393991e-02,-9.09404110e-03,-1.74463584e-02, 1.63443014e-02,
 -1.21325822e-02,-6.71320513e-03,-1.43542566e-02, 1.51375066e-02,
  1.40344509e+00, 2.79267915e-02, 3.03887199e-01,-2.90944669e-02,
  9.46165458e-02,-7.29064546e-02, 1.04536416e-01, 9.98116880e-01,
  9.61251170e-04,-8.71772822e-04,-6.13270725e-02]

qacc:
[-3.45135442e+00,-1.36539555e+00, 4.83703415e+00,-5.45768144e+00,
 -1.71721707e+00,-8.85700307e-01, 4.03844915e+00,-7.48507888e+00,
  2.32000713e+00,-3.79551075e-01, 5.06254045e+00,-1.69695449e+01,
 -2.54162363e-01, 1.92506451e+01, 9.61044926e-01,-4.71064033e+01,
  8.49302712e-01,-4.07753936e-01,-4.44100297e-02,-1.89170388e+00,
  2.53442190e+01,-1.63722122e+01]

qfrc_actuator:
[ 4.60712031e-04,-5.51675859e-04,-1.90047965e-04,-3.44285569e-05,
 -6.06275566e-04,-6.58172225e-04,-2.24383914e-04,-8.41462092e-05,
 -4.47236766e-04,-4.11383075e-04,-1.87359867e-04,-8.49429843e-05,
  2.10000000e-01,-1.31461082e-03, 9.00000000e-02, 3.30155976e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2378505 ,  0.23578829,  0.03125285,  0.23578829,  0.24653706,
       -0.06553609,  0.03125285, -0.06553609,  0.73228999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004947151534460008
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.88034297e-01,  1.59805926e-01, -4.31111532e-01,  1.43760690e-01,
        9.87148452e-01,  6.97911012e-02,  4.36724113e-01,  1.38777878e-17,
       -8.99595492e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1011703 , -0.09170548,  0.15032324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004969195133368645
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.39638185e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.39638185e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08201527, -0.06250178,  0.06197888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.05848783e-05, 1.55959647e-05, 3.22845362e-05, 2.39041063e-06,
 -1.02101143e-05, 1.45989542e-05, 1.58129723e-05,-7.73902161e-06,
  1.37765442e-05, 4.52777401e-05,-2.39469703e-07,-3.29983024e-05,
  2.63974700e-01, 6.09607565e-03, 6.87310452e-02, 2.87609428e-02,
 -1.01907503e-03, 6.75548915e-04,-9.80989629e+00,-1.18306275e-02,
 -2.40210417e-02, 7.18837444e-05]


--- Step 1008 ---
qpos:
[-1.35679258e-02, 1.35198098e-02, 1.00351356e-02, 1.47201071e-02,
 -1.90394366e-02,-9.09325686e-03,-1.74470579e-02, 1.63433503e-02,
 -1.21316190e-02,-6.71230091e-03,-1.43545523e-02, 1.51367164e-02,
  1.40346061e+00, 2.79061097e-02, 3.04265190e-01,-2.90320501e-02,
  9.46137348e-02,-7.29193074e-02, 1.04538695e-01, 9.98072814e-01,
  9.14266553e-04,-7.39007102e-04,-6.20425284e-02]

qacc:
[  0.95676627, -2.17430697,  7.45354868, -8.07338802, -4.15157615,
   1.87519178, -5.61448257,  4.55465103, -1.70942644, -0.10421567,
  -0.83546442,  5.60344848, -0.62599445, 22.85028527, -0.08374613,
 -48.57407663,  0.82257721, -0.37697696, -0.10432519, -2.12117768,
  24.6540872 ,-17.40480705]

qfrc_actuator:
[ 4.66813739e-04,-5.55090338e-04,-1.51117765e-04,-3.25592826e-05,
 -6.30436978e-04,-6.45385469e-04,-2.57071670e-04,-9.02346749e-05,
 -4.57752638e-04,-4.20243231e-04,-1.75479575e-04,-6.94177205e-05,
  2.10000000e-01,-1.27540950e-03, 9.00000000e-02, 3.29297323e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23972133,  0.23795055,  0.02908353,  0.23795055,  0.247818  ,
       -0.0662439 ,  0.02908353, -0.0662439 ,  0.78170409,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005001953580692533
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.87399487e-01,  1.59842569e-01, -4.32403172e-01,  1.43691727e-01,
        9.87142519e-01,  7.00166718e-02,  4.38035201e-01,  6.93889390e-18,
       -8.98957820e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10114374, -0.09171581,  0.15031282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004928622743447519
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.03938429e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.03938429e-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([ 0.08201509, -0.06249857,  0.06197905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.53558722e-06, 1.21052308e-05, 4.62225578e-05, 3.70414611e-06,
 -2.44638789e-05, 2.38655565e-05,-2.79969042e-05,-5.06683989e-06,
 -1.01264472e-05, 1.49565268e-05, 2.00471631e-05, 1.68120135e-05,
  2.63657850e-01, 5.97473114e-03, 6.97622247e-02, 2.91912257e-02,
 -1.12784309e-03, 8.09983944e-04,-9.80983112e+00,-1.18515895e-02,
 -2.40206509e-02, 6.70943200e-05]


--- Step 1009 ---
qpos:
[-1.35683912e-02, 1.35190214e-02, 1.00360739e-02, 1.47204940e-02,
 -1.90401085e-02,-9.09235731e-03,-1.74478259e-02, 1.63426710e-02,
 -1.21307895e-02,-6.71156645e-03,-1.43545940e-02, 1.51364920e-02,
  1.40348280e+00, 2.78897836e-02, 3.04618013e-01,-2.89815238e-02,
  9.46141079e-02,-7.29335543e-02, 1.04540361e-01, 9.98025941e-01,
  8.65402033e-04,-5.57979291e-04,-6.27945985e-02]

qacc:
[  3.70565239, -0.94203586,  1.35142474,  4.7393768 , -5.51341052,
   0.91391562, -4.16679725,  8.87594109, -1.15628728,  0.2323994 ,
  -3.53883323, 13.0442339 , -1.02125375, 26.26305992, -0.93946616,
 -50.03493537,  0.79605963, -0.34850885, -0.15322707, -2.44753733,
  24.00845223,-18.38026861]

qfrc_actuator:
[ 4.88519159e-04,-5.74593043e-04,-1.28372651e-04,-1.37004622e-05,
 -6.62386251e-04,-6.38225457e-04,-2.58300269e-04,-7.56944135e-05,
 -4.64329362e-04,-4.43694467e-04,-1.68399974e-04,-4.22156727e-05,
  2.10000000e-01,-1.24594877e-03, 9.00000000e-02, 3.28421831e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24248341,  0.24101561,  0.02663987,  0.24101561,  0.24981161,
       -0.06629945,  0.02663987, -0.06629945,  0.84230621,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005081692841037743
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.86598827e-01,  1.59733436e-01, -4.34082654e-01,  1.43461496e-01,
        9.87160184e-01,  7.02393744e-02,  4.39728689e-01,  6.93889390e-18,
       -8.98130659e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10112282, -0.09172622,  0.15029687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004879259427939889
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42212030e-14,  1.42212030e-14,  1.00000000e+00, -2.02242616e-28,
        1.00000000e+00, -1.42212030e-14, -1.00000000e+00,  0.00000000e+00,
        1.42212030e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08201454, -0.06249566,  0.06197926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.18849728e-05,-2.99387805e-06, 3.10769566e-05, 2.10507639e-05,
 -3.26621597e-05, 1.44984243e-05, 7.81826379e-08, 1.44966215e-05,
 -6.89062339e-06,-1.02670273e-05, 1.32088404e-05, 2.88621813e-05,
  2.63328488e-01, 5.81760492e-03, 7.09153000e-02, 2.96613768e-02,
 -1.25974594e-03, 9.58464953e-04,-9.80975112e+00,-1.18741111e-02,
 -2.40187569e-02, 6.08813293e-05]


--- Step 1010 ---
qpos:
[-1.35689375e-02, 1.35183332e-02, 1.00369383e-02, 1.47211120e-02,
 -1.90408140e-02,-9.09150901e-03,-1.74485124e-02, 1.63418369e-02,
 -1.21300462e-02,-6.71067874e-03,-1.43546344e-02, 1.51362260e-02,
  1.40351151e+00, 2.78782058e-02, 3.04943245e-01,-2.89434162e-02,
  9.46175608e-02,-7.29490863e-02, 1.04541257e-01, 9.97976032e-01,
  8.13783702e-04,-3.29850574e-04,-6.35851203e-02]

qacc:
[ -0.70390012,  0.81596334, -3.69040454,  7.73096869, -0.28744309,
  -0.61361587,  2.74472897, -5.51921107, -0.7542206 ,  0.11501158,
   0.06154903, -0.89729185, -1.44708141, 29.28245508, -2.88098072,
 -48.3384347 ,  0.7699341 , -0.32127945, -0.19244576, -2.86244377,
  23.40002055,-19.30281311]

qfrc_actuator:
[ 4.83720885e-04,-5.68122917e-04,-1.33179215e-04,-2.77627547e-06,
 -6.63153684e-04,-6.52111079e-04,-2.58689063e-04,-8.46142396e-05,
 -4.68526919e-04,-4.22451866e-04,-1.64287983e-04,-4.38966824e-05,
  2.10000000e-01,-1.18885003e-03, 9.00000000e-02, 3.27765773e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24617959,  0.24498191,  0.024254  ,  0.24498191,  0.25260448,
       -0.06489568,  0.024254  , -0.06489568,  0.90167001,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005187792787582521
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.85646276e-01,  1.59486403e-01, -4.36113243e-01,  1.43079944e-01,
        9.87200125e-01,  7.04559599e-02,  4.41767815e-01, -6.93889390e-18,
       -8.97129421e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10110736, -0.09173678,  0.15027577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048235203032380436
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43855389e-14, -7.19276946e-15,  1.00000000e+00,  1.03471865e-28,
        1.00000000e+00,  7.19276946e-15, -1.00000000e+00,  0.00000000e+00,
        1.43855389e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08201371, -0.062493  ,  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:
[-4.15358833e-06, 1.21405434e-05,-8.64119250e-07, 1.22811310e-05,
 -1.72556498e-06,-5.12775936e-06, 3.12638024e-06,-8.01083521e-06,
 -4.42587905e-06, 1.94317929e-05, 4.60699547e-06,-1.10383842e-06,
  2.62993148e-01, 5.66417883e-03, 7.21746463e-02, 3.01905296e-02,
 -1.41462065e-03, 1.12168774e-03,-9.80965615e+00,-1.18983313e-02,
 -2.40155437e-02, 5.32308257e-05]


--- Step 1011 ---
qpos:
[-1.35695366e-02, 1.35178963e-02, 1.00376720e-02, 1.47218406e-02,
 -1.90415237e-02,-9.09084928e-03,-1.74494161e-02, 1.63412868e-02,
 -1.21293598e-02,-6.70945165e-03,-1.43547245e-02, 1.51359211e-02,
  1.40354663e+00, 2.78717570e-02, 3.05239105e-01,-2.89182630e-02,
  9.46239900e-02,-7.29658017e-02, 1.04541261e-01, 9.97922851e-01,
  7.58427515e-04,-5.57047480e-05,-6.44158820e-02]

qacc:
[-4.67050891e-01, 9.26684955e-01,-3.28802971e+00, 5.22639286e+00,
 -4.05221836e-02, 9.42090993e-01,-4.92045243e+00, 1.03236396e+01,
 -5.04204665e-01, 5.08192030e-01,-9.95393355e-01, 1.50415488e-01,
 -1.87877949e+00, 3.22802571e+01,-3.85239358e+00,-4.86612446e+01,
  7.44084809e-01,-2.95879859e-01,-2.23242072e-01,-3.33345251e+00,
  2.28262417e+01,-2.02014359e+01]

qfrc_actuator:
[ 4.81108863e-04,-5.46272981e-04,-1.36364657e-04, 3.39243894e-06,
 -6.63311872e-04,-6.78503659e-04,-2.76449305e-04,-7.17869158e-05,
 -4.71291116e-04,-3.92400710e-04,-1.61805390e-04,-4.47740047e-05,
  2.10000000e-01,-1.13505606e-03, 9.00000000e-02, 3.27116693e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25087008,  0.24993431,  0.02164803,  0.24993431,  0.25639292,
       -0.0637632 ,  0.02164803, -0.0637632 ,  0.98703926,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005321554381932795
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88455618,  0.15910958, -0.43845695,  0.14255741,  0.98726093,
        0.07066288,  0.44411456,  0.        , -0.89597001])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10109718, -0.09174756,  0.15024993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000476343559051233
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.91339886e-14,  4.37009829e-14,  1.00000000e+00,  1.27318394e-27,
        1.00000000e+00, -4.37009829e-14, -1.00000000e+00,  0.00000000e+00,
       -2.91339886e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08201268, -0.06249055,  0.06197975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.71459055e-06, 2.90039818e-05,-3.52220448e-07, 6.89963186e-06,
 -2.30338318e-07,-2.89324904e-05,-1.87031371e-05, 1.25615193e-05,
 -2.91542964e-06, 4.17905620e-05, 7.01634089e-06, 9.17238269e-08,
  2.62664369e-01, 5.48721253e-03, 7.35550064e-02, 3.07467684e-02,
 -1.59240731e-03, 1.30024595e-03,-9.80954597e+00,-1.19243779e-02,
 -2.40112046e-02, 4.41158044e-05]


--- Step 1012 ---
qpos:
[-1.35694726e-02, 1.35175426e-02, 1.00384249e-02, 1.47226487e-02,
 -1.90422301e-02,-9.09034452e-03,-1.74507921e-02, 1.63405634e-02,
 -1.21287124e-02,-6.70820781e-03,-1.43551864e-02, 1.51353270e-02,
  1.40357768e+00, 2.78657735e-02, 3.05520350e-01,-2.88989746e-02,
  9.46222630e-02,-7.29852801e-02, 1.04539244e-01, 9.97873334e-01,
  8.06870282e-04, 1.30754066e-04,-6.51777690e-02]

qacc:
[ 5.74833688e+00, 2.08942684e-01,-9.39971852e-01, 2.24378349e+00,
  1.71254850e-02, 7.58305008e-01,-2.26958391e+00, 1.39966245e-01,
 -3.52663859e-01, 4.66250835e-01,-4.07792861e-01,-4.01812127e+00,
 -2.23582338e+00, 7.00226929e+00,-3.73254101e+00,-1.79952742e+01,
 -2.03906725e+00,-6.90720180e-01,-5.04859421e-01, 5.46164266e+01,
 -4.03830729e+01, 3.45142807e+01]

qfrc_actuator:
[ 5.15318328e-04,-5.50891616e-04,-1.38490935e-04, 6.73579863e-06,
 -6.63120328e-04,-6.94489956e-04,-3.04366331e-04,-8.17935686e-05,
 -4.73190043e-04,-4.28322378e-04,-1.95755269e-04,-6.29077664e-05,
  2.10000000e-01,-1.13878281e-03, 9.00000000e-02, 3.26704360e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.25661625, 0.25555915, 0.02326844, 0.25555915, 0.25608305,
       0.00585619, 0.02326844, 0.00585619, 0.19229727, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0005484311128427187
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88334132,  0.1586107 , -0.44107909,  0.14190372,  0.9873412 ,
        0.07085683,  0.44673421,  0.        , -0.89466672])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1010921 , -0.0917586 ,  0.15021975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.87072843, 10.13482218,  3.93168106, 10.13482218, 12.07770257,
       -3.11125651,  3.93168106, -3.11125651, 18.89071555,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004777699581465303
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.01664528e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.01664528e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10083225, -0.05504064,  0.06197969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.41466692e-05, 1.18438330e-05, 4.06793450e-06, 4.71001091e-06,
  1.62930091e-07,-3.54644497e-05,-3.57540467e-05,-1.16476181e-05,
 -2.01085656e-06,-1.11287492e-05,-2.44592918e-05,-1.60999359e-05,
  2.62342473e-01, 5.23305720e-03, 7.50243875e-02, 3.13534523e-02,
 -1.79326148e-03, 1.49483414e-03,-9.80942030e+00,-1.19523774e-02,
 -2.40059204e-02, 3.35008813e-05]


--- Step 1013 ---
qpos:
[-1.35689989e-02, 1.35172979e-02, 1.00388709e-02, 1.47235103e-02,
 -1.90422392e-02,-9.08973343e-03,-1.74526462e-02, 1.63396926e-02,
 -1.21284383e-02,-6.70722027e-03,-1.43556410e-02, 1.51345303e-02,
  1.40360147e+00, 2.78586684e-02, 3.05784320e-01,-2.88871199e-02,
  9.46123961e-02,-7.30078430e-02, 1.04535050e-01, 9.97827028e-01,
  9.48716183e-04, 2.26864761e-04,-6.58807327e-02]

qacc:
[  3.53996283,  1.10536602, -3.97020374,  5.3200209 ,  6.03696842,
   1.16038284, -3.33159619,  1.48753509, -3.25357278, -0.76970169,
   3.11979317, -6.46261146, -2.08302425, -2.37952499, -3.01246862,
 -26.46314699, -2.03494517, -0.77112899, -0.54451577, 49.54145005,
 -42.01052887, 29.54616607]

qfrc_actuator:
[ 5.35420505e-04,-5.53571341e-04,-1.57831988e-04, 8.37093042e-06,
 -6.27219621e-04,-6.68685390e-04,-3.20282661e-04,-8.74042479e-05,
 -4.92317572e-04,-4.50382962e-04,-1.97964723e-04,-7.33768174e-05,
  2.10000000e-01,-1.20991512e-03, 9.00000000e-02, 3.26770047e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.28879743, 0.28765738, 0.02563573, 0.28765738, 0.28789382,
       0.0101394 , 0.02563573, 0.0101394 , 0.17502372, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0006388615047315335
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.82416649e-01,  1.58291390e-01, -4.43040284e-01,  1.41462454e-01,
        9.87392443e-01,  7.10249131e-02,  4.48697261e-01, -1.38777878e-17,
       -8.93683819e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10107579, -0.09178731,  0.15019988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.90213011, -10.311219  ,  -3.54050895, -10.311219  ,
        12.99358736,  -6.091066  ,  -3.54050895,  -6.091066  ,
        28.64147672,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004799123814679465
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.59045351e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.59045351e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10084187, -0.05506521,  0.0619796 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10928817e-05, 4.99500312e-06,-1.62320419e-05, 2.37377070e-06,
  3.58943957e-05,-1.88555797e-06,-2.80407760e-05,-8.59277533e-06,
 -1.92256840e-05,-3.40534382e-05,-8.08637156e-06,-1.21070634e-05,
  2.62544466e-01, 5.14437392e-03, 7.57559348e-02, 3.16534500e-02,
 -1.31864551e-03, 1.19765710e-03,-9.80981645e+00,-1.19082746e-02,
 -2.39426987e-02, 3.35448325e-05]


--- Step 1014 ---
qpos:
[-1.35689773e-02, 1.35171850e-02, 1.00393563e-02, 1.47240125e-02,
 -1.90418179e-02,-9.08920387e-03,-1.74541789e-02, 1.63401104e-02,
 -1.21283962e-02,-6.70642450e-03,-1.43558895e-02, 1.51339373e-02,
  1.40361789e+00, 2.78500110e-02, 3.06036260e-01,-2.88802004e-02,
  9.45944197e-02,-7.30337629e-02, 1.04528511e-01, 9.97783523e-01,
  1.17600847e-03, 2.30806313e-04,-6.65327388e-02]

qacc:
[ -3.92004018, -0.66854068,  4.16704706,-10.56141571,  3.75003078,
   1.63881032,-11.45400848, 33.31802692, -2.01572676, -0.40619532,
   0.22702397,  3.10395713, -1.7603956 , -5.36137717, -2.85763988,
 -15.84045923, -2.02740891, -0.83926048, -0.58629538, 45.65933736,
 -43.14594479, 25.56915814]

qfrc_actuator:
[ 5.11541296e-04,-5.37394003e-04,-1.51678221e-04,-8.77737004e-06,
 -6.06093857e-04,-6.53510883e-04,-2.93298800e-04,-1.93233248e-05,
 -5.03679765e-04,-4.46107918e-04,-1.81360246e-04,-6.14653080e-05,
  2.10000000e-01,-1.24907956e-03, 9.00000000e-02, 3.26806643e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.28389657, 0.28278274, 0.02512331, 0.28278274, 0.28286992,
       0.01155568, 0.02512331, 0.01155568, 0.15382823, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0006250243808664257
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88182605,  0.15817373, -0.44425656,  0.14125999,  0.9874113 ,
        0.0711656 ,  0.44992047,  0.        , -0.89306862])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10104795, -0.09183375,  0.15019179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.90139639, -10.35797879,  -3.39892904, -10.35797879,
        13.38049031,  -7.55485093,  -3.39892904,  -7.55485093,
        33.92423232,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004798625615349758
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89203387e-14,  2.16902540e-14,  1.00000000e+00, -6.27289493e-28,
        1.00000000e+00, -2.16902540e-14, -1.00000000e+00,  0.00000000e+00,
        2.89203387e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10084983, -0.05508397,  0.0619796 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.32669207e-05, 1.57093531e-05, 5.26242255e-06,-1.74514417e-05,
  2.21616025e-05, 7.97283616e-06, 2.28414807e-05, 6.68610747e-05,
 -1.19526110e-05,-1.69759120e-05, 8.15264092e-06, 9.93703613e-06,
  2.62905341e-01, 5.16661372e-03, 7.66203786e-02, 3.20289647e-02,
 -9.47241896e-04, 9.39652788e-04,-9.81008232e+00,-1.18653945e-02,
 -2.38957553e-02, 3.85657611e-05]


--- Step 1015 ---
qpos:
[-1.35688972e-02, 1.35172334e-02, 1.00399017e-02, 1.47239545e-02,
 -1.90411461e-02,-9.08900870e-03,-1.74549595e-02, 1.63413424e-02,
 -1.21281466e-02,-6.70565317e-03,-1.43563091e-02, 1.51338411e-02,
  1.40361949e+00, 2.78353441e-02, 3.06324102e-01,-2.88565777e-02,
  9.45678827e-02,-7.30576660e-02, 1.04522047e-01, 9.97741155e-01,
  1.42427339e-03, 1.12842229e-04,-6.71606041e-02]

qacc:
[ 5.06033128e-01,-1.10985337e+00, 6.63018701e+00,-1.65404773e+01,
  2.20393259e+00,-8.71119051e-01,-9.80984604e-01, 1.41273247e+01,
  1.80741759e+00, 1.46535249e+00,-7.37594174e+00, 1.62742652e+01,
 -1.32356032e+00,-3.00628450e+01, 2.26842592e+00, 6.84945289e+01,
 -2.14012158e+00, 5.04217531e-01, 1.89738668e-02, 1.45149751e+01,
 -6.01059757e+01, 1.21555335e+01]

qfrc_actuator:
[ 5.15228979e-04,-5.27721579e-04,-1.48203787e-04,-3.68042559e-05,
 -5.93845226e-04,-6.80074349e-04,-2.58935599e-04, 2.05849839e-05,
 -4.92622020e-04,-4.43746136e-04,-1.89174543e-04,-3.64508299e-05,
  2.10000000e-01,-1.19717334e-03, 9.00000000e-02, 3.26653008e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.27419329, 0.27237119, 0.03155783, 0.27237119, 0.27274271,
       0.01251976, 0.03155783, 0.01251976, 0.16613701, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0005977854448383047
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.81563132e-01,  1.58259763e-01, -4.44747446e-01,  1.41296662e-01,
        9.87397512e-01,  7.12839812e-02,  4.50423908e-01, -1.38777878e-17,
       -8.92814820e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10100802, -0.09189731,  0.15019509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.86951169,  -3.42456435, -10.31594122,  -3.42456435,
        34.19633205,  -7.74376237, -10.31594122,  -7.74376237,
        13.44019448,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000477686520305885
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.45260408e-14,  4.33208896e-06,  1.00000000e+00,  6.29281011e-20,
        1.00000000e+00, -4.33208896e-06, -1.00000000e+00, -1.20370622e-35,
       -1.45260408e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10207971, -0.06535859,  0.06197969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.01998302e-06, 1.87877782e-05, 6.76495541e-06,-2.75101440e-05,
  1.28836003e-05,-1.45295454e-05, 4.11316058e-05, 4.23397637e-05,
  1.06841268e-05,-5.02918778e-06,-9.97314123e-06, 2.47629420e-05,
  2.63272589e-01, 5.30119765e-03, 7.72225412e-02, 3.22605229e-02,
 -6.59747165e-04, 7.07305233e-04,-9.81024039e+00,-1.18233505e-02,
 -2.38615193e-02, 4.84241522e-05]


--- Step 1016 ---
qpos:
[-1.35687739e-02, 1.35175485e-02, 1.00398536e-02, 1.47239383e-02,
 -1.90410224e-02,-9.08883653e-03,-1.74553041e-02, 1.63416439e-02,
 -1.21281119e-02,-6.70475270e-03,-1.43569157e-02, 1.51343719e-02,
  1.40360705e+00, 2.78135257e-02, 3.06698175e-01,-2.87946552e-02,
  9.45329070e-02,-7.30746083e-02, 1.04515649e-01, 9.97699727e-01,
  1.63131579e-03,-1.49019293e-04,-6.77685064e-02]

qacc:
[ 3.51709482e-01, 2.09782199e+00,-7.14645421e+00, 8.62619149e+00,
 -4.74540961e+00,-3.15400171e+00, 1.51481480e+01,-3.19535430e+01,
 -1.88403635e+00, 1.98708199e+00,-9.47867525e+00, 2.05275335e+01,
 -4.27948172e-01,-3.68410230e+01, 1.12355458e+01, 1.44951195e+02,
 -2.10969019e+00, 1.74016398e+00, 1.63619675e-02,-1.57343761e+01,
 -7.31563052e+01, 1.00906818e+01]

qfrc_actuator:
[ 5.17374432e-04,-5.22034221e-04,-1.81878607e-04,-3.55083696e-05,
 -6.22420269e-04,-6.78137232e-04,-2.38456634e-04,-2.74619705e-05,
 -5.03964428e-04,-4.24870307e-04,-1.93592501e-04,-3.94915026e-06,
  2.10000000e-01,-1.17430976e-03, 9.00000000e-02, 3.26543643e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.26143348, 0.25851322, 0.03896637, 0.25851322, 0.26004508,
       0.00921097, 0.03896637, 0.00921097, 0.20032549, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0005620030359161321
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88239639,  0.15914205, -0.4427758 ,  0.14223911,  0.98725569,
        0.07137386,  0.44849152,  0.        , -0.89378709])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10095735, -0.09191663,  0.15022175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.93521122,  -3.31501118, -10.42063075,  -3.31501118,
        33.88330193,  -7.3002469 , -10.42063075,  -7.3002469 ,
        13.25756585,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004821468861826994
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.87833194e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.87833194e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10313143, -0.07434486,  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:
[ 2.23196792e-06, 1.64110394e-05,-2.99130094e-05, 1.79948863e-06,
 -2.82132856e-05, 4.10252221e-06, 2.40014040e-05,-4.64242590e-05,
 -1.10615735e-05, 1.50573233e-05,-5.83206251e-06, 3.24219408e-05,
  2.64012370e-01, 5.63040007e-03, 7.54282428e-02, 3.14146279e-02,
 -5.79156189e-04, 4.46247807e-04,-9.81031522e+00,-1.17723387e-02,
 -2.38573104e-02, 6.08615668e-05]


--- Step 1017 ---
qpos:
[-1.35689708e-02, 1.35181269e-02, 1.00393297e-02, 1.47246209e-02,
 -1.90419319e-02,-9.08856970e-03,-1.74557149e-02, 1.63413876e-02,
 -1.21285589e-02,-6.70367202e-03,-1.43575708e-02, 1.51345808e-02,
  1.40358749e+00, 2.77874989e-02, 3.07111802e-01,-2.87223807e-02,
  9.45006742e-02,-7.30891203e-02, 1.04512851e-01, 9.97655574e-01,
  1.77455716e-03,-4.01055246e-04,-6.84108600e-02]

qacc:
[ -2.79515246,  3.12266595,-13.5692728 , 26.21886576, -8.97445985,
  -0.82043982,  5.49311199,-15.14593055, -4.20826897, -0.28089359,
   2.72058554, -8.36260118,  0.26913534,-22.70225883, 26.94106929,
  -9.89329218,  0.68573007,  0.607617  ,  0.90014636,-32.16041866,
   2.71132994,-17.28162056]

qfrc_actuator:
[ 5.00833806e-04,-5.01155227e-04,-2.01708064e-04, 7.55718984e-07,
 -6.74791195e-04,-6.77030032e-04,-2.44045681e-04,-5.58524029e-05,
 -5.28407386e-04,-4.13982472e-04,-1.95888478e-04,-2.05418814e-05,
  2.10000000e-01,-1.14757334e-03, 9.00000000e-02, 3.26355588e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2454975 ,  0.2426056 ,  0.03757053,  0.2426056 ,  0.24967737,
       -0.02699086,  0.03757053, -0.02699086,  0.4197866 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005168262010859845
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88262327,  0.15972541, -0.44211305,  0.14281084,  0.98716148,
        0.07153509,  0.44786295,  0.        , -0.89410222])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10087817, -0.09203054,  0.15025109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.97997693, -10.30009734,   3.80366772, -10.30009734,
        13.74280206,   7.48155988,   3.80366772,   7.48155988,
        31.23957914,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000485134624876736
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.17021233e-06, -6.20060651e-06,  1.00000000e+00, -1.34566327e-11,
        1.00000000e+00,  6.20060651e-06, -1.00000000e+00,  0.00000000e+00,
       -2.17021233e-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([ 0.08497124, -0.07039641,  0.06197937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64802169e-05, 2.39515015e-05,-2.00627945e-05, 3.59670030e-05,
 -5.31837708e-05, 6.35515915e-06,-3.39184440e-06,-2.82866811e-05,
 -2.47823568e-05, 1.94851514e-05, 1.21739202e-06,-1.55180871e-05,
  2.64711299e-01, 6.02248270e-03, 7.11177620e-02, 2.94811289e-02,
 -6.95735620e-04, 1.62530391e-04,-9.81028876e+00,-1.17166947e-02,
 -2.38822191e-02, 7.54342341e-05]


--- Step 1018 ---
qpos:
[-1.35686749e-02, 1.35186169e-02, 1.00392572e-02, 1.47257132e-02,
 -1.90431172e-02,-9.08867269e-03,-1.74557459e-02, 1.63415128e-02,
 -1.21286061e-02,-6.70262053e-03,-1.43581816e-02, 1.51349554e-02,
  1.40356013e+00, 2.77572715e-02, 3.07581369e-01,-2.85870427e-02,
  9.44737023e-02,-7.30911225e-02, 1.04509161e-01, 9.97610252e-01,
  1.73589678e-03,-6.88222697e-04,-6.90673448e-02]

qacc:
[ 4.28733957e+00,-5.43043967e-01, 2.22354988e-02, 6.42849479e+00,
 -2.37747185e+00,-7.59469505e-01, 3.95441260e-01, 5.86646107e+00,
  3.49055765e+00, 1.72069254e-01,-1.38104892e+00, 4.21276076e+00,
  7.81041983e-01,-2.58755478e+01,-1.08531916e+02, 4.99011694e+02,
  1.31521542e+00, 3.12742681e+00,-2.23295388e-01,-8.95377613e+01,
 -2.37593703e+01,-7.02137511e+00]

qfrc_actuator:
[ 5.26685609e-04,-5.06769824e-04,-1.77605521e-04, 2.18219383e-05,
 -6.87477477e-04,-7.12034499e-04,-2.29442440e-04,-3.69441311e-05,
 -5.07100165e-04,-4.25742812e-04,-1.96974993e-04,-1.26353145e-05,
  2.10000000e-01,-1.13634839e-03, 9.00000000e-02, 3.26069070e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20855298, -0.20147491, -0.0538721 , -0.20147491,  0.26349284,
       -0.20546818, -0.0538721 , -0.20546818,  0.97697819,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038430131828276503
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88339268,  0.16073069, -0.44020792,  0.14385872,  0.9869983 ,
        0.07168698,  0.44600677,  0.        , -0.89502959])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10080552, -0.09208343,  0.15028668])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.16385745,  -1.10317162, -11.10921805,  -1.10317162,
        14.38247068,  -0.3196159 , -11.10921805,  -0.3196159 ,
        11.19559607,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004969926977004338
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04713217e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.04713217e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08169671, -0.09015243,  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:
[ 2.53678749e-05, 5.17908273e-06, 2.78267436e-05, 2.20996491e-05,
 -1.42183525e-05,-3.33489302e-05, 1.45320574e-05, 1.85169659e-05,
  2.05728400e-05,-1.27301072e-06, 2.55700675e-06, 8.48356970e-06,
  2.65065139e-01, 6.25270639e-03, 6.91412786e-02, 2.89351989e-02,
 -8.74327134e-04, 2.41819310e-04,-9.81026863e+00,-1.17076679e-02,
 -2.39131449e-02, 9.03512168e-05]


--- Step 1019 ---
qpos:
[-1.35680721e-02, 1.35190987e-02, 1.00395163e-02, 1.47263566e-02,
 -1.90444460e-02,-9.08903186e-03,-1.74553274e-02, 1.63418442e-02,
 -1.21283983e-02,-6.70188197e-03,-1.43583947e-02, 1.51357794e-02,
  1.40352558e+00, 2.77223642e-02, 3.08120084e-01,-2.83860471e-02,
  9.44513379e-02,-7.30827095e-02, 1.04504568e-01, 9.97560705e-01,
  1.53466673e-03,-1.01740661e-03,-6.97800142e-02]

qacc:
[ 2.67177970e+00,-1.86779289e+00, 8.52984896e+00,-1.68128885e+01,
 -1.22672919e+00,-1.16769345e+00, 2.80638284e+00, 2.26028499e-01,
  2.24453925e+00,-6.03772238e-01,-3.52404030e-01, 7.73370417e+00,
  1.32549371e+00,-2.91195306e+01,-9.68931119e+01, 4.86539272e+02,
  1.15186875e+00, 2.60380462e+00,-2.25475323e-01,-7.96552760e+01,
 -2.66223779e+01,-2.80787024e+01]

qfrc_actuator:
[ 5.41782724e-04,-5.10281524e-04,-1.63385772e-04,-1.72633379e-06,
 -6.94449555e-04,-7.15021467e-04,-2.03143323e-04,-2.58782645e-05,
 -4.94536750e-04,-4.50954722e-04,-1.79656501e-04, 9.61199283e-06,
  2.10000000e-01,-1.09724950e-03, 9.00000000e-02, 3.24444849e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20231158, -0.20214937,  0.00810005, -0.20214937,  0.20513815,
        0.07054136,  0.00810005,  0.07054136,  1.96278213,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003517065328681423
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.84291564e-01,  1.61944879e-01, -4.37952379e-01,  1.45122131e-01,
        9.86799806e-01,  7.18728810e-02,  4.43810767e-01,  1.38777878e-17,
       -8.96120529e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10073435, -0.09210459,  0.15032323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.30910052,  5.10913542, 10.08922643,  5.10913542, 25.04791353,
       -6.9572684 , 10.08922643, -6.9572684 , 14.83222756,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005059888324391582
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37135317e-14, -2.74270634e-14,  1.00000000e+00,  3.76121905e-28,
        1.00000000e+00,  2.74270634e-14, -1.00000000e+00,  0.00000000e+00,
        1.37135317e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08167335, -0.09013892,  0.06197849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58091086e-05, 6.07947169e-06, 1.94778044e-05,-2.19347962e-05,
 -7.39060234e-06,-1.78023514e-05, 2.18561884e-05, 1.05032907e-05,
  1.31200310e-05,-2.50259561e-05, 1.76632803e-05, 2.24454353e-05,
  2.65452170e-01, 6.51182179e-03, 6.63456914e-02, 2.56200245e-02,
 -1.26133093e-03, 3.25859714e-04,-9.81002904e+00,-1.16901121e-02,
 -2.39967755e-02, 1.00467922e-04]


--- Step 1020 ---
qpos:
[-1.35676381e-02, 1.35198129e-02, 1.00395779e-02, 1.47267189e-02,
 -1.90461929e-02,-9.08952939e-03,-1.74546407e-02, 1.63426482e-02,
 -1.21283868e-02,-6.70123273e-03,-1.43584355e-02, 1.51365051e-02,
  1.40350935e+00, 2.76925225e-02, 3.08722967e-01,-2.81981191e-02,
  9.44313297e-02,-7.30792845e-02, 1.04502648e-01, 9.97508198e-01,
  1.35906726e-03,-1.25968195e-03,-7.05263107e-02]

qacc:
[-1.47386320e+00, 2.83240702e-01, 6.27814569e-01,-5.35443309e+00,
 -3.61976845e+00, 4.75925690e-02,-2.41831918e+00, 1.02578299e+01,
 -1.70725019e+00,-7.98867676e-01, 3.09807773e+00,-5.01577773e+00,
  1.71535889e+00, 2.91006115e+01, 1.34793877e+02,-3.33102151e+02,
  5.89084298e-01,-1.24699893e+00, 6.68089231e-01, 9.73695398e+00,
  4.42152344e+01,-1.69554644e+01]

qfrc_actuator:
[ 5.32663013e-04,-4.94823722e-04,-1.72909193e-04,-1.58433725e-05,
 -7.15767890e-04,-7.16516269e-04,-1.87800990e-04,-1.74232500e-06,
 -5.04987528e-04,-4.48436904e-04,-1.69418702e-04, 4.60849844e-06,
  2.10000000e-01,-1.03926663e-03, 9.00000000e-02, 3.22449914e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.19786858, -0.19391509,  0.03935624, -0.19391509,  0.21543828,
        0.08656895,  0.03935624,  0.08656895,  0.62440892,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032523878398804185
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88530653,  0.16337735, -0.43536214,  0.14660893,  0.98656365,
        0.07209704,  0.44129149,  0.        , -0.89736382])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10066194, -0.09209886,  0.1503613 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.48706724,  0.64509991, 11.46893891,  0.64509991, 24.35960921,
       -0.72404917, 11.46893891, -0.72404917, 11.52779324,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005169212835701292
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.68470041e-14,  6.71175102e-15,  1.00000000e+00, -1.80190407e-28,
        1.00000000e+00, -6.71175102e-15, -1.00000000e+00,  0.00000000e+00,
        2.68470041e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0820484 , -0.06241907,  0.06197803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.68348660e-06, 2.19266179e-05,-6.63434173e-06,-1.36111643e-05,
 -2.15312277e-05,-6.43957278e-06, 1.47369194e-05, 2.43370925e-05,
 -1.01114471e-05,-6.87162350e-06, 8.01732027e-06,-5.02913534e-06,
  2.65808179e-01, 6.81547896e-03, 6.28899625e-02, 2.21381758e-02,
 -1.80543034e-03, 5.61626895e-04,-9.80968327e+00,-1.16684813e-02,
 -2.40821113e-02, 1.05333119e-04]


--- Step 1021 ---
qpos:
[-1.35673171e-02, 1.35207127e-02, 1.00395242e-02, 1.47269095e-02,
 -1.90478369e-02,-9.09000856e-03,-1.74540977e-02, 1.63437436e-02,
 -1.21281563e-02,-6.70039831e-03,-1.43587707e-02, 1.51375075e-02,
  1.40350747e+00, 2.76672977e-02, 3.09363108e-01,-2.80247261e-02,
  9.44143742e-02,-7.30796864e-02, 1.04502751e-01, 9.97453521e-01,
  1.20267407e-03,-1.42030215e-03,-7.12952353e-02]

qacc:
[-9.86948014e-01, 2.15920355e-01, 3.14030456e-01,-3.24124522e+00,
  8.88619853e-01, 1.02353054e+00,-4.84827720e+00, 1.01126329e+01,
  1.89926324e+00, 1.63346737e+00,-6.64434188e+00, 1.17761247e+01,
  8.70323300e-01, 2.69252696e+01, 9.94172909e+01,-2.67133430e+02,
  7.63141708e-01,-9.56718736e-01, 5.05835628e-01, 6.68701682e+00,
  4.13863679e+01,-1.14300683e+01]

qfrc_actuator:
[ 5.27118882e-04,-4.85974198e-04,-1.78529374e-04,-2.42898383e-05,
 -7.09856611e-04,-7.17131124e-04,-1.96783804e-04, 1.21341170e-05,
 -4.93392118e-04,-4.29379685e-04,-1.81115838e-04, 1.91277238e-05,
  2.10000000e-01,-1.03108488e-03, 9.00000000e-02, 3.20579646e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.19595677,  0.18928872, -0.05068368,  0.18928872,  0.2819057 ,
        0.32099416, -0.05068368,  0.32099416,  1.39477614,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031279870903109006
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88579083,  0.16450446, -0.43395034,  0.14772915,  0.98637634,
        0.07237275,  0.43994399,  0.        , -0.89802522])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10059536, -0.09209407,  0.15038424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.67949366,   3.16726989, -11.24184032,   3.16726989,
        39.57788181,   7.8600765 , -11.24184032,   7.8600765 ,
        13.89398729,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005286668015548127
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.62505377e-14, -6.56263443e-15,  1.00000000e+00,  1.72272682e-28,
        1.00000000e+00,  6.56263443e-15, -1.00000000e+00,  0.00000000e+00,
        2.62505377e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08206632, -0.06241566,  0.06197753])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.81347482e-06, 1.91410200e-05,-2.38282134e-06,-8.00168520e-06,
  5.29574512e-06,-7.30293702e-08,-7.63401307e-06, 1.45889139e-05,
  1.12786220e-05, 1.66490321e-05,-1.23034588e-05, 1.44044507e-05,
  2.64888287e-01, 6.58327101e-03, 5.96834809e-02, 2.26051041e-02,
 -1.73861220e-03, 6.68383723e-04,-9.80975975e+00,-1.17037249e-02,
 -2.40872208e-02, 1.01588767e-04]


--- Step 1022 ---
qpos:
[-1.35670657e-02, 1.35215889e-02, 1.00394879e-02, 1.47270153e-02,
 -1.90490526e-02,-9.09024995e-03,-1.74540444e-02, 1.63449928e-02,
 -1.21277892e-02,-6.69953304e-03,-1.43591774e-02, 1.51383351e-02,
  1.40351702e+00, 2.76464730e-02, 3.10018875e-01,-2.78669394e-02,
  9.44009161e-02,-7.30830592e-02, 1.04504304e-01, 9.97397134e-01,
  1.06050715e-03,-1.50408898e-03,-7.20803084e-02]

qacc:
[-6.01760464e-01,-2.53589609e-01, 1.21959492e+00,-2.70193732e+00,
  3.69963746e+00, 1.99146043e+00,-7.30728711e+00, 1.05917179e+01,
  1.18970225e+00,-1.21707766e-01, 1.22746910e+00,-4.15814967e+00,
  1.78410770e-01, 2.59985108e+01, 7.06593031e+01,-2.12961936e+02,
  8.74373296e-01,-7.42730625e-01, 3.62426795e-01, 4.34565702e+00,
  3.88150731e+01,-8.17088244e+00]

qfrc_actuator:
[ 5.23731858e-04,-4.98888298e-04,-1.81810790e-04,-2.93309606e-05,
 -6.87961323e-04,-6.99566747e-04,-2.20057141e-04, 1.98469529e-05,
 -4.86658454e-04,-4.36142862e-04,-1.87823333e-04, 9.51960396e-06,
  2.10000000e-01,-1.05436130e-03, 9.00000000e-02, 3.18673598e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.19578765,  0.18879096, -0.0518727 ,  0.18879096,  0.28651755,
        0.33021194, -0.0518727 ,  0.33021194,  1.39759574,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031166346127922093
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.8858199 ,  0.16534381, -0.43357183,  0.14850891,  0.98623599,
        0.07268891,  0.4396228 ,  0.        , -0.89818249])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10053573, -0.09208932,  0.15039383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.79757656,   3.01977988, -11.40454919,   3.01977988,
        48.03434153,   9.59503544, -11.40454919,   9.59503544,
        14.33822016,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005358405370778016
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.47477507e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.47477507e-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([ 0.08207996, -0.06241254,  0.06197723])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.57995607e-06,-3.05619472e-06, 9.95245359e-08,-4.45931904e-06,
  2.20560777e-05, 1.66334674e-05,-2.37048998e-05, 7.73292547e-06,
  7.03389296e-06, 6.15966555e-07,-4.28946383e-06,-9.04135692e-06,
  2.64166848e-01, 6.34270957e-03, 5.78226478e-02, 2.31418439e-02,
 -1.68734916e-03, 7.82216587e-04,-9.80978652e+00,-1.17403079e-02,
 -2.40900689e-02, 9.69956350e-05]


--- Step 1023 ---
qpos:
[-1.35665126e-02, 1.35223026e-02, 1.00397461e-02, 1.47274039e-02,
 -1.90503411e-02,-9.09038016e-03,-1.74539718e-02, 1.63463055e-02,
 -1.21273446e-02,-6.69883225e-03,-1.43595516e-02, 1.51387142e-02,
  1.40353345e+00, 2.76291987e-02, 3.10662149e-01,-2.77233938e-02,
  9.43910104e-02,-7.30890240e-02, 1.04506802e-01, 9.97338871e-01,
  9.30144321e-04,-1.51644709e-03,-7.28835484e-02]

qacc:
[   2.62716706,  -0.46020561,   0.12566324,   4.43036071,  -0.63276392,
    0.22518387,  -0.85601685,   1.84134953,   0.68050284,  -1.23293321,
    5.97257611, -13.66506213,  -0.43116252,  20.86202712,  24.87682512,
 -113.28040975,   0.88808845,  -0.6480005 ,   0.23638138,   3.29971273,
   36.0357791 ,  -9.1741822 ]

qfrc_actuator:
[ 5.39393412e-04,-5.06973141e-04,-1.66022970e-04,-1.45943499e-05,
 -6.92347462e-04,-6.89074237e-04,-2.15995982e-04, 2.38826778e-05,
 -4.82847074e-04,-4.58318019e-04,-1.91642238e-04,-1.42240191e-05,
  2.10000000e-01,-1.06263731e-03, 9.00000000e-02, 3.17525038e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1970474 ,  0.19417429,  0.03352644,  0.19417429,  0.21651213,
       -0.11273344,  0.03352644, -0.11273344,  0.84996297,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003199814977310257
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.8854576 ,  0.16591361, -0.4340939 ,  0.14897421,  0.98614029,
        0.07303432,  0.44019487,  0.        , -0.89790226])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10048374, -0.09208409,  0.15039168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.85387376,   2.80078244, -11.51824382,   2.80078244,
        58.86841115,  11.43208053, -11.51824382,  11.43208053,
        14.63370469,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005392525669904516
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28676140e-14,  2.57352281e-14,  1.00000000e+00, -3.31150982e-28,
        1.00000000e+00, -2.57352281e-14, -1.00000000e+00,  0.00000000e+00,
        1.28676140e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08209021, -0.06240964,  0.06197709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55258820e-05,-9.97203238e-06, 1.50125467e-05, 1.45220733e-05,
 -3.73925615e-06, 1.52808267e-05, 4.85772249e-06, 4.08051013e-06,
  3.98518853e-06,-2.31174896e-05,-4.53812095e-06,-2.40429842e-05,
  2.63590925e-01, 6.12821776e-03, 5.70434766e-02, 2.38078859e-02,
 -1.65733603e-03, 8.98545387e-04,-9.80977426e+00,-1.17767260e-02,
 -2.40911406e-02, 9.12928949e-05]


--- Step 1024 ---
qpos:
[-1.35654321e-02, 1.35231536e-02, 1.00398204e-02, 1.47276153e-02,
 -1.90516719e-02,-9.09044019e-03,-1.74535210e-02, 1.63469458e-02,
 -1.21268581e-02,-6.69825074e-03,-1.43597057e-02, 1.51387870e-02,
  1.40355529e+00, 2.76154904e-02, 3.11280271e-01,-2.75944084e-02,
  9.43845905e-02,-7.30974037e-02, 1.04509798e-01, 9.97278377e-01,
  8.10363234e-04,-1.46221487e-03,-7.37091917e-02]

qacc:
[  4.56446006,  0.32092232, -0.14767531, -2.71257988, -0.35759519,
  -2.3470498 , 11.34479712,-23.6433199 ,  0.37352988, -1.40345375,
   6.06715964,-11.62962075, -0.86689182, 21.1539244 ,  7.12503976,
 -78.3280877 ,  0.87143373, -0.60373001,  0.12445576,  2.834172  ,
  33.58007798,-11.29216231]

qfrc_actuator:
[ 5.66140746e-04,-4.94259414e-04,-1.74582829e-04,-2.38302641e-05,
 -6.94420119e-04,-6.82793353e-04,-1.95847204e-04,-9.76439763e-06,
 -4.80784642e-04,-4.54052112e-04,-1.76050822e-04,-2.83526846e-05,
  2.10000000e-01,-9.91812970e-04, 9.00000000e-02, 3.15992114e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.199503  ,  0.19694727,  0.03183113,  0.19694727,  0.2126424 ,
       -0.08129683,  0.03183113, -0.08129683,  0.70250709,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033534444293188773
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88479302,  0.16624664, -0.43531984,  0.14916968,  0.9860842 ,
        0.07339177,  0.44146315,  0.        , -0.89727938])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10043951, -0.0920792 ,  0.15038051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.85967856,   2.50164394, -11.59283197,   2.50164394,
        72.84227373,  13.15957484, -11.59283197,  13.15957484,
        14.69941356,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005396041006180546
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57184625e-14,  1.28592312e-14,  1.00000000e+00, -3.30719656e-28,
        1.00000000e+00, -1.28592312e-14, -1.00000000e+00,  0.00000000e+00,
        2.57184625e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08209776, -0.06240688,  0.06197707])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.71606402e-05, 1.08486866e-05,-8.27422381e-06,-8.86277380e-06,
 -2.17438113e-06, 1.60496282e-05, 2.40599496e-05,-3.27417022e-05,
  2.14783996e-06,-1.06457034e-05, 9.41957602e-06,-1.57455569e-05,
  2.63242613e-01, 6.03497457e-03, 5.76701903e-02, 2.43672172e-02,
 -1.67064408e-03, 1.02780837e-03,-9.80973389e+00,-1.18118366e-02,
 -2.40904039e-02, 8.44123504e-05]


--- Step 1025 ---
qpos:
[-1.35643845e-02, 1.35239835e-02, 1.00398653e-02, 1.47273788e-02,
 -1.90523276e-02,-9.09065464e-03,-1.74524567e-02, 1.63475359e-02,
 -1.21266962e-02,-6.69746863e-03,-1.43600816e-02, 1.51383337e-02,
  1.40358226e+00, 2.76056877e-02, 3.11867220e-01,-2.74809507e-02,
  9.43815746e-02,-7.31080340e-02, 1.04512911e-01, 9.97215305e-01,
  6.99799898e-04,-1.34547511e-03,-7.45609488e-02]

qacc:
[-2.86428189e-01,-8.67282499e-01, 4.94360441e+00,-1.26328655e+01,
  5.88423005e+00,-2.03256946e+00, 7.14382648e+00,-8.85901954e+00,
 -2.84297181e+00,-1.92666018e-01, 3.30333742e+00,-1.22151570e+01,
 -1.23626540e+00, 2.35166368e+01, 1.17769373e+00,-7.03699270e+01,
  8.51026091e-01,-5.62659622e-01, 2.91295089e-02, 2.27459323e+00,
  3.14959605e+01,-1.31483661e+01]

qfrc_actuator:
[ 5.63687821e-04,-5.04806532e-04,-1.79638239e-04,-4.71025627e-05,
 -6.59600708e-04,-6.96795548e-04,-1.66412595e-04,-1.20526230e-05,
 -4.97519471e-04,-4.33900967e-04,-1.84519003e-04,-5.44279583e-05,
  2.10000000e-01,-9.45974546e-04, 9.00000000e-02, 3.14821305e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20321598,  0.20103461,  0.02969547,  0.20103461,  0.21405277,
       -0.07336365,  0.02969547, -0.07336365,  0.6998787 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003567310659517863
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88387739,  0.16636561, -0.43713069,  0.14912498,  0.98606414,
        0.0737513 ,  0.44330858,  0.        , -0.89636907])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1004027 , -0.09207527,  0.15036182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.82491542,   2.11443336, -11.63433695,   2.11443336,
        90.64303216,  14.32446527, -11.63433695,  14.32446527,
        14.42825477,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000537498099435256
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58192314e-14,  3.87288471e-14,  1.00000000e+00, -9.99949065e-28,
        1.00000000e+00, -3.87288471e-14, -1.00000000e+00,  0.00000000e+00,
        2.58192314e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08210318, -0.06240421,  0.06197716])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69735860e-06,-6.59625587e-06,-4.15295494e-06,-2.32695087e-05,
  3.47582902e-05,-1.41308826e-06, 3.45962308e-05,-1.40202509e-06,
 -1.66961779e-05, 1.54504509e-05,-1.00579026e-05,-2.65132227e-05,
  2.62968149e-01, 5.91540019e-03, 5.89297669e-02, 2.49786863e-02,
 -1.72835647e-03, 1.17485946e-03,-9.80967152e+00,-1.18460849e-02,
 -2.40877046e-02, 7.63628030e-05]


--- Step 1026 ---
qpos:
[-1.35637196e-02, 1.35248250e-02, 1.00401084e-02, 1.47268452e-02,
 -1.90529056e-02,-9.09112781e-03,-1.74509462e-02, 1.63481192e-02,
 -1.21263916e-02,-6.69650738e-03,-1.43605835e-02, 1.51375673e-02,
  1.40361200e+00, 2.75992415e-02, 3.12411200e-01,-2.73861320e-02,
  9.43818420e-02,-7.31207157e-02, 1.04515836e-01, 9.97149304e-01,
  5.96413350e-04,-1.17003102e-03,-7.54423049e-02]

qacc:
[-3.31234765e+00,-1.14405670e+00, 5.36671929e+00,-1.08458445e+01,
  6.92383380e-01,-1.60326955e+00, 5.24710483e+00,-5.88488511e+00,
  1.23751135e+00,-5.82970464e-02, 1.86902873e+00,-7.21334030e+00,
 -1.59554462e+00, 2.07230548e+01,-6.87115272e+00,-6.75837696e+01,
  8.20804143e-01,-5.12835326e-01,-4.68439604e-02, 1.37098868e+00,
  2.95256596e+01,-1.48929648e+01]

qfrc_actuator:
[ 5.44064160e-04,-4.93701516e-04,-1.64919132e-04,-6.07026663e-05,
 -6.56604550e-04,-7.22771066e-04,-1.49545676e-04,-1.36314707e-05,
 -4.89677819e-04,-4.22243484e-04,-1.89316400e-04,-6.95760313e-05,
  2.10000000e-01,-9.52399112e-04, 9.00000000e-02, 3.14645788e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22754283,  0.22555976,  0.02997554,  0.22555976,  0.23765342,
       -0.07608015,  0.02997554, -0.07608015,  0.80003029,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000461759487914918
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.83266697e-01,  1.66655886e-01, -4.38253075e-01,  1.49289389e-01,
        9.86015119e-01,  7.40733618e-02,  4.44468919e-01, -1.38777878e-17,
       -8.95794273e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10037842, -0.09202705,  0.15034313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.75821128,   1.63466224, -11.64402902,   1.63466224,
       112.92593119,  14.20256268, -11.64402902,  14.20256268,
        13.75205662,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005334516723783239
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.60150798e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.60150798e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08210692, -0.06240161,  0.06197734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.97038678e-05, 5.52539110e-06, 1.20285125e-05,-1.44814806e-05,
  3.98912879e-06,-1.96438838e-05, 2.07945698e-05,-4.69476018e-07,
  7.34740287e-06, 1.70700105e-05,-3.76393761e-06,-1.53496845e-05,
  2.62707619e-01, 5.72587801e-03, 6.04903925e-02, 2.57380321e-02,
 -1.82473424e-03, 1.34005964e-03,-9.80958922e+00,-1.18801039e-02,
 -2.40832602e-02, 6.71430426e-05]


--- Step 1027 ---
qpos:
[-1.35632959e-02, 1.35258010e-02, 1.00401869e-02, 1.47261618e-02,
 -1.90541327e-02,-9.09154943e-03,-1.74495563e-02, 1.63476430e-02,
 -1.21259960e-02,-6.69563986e-03,-1.43607566e-02, 1.51366287e-02,
  1.40364636e+00, 2.75973845e-02, 3.12901773e-01,-2.73137777e-02,
  9.43848303e-02,-7.31363409e-02, 1.04517931e-01, 9.97080686e-01,
  5.14509041e-04,-9.34802520e-04,-7.63476745e-02]

qacc:
[ -2.09767699,  0.3331243 , -0.28983472, -2.14782646, -5.64159888,
  -1.7644649 , 10.88397788,-29.09025082,  0.80688189, -1.39836693,
   5.53068571, -8.964509  , -1.84177551, 27.67625072,-10.65037534,
 -76.57916108,  0.68023911, -0.73586258, -0.20766171,  8.44209511,
  30.60864086,-12.10158613]

qfrc_actuator:
[ 5.32253675e-04,-4.87382041e-04,-1.74056383e-04,-6.84710677e-05,
 -6.90127503e-04,-7.20259254e-04,-1.58050026e-04,-6.80659469e-05,
 -4.85180212e-04,-4.33493612e-04,-1.74165923e-04,-7.81704897e-05,
  2.10000000e-01,-1.00894717e-03, 9.00000000e-02, 3.14095510e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23238258,  0.23095161,  0.02574915,  0.23095161,  0.23688559,
       -0.04038876,  0.02574915, -0.04038876,  0.59464116,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004778528631936495
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.83545028e-01,  1.67513129e-01, -4.37364304e-01,  1.50126706e-01,
        9.85869845e-01,  7.43143360e-02,  4.43632906e-01,  1.38777878e-17,
       -8.96208594e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10037227, -0.09188829,  0.15033253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.65990947,  2.37354005, 11.41576964,  2.37354005, 58.49566522,
       -9.73798049, 11.41576964, -9.73798049, 13.68460754,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005274746582744648
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.63098664e-14, -6.96693102e-06,  1.00000000e+00,  1.83299025e-19,
        1.00000000e+00,  6.96693102e-06, -1.00000000e+00,  0.00000000e+00,
        2.63098664e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08237827, -0.06027612,  0.06197759])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24088231e-05, 1.12453136e-05,-7.02141482e-06,-7.39779972e-06,
 -3.34175845e-05,-4.17552936e-06,-1.00098827e-05,-5.45646786e-05,
  4.68757265e-06,-3.15064549e-06, 1.76774328e-05,-8.29287702e-06,
  2.62565412e-01, 5.51274999e-03, 6.26406489e-02, 2.66154174e-02,
 -1.95712898e-03, 1.52375371e-03,-9.80948757e+00,-1.19142528e-02,
 -2.40776114e-02, 5.67145229e-05]


--- Step 1028 ---
qpos:
[-1.35626729e-02, 1.35267105e-02, 1.00402355e-02, 1.47254074e-02,
 -1.90557523e-02,-9.09157630e-03,-1.74487602e-02, 1.63468523e-02,
 -1.21258947e-02,-6.69497290e-03,-1.43609876e-02, 1.51363260e-02,
  1.40368486e+00, 2.76002761e-02, 3.13335339e-01,-2.72650681e-02,
  9.43904320e-02,-7.31547071e-02, 1.04519029e-01, 9.97009094e-01,
  4.51444480e-04,-6.44107075e-04,-7.72803161e-02]

qacc:
[  1.72717777, -0.15370702,  0.71429005, -1.83977424, -3.43341672,
   1.53993652, -3.39491931, -1.40042779, -2.56729258,  1.2107107 ,
  -7.37798029, 18.61516995, -2.17718726, 29.10630651,-12.3802635 ,
 -78.19971204,  0.65335174, -0.68527867, -0.24914045,  7.26300724,
  28.36329516,-13.73280529]

qfrc_actuator:
[ 5.42895186e-04,-5.01814154e-04,-1.79471464e-04,-7.27688237e-05,
 -7.09360943e-04,-6.83109175e-04,-1.81388905e-04,-8.21477523e-05,
 -5.00447198e-04,-4.58287091e-04,-1.82956279e-04,-4.73431786e-05,
  2.10000000e-01,-1.06263936e-03, 9.00000000e-02, 3.13255659e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24590577,  0.24482782,  0.02299966,  0.24482782,  0.2491554 ,
       -0.03459187,  0.02299966, -0.03459187,  0.61413086,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005179954793921236
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88402989,  0.16844443, -0.43602481,  0.15106851,  0.98571115,
        0.07451062,  0.44234542,  0.        , -0.89684476])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10037735, -0.09172076,  0.15032134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.55649884,  -0.79881998, -11.52885736,  -0.79881998,
        99.97102316,  -6.12613087, -11.52885736,  -6.12613087,
        11.98097072,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005211677697256657
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.66282541e-14, -5.17156630e-07,  1.00000000e+00, -1.37709782e-20,
        1.00000000e+00,  5.17156630e-07, -1.00000000e+00,  0.00000000e+00,
       -2.66282541e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08238276, -0.06027381,  0.06197785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02534178e-05,-9.92768465e-06,-4.21646528e-06,-4.20314482e-06,
 -2.01943037e-05, 3.04422843e-05,-2.73068548e-05,-1.56649205e-05,
 -1.51614897e-05,-2.32743625e-05,-7.55593854e-06, 3.11415816e-05,
  2.62331792e-01, 5.23967604e-03, 6.53126047e-02, 2.76550661e-02,
 -2.06365827e-03, 1.70705825e-03,-9.80940371e+00,-1.19500235e-02,
 -2.40610039e-02, 4.59002940e-05]


--- Step 1029 ---
qpos:
[-1.35612383e-02, 1.35274941e-02, 1.00402335e-02, 1.47249620e-02,
 -1.90572455e-02,-9.09130493e-03,-1.74483339e-02, 1.63469313e-02,
 -1.21259775e-02,-6.69454490e-03,-1.43612983e-02, 1.51367473e-02,
  1.40372767e+00, 2.76083246e-02, 3.13711181e-01,-2.72400356e-02,
  9.43985347e-02,-7.31756235e-02, 1.04518999e-01, 9.96934194e-01,
  4.04724451e-04,-3.01639752e-04,-7.82429440e-02]

qacc:
[  7.03708727,  0.59767496, -3.70092775,  9.24875757,  1.08192239,
   3.21440386,-14.56615135, 29.99565588, -1.60495947,  1.40019808,
  -8.50259418, 21.33141635, -2.50853474, 31.99922179,-13.30227349,
 -76.41386403,  0.62524727, -0.63752093, -0.28209823,  6.1384401 ,
  26.43224486,-15.09307712]

qfrc_actuator:
[ 5.84416644e-04,-5.10797275e-04,-1.82721921e-04,-5.72504884e-05,
 -7.02265019e-04,-6.61045232e-04,-1.95354405e-04,-3.68340280e-05,
 -5.09471287e-04,-4.73309631e-04,-1.88103331e-04,-1.13546075e-05,
  2.10000000e-01,-1.08110784e-03, 9.00000000e-02, 3.12343726e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25180871,  0.25105391,  0.01948228,  0.25105391,  0.25400314,
       -0.02827809,  0.01948228, -0.02827809,  0.6162078 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005348216935943798
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88433903,  0.1691738 , -0.43511458,  0.15179493,  0.98558623,
        0.0746865 ,  0.44147794,  0.        , -0.8972721 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10038881, -0.0915616 ,  0.15030536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.43867921,  -1.27750525, -11.36711759,  -1.27750525,
       121.47075431, -12.36606841, -11.36711759, -12.36606841,
        12.82845258,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005139558327919076
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.70019074e-14,  4.85545407e-06,  1.00000000e+00, -1.31106521e-19,
        1.00000000e+00, -4.85545407e-06, -1.00000000e+00,  2.40741243e-35,
        2.70019074e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08238583, -0.0602714 ,  0.06197816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.17821966e-05,-1.56020809e-05,-5.97283806e-06, 1.48634274e-05,
  6.52029256e-06, 3.28274052e-05,-1.15636198e-05, 4.53728969e-05,
 -9.48825288e-06,-2.82745985e-05,-9.80862012e-06, 3.53362015e-05,
  2.62121817e-01, 4.99262234e-03, 6.81644732e-02, 2.87464713e-02,
 -2.20204463e-03, 1.90981004e-03,-9.80930382e+00,-1.19850835e-02,
 -2.40432104e-02, 3.45795810e-05]


--- Step 1030 ---
qpos:
[-1.35600070e-02, 1.35280039e-02, 1.00402663e-02, 1.47247193e-02,
 -1.90586424e-02,-9.09096666e-03,-1.74480305e-02, 1.63482557e-02,
 -1.21261684e-02,-6.69413469e-03,-1.43617202e-02, 1.51368796e-02,
  1.40376333e+00, 2.76161934e-02, 3.14053765e-01,-2.72271501e-02,
  9.43983798e-02,-7.31989356e-02, 1.04517215e-01, 9.96864264e-01,
  4.70002936e-04,-4.83015175e-05,-7.91291098e-02]

qacc:
[-1.75704524e+00,-3.84655294e-02,-1.23745588e+00, 4.88413342e+00,
  8.32277414e-01, 2.99298663e+00,-1.58060588e+01, 3.75138457e+01,
 -9.46925462e-01,-3.05862600e-01, 2.28002293e+00,-7.09492699e+00,
 -2.78077946e+00, 3.86320539e+00,-1.23042899e+01,-2.80711314e+01,
 -2.06439165e+00,-5.98941351e-01,-4.38308998e-01, 5.93249709e+01,
 -4.00301598e+01, 3.83094406e+01]

qfrc_actuator:
[ 5.72763411e-04,-5.34177676e-04,-1.84641072e-04,-4.79467484e-05,
 -6.97486061e-04,-6.65846996e-04,-2.03682362e-04, 2.53060657e-05,
 -5.14742146e-04,-4.64598344e-04,-1.91019487e-04,-2.58696343e-05,
  2.10000000e-01,-1.06299718e-03, 9.00000000e-02, 3.11483446e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.25753933, 0.25656132, 0.02242316, 0.25656132, 0.25692957,
       0.00697681, 0.02242316, 0.00697681, 0.1777121 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0005510362259745098
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88507799,  0.17013139, -0.43323465,  0.15280727,  0.98542139,
        0.07479725,  0.43964405,  0.        , -0.89817209])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10041282, -0.09135816,  0.15029228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.38181505, 11.0923102 ,  2.55075836, 11.0923102 , 11.85869308,
       -2.07376719,  2.55075836, -2.07376719, 20.39986603,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005104643437888606
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.43731917e-14,  4.07798938e-14,  1.00000000e+00, -2.21733298e-27,
        1.00000000e+00, -4.07798938e-14, -1.00000000e+00,  0.00000000e+00,
        5.43731917e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10111269, -0.05547227,  0.06197831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04815163e-05,-3.27370592e-05,-5.38114842e-06, 8.71286196e-06,
  4.96172805e-06, 1.31675941e-05,-1.38445889e-06, 6.40327840e-05,
 -5.56637568e-06,-7.61312332e-06,-8.74078754e-06,-1.53778884e-05,
  2.61903753e-01, 4.76048746e-03, 7.10519661e-02, 2.98446085e-02,
 -2.36744945e-03, 2.13035087e-03,-9.80919000e+00,-1.20198474e-02,
 -2.40243197e-02, 2.26717075e-05]


--- Step 1031 ---
qpos:
[-1.35596146e-02, 1.35282526e-02, 1.00402873e-02, 1.47245918e-02,
 -1.90599714e-02,-9.09058439e-03,-1.74477738e-02, 1.63499671e-02,
 -1.21264215e-02,-6.69346635e-03,-1.43625834e-02, 1.51364788e-02,
  1.40378789e+00, 2.76218517e-02, 3.14358187e-01,-2.72303910e-02,
  9.43899430e-02,-7.32249466e-02, 1.04513479e-01, 9.96798739e-01,
  6.34191169e-04, 1.12377162e-04,-7.99491093e-02]

qacc:
[ -7.26793279, -0.06052493, -0.74710387,  2.92655854,  0.58712094,
   0.98346674, -5.05845102, 11.80062304, -0.56121106,  0.47799807,
   1.04320948, -9.75563327, -2.53716549, -7.88670067, -7.63436031,
 -55.24801312, -2.07048543, -0.67472623, -0.48815008, 52.96639972,
 -42.2555316 , 33.17301404]

qfrc_actuator:
[ 5.29895714e-04,-5.48245585e-04,-1.85826605e-04,-4.23889905e-05,
 -6.94117751e-04,-6.68903496e-04,-2.08726681e-04, 4.35604794e-05,
 -5.17763427e-04,-4.41772350e-04,-2.10286343e-04,-5.22107957e-05,
  2.10000000e-01,-1.03741788e-03, 9.00000000e-02, 3.11343672e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.32316644, 0.3218632 , 0.02899356, 0.3218632 , 0.32194506,
       0.01355874, 0.02899356, 0.01355874, 0.17264824, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0007408129488000745
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88488508,  0.17037474, -0.43353298,  0.15299901,  0.98537934,
        0.07495902,  0.43996556,  0.        , -0.89801465])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10041171, -0.09128766,  0.15027547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.41626182, -10.93166003,  -3.29087269, -10.93166003,
        12.77818126,  -4.5240402 ,  -3.29087269,  -4.5240402 ,
        26.44427235,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005125802567447421
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.70743706e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.70743706e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10112252, -0.055501  ,  0.06197822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.31998955e-05,-3.31596186e-05,-8.32273296e-06, 4.13598866e-06,
  3.49438002e-06, 6.81725721e-06,-2.63037177e-07, 2.00198925e-05,
 -3.19259218e-06, 1.61083577e-05,-2.24457876e-05,-2.72685155e-05,
  2.62259441e-01, 4.80194210e-03, 7.27160940e-02, 3.04382762e-02,
 -1.77084900e-03, 1.75246810e-03,-9.80968117e+00,-1.19665121e-02,
 -2.39440761e-02, 2.25023085e-05]


--- Step 1032 ---
qpos:
[-1.35593947e-02, 1.35284150e-02, 1.00396418e-02, 1.47249004e-02,
 -1.90605601e-02,-9.09055511e-03,-1.74470830e-02, 1.63515570e-02,
 -1.21263642e-02,-6.69282219e-03,-1.43633176e-02, 1.51357621e-02,
  1.40380098e+00, 2.76246347e-02, 3.14629104e-01,-2.72469824e-02,
  9.43732152e-02,-7.32539026e-02, 1.04507587e-01, 9.96737127e-01,
  8.87066517e-04, 1.77766161e-04,-8.07110927e-02]

qacc:
[ -1.51397333,  2.65061727,-11.45215838, 20.1237724 ,  6.44710943,
  -1.94150058,  6.73732994, -9.25117526,  2.71417133, -1.04793269,
   5.01524031,-10.66273414, -2.06365013,-12.45446267, -9.21080956,
 -39.88432932, -2.07275826, -0.73623563, -0.53889446, 48.00626752,
 -43.92891823, 29.10693604]

qfrc_actuator:
[ 5.22274074e-04,-5.56629072e-04,-2.22044471e-04,-2.13198602e-05,
 -6.56100606e-04,-7.06421973e-04,-1.94075350e-04, 3.58437828e-05,
 -5.01685016e-04,-4.46251600e-04,-2.03483776e-04,-6.75353772e-05,
  2.10000000e-01,-1.02300730e-03, 9.00000000e-02, 3.11369528e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.33031187, 0.32890322, 0.03047306, 0.32890322, 0.32880884,
       0.01622258, 0.03047306, 0.01622258, 0.15521756, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0007642242763484841
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88490726,  0.17071056, -0.43335556,  0.15331347,  0.98532122,
        0.07508046,  0.43981146,  0.        , -0.89809013])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10039714, -0.09125192,  0.15027039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.40718897, -10.96114421,  -3.15868293, -10.96114421,
        13.04159612,  -5.67165899,  -3.15868293,  -5.67165899,
        31.08876938,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000512023210835072
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08415302e-13,  6.77595640e-14,  1.00000000e+00,  7.34617362e-27,
        1.00000000e+00, -6.77595640e-14, -1.00000000e+00,  0.00000000e+00,
       -1.08415302e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10113074, -0.05552289,  0.06197824])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.88786710e-06,-2.84971248e-05,-4.39521601e-05, 1.94415978e-05,
  3.80986154e-05,-3.28532010e-05, 1.67352905e-05,-7.04120499e-06,
  1.59814220e-05,-1.26940874e-06, 6.42475108e-06,-1.59408988e-05,
  2.62812703e-01, 4.93293331e-03, 7.46253139e-02, 3.12474276e-02,
 -1.29512415e-03, 1.42328477e-03,-9.81002250e+00,-1.19143786e-02,
 -2.38839810e-02, 2.73930930e-05]


--- Step 1033 ---
qpos:
[-1.35585786e-02, 1.35285152e-02, 1.00382429e-02, 1.47254623e-02,
 -1.90603439e-02,-9.09084977e-03,-1.74461630e-02, 1.63527078e-02,
 -1.21257699e-02,-6.69231845e-03,-1.43636716e-02, 1.51355553e-02,
  1.40380347e+00, 2.76243467e-02, 3.14873968e-01,-2.72733022e-02,
  9.43481992e-02,-7.32859996e-02, 1.04499342e-01, 9.96679012e-01,
  1.22059123e-03, 1.45860439e-04,-8.14213459e-02]

qacc:
[  5.14579543,  2.5356837 ,-10.24683227, 15.90001276,  7.00142783,
  -1.98523623,  8.28811111,-15.9903207 ,  4.701089  , -0.20762646,
  -1.69766948, 10.03506169, -1.52267523,-14.47739827, -9.19229783,
 -24.04173007, -2.07205195, -0.78527475, -0.58825515, 44.11334703,
 -45.21135255, 25.9720605 ]

qfrc_actuator:
[ 5.53221841e-04,-5.61672374e-04,-2.60869714e-04,-9.06348392e-06,
 -6.15746356e-04,-7.28732966e-04,-1.85821336e-04, 1.28980659e-05,
 -4.74494571e-04,-4.49182303e-04,-1.81433288e-04,-4.07486071e-05,
  2.10000000e-01,-1.04925421e-03, 9.00000000e-02, 3.11709037e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.32419242, 0.32273607, 0.03069459, 0.32273607, 0.32252519,
       0.01752997, 0.03069459, 0.01752997, 0.13987478, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.000744100689272705
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.85204742e-01,  1.71736536e-01, -4.32341448e-01,  1.54314662e-01,
        9.85142915e-01,  7.53685801e-02,  4.38861653e-01,  1.38777878e-17,
       -8.98554645e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10037065, -0.09123323,  0.1502793 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.36346209, -10.96294928,  -2.99032003, -10.96294928,
        13.26991128,  -6.98932072,  -2.99032003,  -6.98932072,
        36.98733106,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005093358998002687
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.36234141e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.36234141e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10113773, -0.05553939,  0.06197835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.06834413e-05,-2.92362887e-05,-4.94552778e-05, 9.89256226e-06,
  4.14266680e-05,-3.74927226e-05, 3.29135271e-06,-2.39117308e-05,
  2.76350252e-05,-2.99423235e-06, 2.20269829e-05, 2.66438178e-05,
  2.63384752e-01, 5.05577122e-03, 7.63015285e-02, 3.19491156e-02,
 -9.17745255e-04, 1.12643264e-03,-9.81024186e+00,-1.18632903e-02,
 -2.38395488e-02, 3.71686175e-05]


--- Step 1034 ---
qpos:
[-1.35577424e-02, 1.35283487e-02, 1.00369867e-02, 1.47261307e-02,
 -1.90603353e-02,-9.09110539e-03,-1.74453019e-02, 1.63535480e-02,
 -1.21248545e-02,-6.69180402e-03,-1.43640742e-02, 1.51356811e-02,
  1.40378900e+00, 2.76167373e-02, 3.15146122e-01,-2.72854912e-02,
  9.43146195e-02,-7.33158709e-02, 1.04491427e-01, 9.96622372e-01,
  1.57118966e-03,-1.41248523e-05,-8.21058942e-02]

qacc:
[  0.1824966 , -0.53250274,  0.93693828,  0.87443486, -1.80487504,
  -0.41957808,  2.88907542, -8.20799538,  2.80128455,  0.82921134,
  -4.3503631 , 10.18846885, -0.86341888,-37.59857541, -2.78427791,
  67.43156007, -2.14090509,  0.55644325,  0.08238027, 13.71993469,
 -63.11645356, 12.94929978]

qfrc_actuator:
[ 5.53353742e-04,-5.64701195e-04,-2.47648075e-04,-2.08641008e-06,
 -6.27608499e-04,-7.06302077e-04,-1.81374437e-04,-1.06627993e-06,
 -4.58740182e-04,-4.51057968e-04,-1.86042165e-04,-2.48997149e-05,
  2.10000000e-01,-1.09854988e-03, 9.00000000e-02, 3.11543813e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.29829292, 0.29612312, 0.03591324, 0.29612312, 0.29607738,
       0.01826828, 0.03591324, 0.01826828, 0.14766152, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0006659636332099121
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88615474,  0.17304707, -0.42986567,  0.15569537,  0.98491356,
        0.07552642,  0.43645015,  0.        , -0.89972844])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10033444, -0.09121092,  0.15030493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.29656659,  -3.15287515, -10.84766311,  -3.15287515,
        35.40154827,  -7.00611707, -10.84766311,  -7.00611707,
        13.33289572,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005052161157992558
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.74690125e-14, -2.84795023e-06,  1.00000000e+00,  7.82303805e-20,
        1.00000000e+00,  2.84795023e-06, -1.00000000e+00,  0.00000000e+00,
        2.74690125e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205423, -0.06577989,  0.06197852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01960130e-06,-2.91898221e-05, 1.42134214e-06, 4.20223781e-06,
 -1.06842320e-05, 1.12683872e-06,-3.72354363e-06,-1.59246707e-05,
  1.65292444e-05, 2.12847333e-06,-1.60025956e-06, 1.69988772e-05,
  2.63912957e-01, 5.16476945e-03, 7.76050676e-02, 3.24191924e-02,
 -6.23039449e-04, 8.50618826e-04,-9.81035761e+00,-1.18130349e-02,
 -2.38077721e-02, 5.16980160e-05]


--- Step 1035 ---
qpos:
[-1.35569108e-02, 1.35281133e-02, 1.00360972e-02, 1.47264902e-02,
 -1.90604685e-02,-9.09141951e-03,-1.74443984e-02, 1.63545646e-02,
 -1.21234122e-02,-6.69158662e-03,-1.43643562e-02, 1.51356790e-02,
  1.40375912e+00, 2.76007537e-02, 3.15501500e-01,-2.72614976e-02,
  9.42727456e-02,-7.33384982e-02, 1.04484063e-01, 9.96567079e-01,
  1.87600838e-03,-3.24656019e-04,-8.27673334e-02]

qacc:
[-2.61931395e-02,-1.75235579e+00, 7.42017251e+00,-1.33022056e+01,
 -1.22930673e+00, 1.69647893e-01,-1.45812851e+00, 4.48328979e+00,
  4.60706155e+00,-1.00185512e+00, 3.52742680e+00,-5.69961829e+00,
  1.78069057e-01,-4.37151641e+01, 1.30961946e+01, 1.31737622e+02,
 -2.07356186e+00, 1.81098693e+00, 1.37847770e-01,-1.66330823e+01,
 -7.68799298e+01, 1.16893708e+01]

qfrc_actuator:
[ 5.53086429e-04,-5.48539152e-04,-2.21545540e-04,-1.59840082e-05,
 -6.34604704e-04,-7.10517351e-04,-1.79015358e-04, 8.15809849e-06,
 -4.32093751e-04,-4.87900816e-04,-1.88617285e-04,-3.33929291e-05,
  2.10000000e-01,-1.10293793e-03, 9.00000000e-02, 3.10698545e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.28383891, 0.28041214, 0.04397225, 0.28041214, 0.28117957,
       0.0169587 , 0.04397225, 0.0169587 , 0.17569287, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0006248620228279874
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88790017,  0.17361622, -0.42601725,  0.15653105,  0.98481339,
        0.07510408,  0.43258678,  0.        , -0.9015923 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10028129, -0.0911999 ,  0.15034815])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.39330044,  -3.09334832, -10.96533133,  -3.09334832,
        35.38598265,  -6.76839768, -10.96533133,  -6.76839768,
        13.30268293,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005111701384820366
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.42981163e-14, -8.48408067e-15,  1.00000000e+00,  4.60669599e-28,
        1.00000000e+00,  8.48408067e-15, -1.00000000e+00,  0.00000000e+00,
        5.42981163e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10283901, -0.07484561,  0.06197827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.29136388e-07, 2.80908425e-07, 2.03821852e-05,-1.50195637e-05,
 -7.30532474e-06,-5.04070187e-06, 1.58241310e-06, 8.83431593e-06,
  2.71057518e-05,-3.52833263e-05,-1.75586871e-06,-8.12932561e-06,
  2.64759476e-01, 5.53180542e-03, 7.62414954e-02, 3.16283319e-02,
 -5.51507189e-04, 5.27295301e-04,-9.81041360e+00,-1.17520594e-02,
 -2.38062749e-02, 6.86453198e-05]


--- Step 1036 ---
qpos:
[-1.35557437e-02, 1.35278720e-02, 1.00357936e-02, 1.47263109e-02,
 -1.90603396e-02,-9.09207735e-03,-1.74433123e-02, 1.63553657e-02,
 -1.21220065e-02,-6.69171485e-03,-1.43646335e-02, 1.51359354e-02,
  1.40371836e+00, 2.75785482e-02, 3.15921262e-01,-2.71802997e-02,
  9.42369283e-02,-7.33478904e-02, 1.04477939e-01, 9.96511872e-01,
  1.98087329e-03,-6.66689567e-04,-8.34249421e-02]

qacc:
[ 2.92578171e+00,-2.76157350e+00, 1.20996851e+01,-2.23465297e+01,
  2.28710962e+00,-1.41202199e+00, 5.27812296e+00,-9.03902509e+00,
 -3.13021996e-01, 6.29218620e-02,-1.97790528e+00, 6.69897103e+00,
  1.07420018e+00,-3.60959610e+01,-7.84182768e+01, 4.11507429e+02,
  1.51414512e+00, 3.30879310e+00, 3.09962413e-01,-9.83294758e+01,
 -2.39683335e+01, 1.97423246e+00]

qfrc_actuator:
[ 5.70348675e-04,-5.38706456e-04,-1.87995568e-04,-4.20336517e-05,
 -6.20911393e-04,-7.48391035e-04,-1.77986787e-04,-4.57243419e-06,
 -4.34751515e-04,-5.09915270e-04,-1.90121933e-04,-2.06586037e-05,
  2.10000000e-01,-1.05864760e-03, 9.00000000e-02, 3.10765945e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24361398, -0.23054042, -0.078733  , -0.23054042,  0.32456499,
       -0.23703505, -0.078733  , -0.23703505,  0.93768335,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005114216609657257
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88996142,  0.17549444, -0.42091611,  0.15864539,  0.98448042,
        0.07503292,  0.42755153,  0.        , -0.90399098])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10020964, -0.09118538,  0.15040984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.65528512, -10.57317955,  -4.90444141, -10.57317955,
        15.70960792,  -8.74046182,  -4.90444141,  -8.74046182,
        30.49830199,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005271930587910229
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31619599e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.31619599e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08098211, -0.09000443,  0.06197759])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72736212e-05, 1.35246838e-05, 3.55879391e-05,-2.56266412e-05,
  1.34793205e-05,-3.99847115e-05, 4.89900318e-07,-1.27192416e-05,
 -1.89788941e-06,-4.24991211e-05,-9.30815814e-06, 1.09990498e-05,
  2.65527495e-01, 6.00196766e-03, 7.20815274e-02, 2.98262401e-02,
 -6.97834493e-04, 1.67453686e-04,-9.81037654e+00,-1.16857587e-02,
 -2.38365095e-02, 8.77549103e-05]


--- Step 1037 ---
qpos:
[-1.35547231e-02, 1.35273806e-02, 1.00360114e-02, 1.47262020e-02,
 -1.90600475e-02,-9.09308871e-03,-1.74421836e-02, 1.63560197e-02,
 -1.21213331e-02,-6.69212642e-03,-1.43649260e-02, 1.51359904e-02,
  1.40366705e+00, 2.75495975e-02, 3.16410462e-01,-2.70369864e-02,
  9.42064390e-02,-7.33458688e-02, 1.04472573e-01, 9.96453567e-01,
  1.90578310e-03,-1.04369374e-03,-8.41163907e-02]

qacc:
[-1.24935204e+00,-1.64056583e+00, 5.07690368e+00,-4.51244499e+00,
  1.42507881e+00,-8.91767137e-01, 3.11840696e+00,-5.46810083e+00,
 -6.38664013e+00,-7.33877757e-01, 2.94528739e+00,-6.22120240e+00,
  1.78771022e+00,-4.04550853e+01,-8.58843101e+01, 4.48306038e+02,
  1.33201364e+00, 2.85343671e+00, 1.89421704e-01,-8.82132098e+01,
 -2.49652448e+01,-1.68955326e+01]

qfrc_actuator:
[ 5.62285301e-04,-5.68211992e-04,-1.68095731e-04,-3.95158302e-05,
 -6.12904210e-04,-7.70645874e-04,-1.77913633e-04,-1.24019086e-05,
 -4.72391761e-04,-5.22865272e-04,-1.90916651e-04,-3.10283489e-05,
  2.10000000e-01,-9.83952811e-04, 9.00000000e-02, 3.10670947e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23304521, -0.23254584,  0.01524805, -0.23254584,  0.24265314,
        0.14652912,  0.01524805,  0.14652912,  2.46773964,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004799672745219125
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.91880131e-01,  1.77405240e-01, -4.16025495e-01,  1.60774431e-01,
        9.84137887e-01,  7.49946769e-02,  4.22730900e-01, -1.38777878e-17,
       -9.06255254e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10013855, -0.09115704,  0.15046951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.95286858,  6.38608522, 10.10390928,  6.38608522, 20.81233989,
       -5.59954937, 10.10390928, -5.59954937, 15.49201352,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005452408125946953
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54525844e-14, -1.27262922e-14,  1.00000000e+00,  3.23917027e-28,
        1.00000000e+00,  1.27262922e-14, -1.00000000e+00,  0.00000000e+00,
        2.54525844e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08095818, -0.08998274,  0.06197683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.54823703e-06,-1.57265916e-05, 2.61752444e-05, 3.82661059e-06,
  8.39121694e-06,-4.50580090e-05,-8.56765157e-06,-9.77434361e-06,
 -3.77022548e-05,-3.82177889e-05,-1.03551850e-05,-1.23019926e-05,
  2.66068787e-01, 6.39645470e-03, 6.88637182e-02, 2.69569085e-02,
 -1.08772516e-03, 1.76271604e-04,-9.81021895e+00,-1.16643926e-02,
 -2.39317063e-02, 1.06649675e-04]


--- Step 1038 ---
qpos:
[-0.01355346, 0.01352687, 0.01003612, 0.01472648,-0.01905966,-0.00909417,
 -0.01744146, 0.01635657,-0.01212112,-0.00669275,-0.01436524, 0.01513557,
  1.40360721, 0.02751393, 0.31698142,-0.02682819, 0.09418067,-0.07333426,
  0.10446763, 0.99638915, 0.00167019,-0.00145986,-0.08487481]

qacc:
[ 2.08286027e+00, 1.08252690e+00,-5.54769466e+00, 1.25001699e+01,
  8.05524201e-01, 8.33004902e-01,-2.67241429e+00, 1.58621392e+00,
 -3.97863554e+00,-1.18599102e+00, 5.85087783e+00,-1.39427376e+01,
  2.52210655e+00,-4.13366781e+01,-7.78930489e+01, 4.46733419e+02,
  1.17980806e+00, 2.39577997e+00, 1.06910993e-01,-7.83467927e+01,
 -2.63301799e+01,-3.35006799e+01]

qfrc_actuator:
[ 5.74879550e-04,-5.67816134e-04,-1.74308370e-04,-2.02511885e-05,
 -6.08314740e-04,-7.65629487e-04,-1.96099475e-04,-1.72729149e-05,
 -4.94805977e-04,-5.30300639e-04,-1.91267351e-04,-5.49040364e-05,
  2.10000000e-01,-9.23508518e-04, 9.00000000e-02, 3.09135424e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2155597 , -0.21497826,  0.01582195, -0.21497826,  0.22250712,
        0.09439703,  0.01582195,  0.09439703,  1.49816444,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041605394032269395
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.89383852,  0.17949514, -0.41089439,  0.16308841,  0.98375886,
        0.07497116,  0.41767795,  0.        , -0.90859514])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10006823, -0.09110154,  0.15053016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([12.14646593,  6.61059361, 10.19002879,  6.61059361, 23.90376359,
       -7.62733045, 10.19002879, -7.62733045, 17.09455616,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005569143613446403
  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([ 0.08093864, -0.08996671,  0.06197633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23853032e-05,-2.86858684e-06,-6.11680862e-06, 1.95688603e-05,
  4.83814601e-06,-2.23761371e-05,-2.88901147e-05,-7.28955124e-06,
 -2.34883589e-05,-3.15088352e-05,-9.95175857e-06,-2.61109628e-05,
  2.66592735e-01, 6.80452380e-03, 6.53935016e-02, 2.36980675e-02,
 -1.57753955e-03, 3.53393752e-04,-9.80994722e+00,-1.16419127e-02,
 -2.40205727e-02, 1.19339342e-04]


--- Step 1039 ---
qpos:
[-1.35524041e-02, 1.35263003e-02, 1.00364745e-02, 1.47266298e-02,
 -1.90592224e-02,-9.09523742e-03,-1.74407918e-02, 1.63573657e-02,
 -1.21208238e-02,-6.69340625e-03,-1.43656879e-02, 1.51351893e-02,
  1.40354299e+00, 2.74724472e-02, 3.17653499e-01,-2.65512300e-02,
  9.41591654e-02,-7.33147865e-02, 1.04462869e-01, 9.96316018e-01,
  1.29246769e-03,-1.91805020e-03,-8.57265544e-02]

qacc:
[-1.75466641e+00,-1.04607330e+00, 4.18443751e+00,-6.87809797e+00,
  4.54585906e-01, 6.60127508e-01,-3.35898758e+00, 7.67446541e+00,
  6.47442525e-01, 4.01438885e-01,-1.67865001e+00, 2.68174381e+00,
  3.18870023e+00,-3.68246471e+01,-5.73014217e+01, 4.16338720e+02,
  1.06661459e+00, 1.96822911e+00, 4.33241732e-02,-6.90896880e+01,
 -2.70498124e+01,-4.67288707e+01]

qfrc_actuator:
[ 5.64034629e-04,-5.67365201e-04,-1.60261476e-04,-2.67919403e-05,
 -6.05772026e-04,-7.44390770e-04,-1.89300713e-04,-2.60070833e-06,
 -4.90315141e-04,-5.16630472e-04,-1.91334478e-04,-5.10206592e-05,
  2.10000000e-01,-8.86695690e-04, 9.00000000e-02, 3.06453408e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.18996875, -0.18961179,  0.01164029, -0.18961179,  0.19329533,
        0.05418758,  0.01164029,  0.05418758,  1.07264509,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002684118393290772
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.94670812e-01,  1.80900405e-01, -4.08459524e-01,  1.64561340e-01,
        9.83501420e-01,  7.51300320e-02,  4.15311575e-01,  1.38777878e-17,
       -9.09679227e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09999985, -0.09106913,  0.1505639 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 12.25333482,   6.82602783,  10.17593034,   6.82602783,
        27.82695819, -10.44680761,  10.17593034, -10.44680761,
        19.26106749,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005633408029071529
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.07934995e-15, -2.46347996e-14,  1.00000000e+00,  7.58591692e-29,
        1.00000000e+00,  2.46347996e-14, -1.00000000e+00,  0.00000000e+00,
        3.07934995e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08092251, -0.08995521,  0.06197606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04728688e-05,-1.62093819e-06, 1.33624639e-05,-6.49784345e-06,
  2.70535200e-06, 2.43398275e-06,-1.63891245e-06, 1.25706744e-05,
  3.83586613e-06,-7.13779440e-06,-8.70545563e-06, 1.68137232e-06,
  2.67015735e-01, 7.18956448e-03, 6.13074522e-02, 2.01561111e-02,
 -2.21086170e-03, 6.69139720e-04,-9.80956562e+00,-1.16151259e-02,
 -2.41141759e-02, 1.26747532e-04]


--- Step 1040 ---
qpos:
[-1.35514839e-02, 1.35254290e-02, 1.00371556e-02, 1.47260308e-02,
 -1.90587560e-02,-9.09619969e-03,-1.74401063e-02, 1.63583150e-02,
 -1.21204799e-02,-6.69411146e-03,-1.43664216e-02, 1.51348749e-02,
  1.40349950e+00, 2.74351741e-02, 3.18400451e-01,-2.62908253e-02,
  9.41385000e-02,-7.33026692e-02, 1.04462099e-01, 9.96238395e-01,
  9.69250564e-04,-2.26771930e-03,-8.66197325e-02]

qacc:
[-1.17804001e+00,-2.84217440e+00, 1.27107838e+01,-2.59179804e+01,
  2.38451702e-01, 4.14385893e-01,-1.92820898e+00, 4.48776670e+00,
  4.45408649e-01, 8.74541155e-01,-3.48627834e+00, 5.09067334e+00,
  3.46143688e+00, 2.05581699e+01, 1.61077897e+02,-4.02364160e+02,
  2.09549198e-01,-1.84006940e+00, 9.98773803e-01, 2.24659058e+01,
  5.63647606e+01,-2.09535635e+01]

qfrc_actuator:
[ 5.57226594e-04,-6.02332759e-04,-1.52122381e-04,-6.61989880e-05,
 -6.04453445e-04,-7.31231746e-04,-1.85461810e-04, 5.73695660e-06,
 -4.87782142e-04,-5.25902293e-04,-2.08875536e-04,-4.85665035e-05,
  2.10000000e-01,-8.44528617e-04, 9.00000000e-02, 3.03682491e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.18623358, -0.18313199,  0.03384698, -0.18313199,  0.19546967,
        0.04997268,  0.03384698,  0.04997268,  0.45661504,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023492959388374832
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.93873036e-01,  1.81443480e-01, -4.09962509e-01,  1.64924962e-01,
        9.83401375e-01,  7.56405535e-02,  4.16882180e-01, -1.38777878e-17,
       -9.08960532e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09994946, -0.091023  ,  0.15054829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([12.63147447,  0.94174962, 12.59631911,  0.94174962, 24.3521911 ,
       -0.87628618, 12.59631911, -0.87628618, 12.69698902,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005860153722731243
  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([ 0.08219077, -0.06229932,  0.0619751 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.09470167e-06,-3.34355668e-05, 9.21311565e-06,-3.91425382e-05,
  1.42591149e-06, 1.47052504e-05, 4.56950265e-06, 8.62880783e-06,
  2.67035817e-06,-1.49960412e-05,-2.00319553e-05, 1.87924093e-06,
  2.67230091e-01, 7.53695441e-03, 5.62537942e-02, 1.64719483e-02,
 -3.01376484e-03, 1.10318239e-03,-9.80908837e+00,-1.15825232e-02,
 -2.42191608e-02, 1.29686090e-04]


--- Step 1041 ---
qpos:
[-1.35503073e-02, 1.35244613e-02, 1.00375702e-02, 1.47253252e-02,
 -1.90586217e-02,-9.09694605e-03,-1.74396931e-02, 1.63590166e-02,
 -1.21207974e-02,-6.69490843e-03,-1.43673553e-02, 1.51345915e-02,
  1.40347267e+00, 2.74016881e-02, 3.19194256e-01,-2.60499199e-02,
  9.41196841e-02,-7.32964978e-02, 1.04464419e-01, 9.96157394e-01,
  6.90614295e-04,-2.51842351e-03,-8.75421391e-02]

qacc:
[ 2.21569724e+00, 3.93898572e-01,-1.14696447e+00,-1.91856217e-01,
 -2.89658928e+00, 5.42373268e-01,-4.64697382e-01,-3.55450058e+00,
 -5.77697263e+00, 5.12492761e-01,-2.11484215e+00, 3.01789999e+00,
  2.53016994e+00, 1.88228687e+01, 1.28549834e+02,-3.48722893e+02,
  4.62378199e-01,-1.48649416e+00, 7.72755878e-01, 1.78889235e+01,
  5.12091201e+01,-1.48040516e+01]

qfrc_actuator:
[ 5.70608876e-04,-6.05032601e-04,-1.65460071e-04,-7.14037539e-05,
 -6.21618056e-04,-7.23013438e-04,-2.01193365e-04,-7.48484581e-06,
 -5.21936338e-04,-5.31152654e-04,-2.18932286e-04,-4.70063813e-05,
  2.10000000e-01,-8.06843841e-04, 9.00000000e-02, 3.01255158e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.18458023,  0.17915646, -0.0444165 ,  0.17915646,  0.26111223,
        0.3086961 , -0.0444165 ,  0.3086961 ,  1.42972328,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021802527325601428
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.89399229,  0.18283563, -0.40908302,  0.16625614,  0.9831435 ,
        0.07607735,  0.41609696,  0.        , -0.90932025])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09988153, -0.09098537,  0.15056383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 12.90334421,   1.28815987, -12.83888375,   1.28815987,
        27.75641203,   1.4902484 , -12.83888375,   1.4902484 ,
        13.05286486,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006022960202842417
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15207368e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.15207368e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08222041, -0.06229878,  0.06197442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31921498e-05,-2.12095379e-05,-2.04748391e-05,-7.08248221e-06,
 -1.70941824e-05, 1.77385925e-05,-1.18381807e-05,-1.22666938e-05,
 -3.40474106e-05,-1.77018528e-05,-1.55594054e-05, 2.60360174e-07,
  2.66188469e-01, 7.38029338e-03, 5.25127221e-02, 1.70575677e-02,
 -2.82023900e-03, 1.16039465e-03,-9.80931298e+00,-1.16366994e-02,
 -2.42184689e-02, 1.19271916e-04]


--- Step 1042 ---
qpos:
[-1.35496687e-02, 1.35237610e-02, 1.00373120e-02, 1.47252343e-02,
 -1.90586940e-02,-9.09744936e-03,-1.74392083e-02, 1.63591817e-02,
 -1.21222109e-02,-6.69564778e-03,-1.43679542e-02, 1.51346174e-02,
  1.40345947e+00, 2.73718136e-02, 3.20011790e-01,-2.58307421e-02,
  9.41034355e-02,-7.32951648e-02, 1.04469031e-01, 9.96073770e-01,
  4.48479719e-04,-2.67833142e-03,-8.84854212e-02]

qacc:
[-4.68940182e+00, 3.50992774e+00,-1.45814350e+01, 2.60837240e+01,
 -1.79484635e+00,-9.79899296e-01, 6.23238259e+00,-1.58211766e+01,
 -9.55715493e+00,-2.03871070e-01,-4.36280751e-01, 5.17742636e+00,
  1.74555552e+00, 1.83412126e+01, 1.01091583e+02,-3.02289278e+02,
  6.41817666e-01,-1.20960321e+00, 5.72797037e-01, 1.41810865e+01,
  4.68109155e+01,-1.05898078e+01]

qfrc_actuator:
[ 5.42508537e-04,-5.70702305e-04,-1.91221238e-04,-3.86751887e-05,
 -6.31771204e-04,-7.00160833e-04,-1.92881480e-04,-3.33026737e-05,
 -5.77410339e-04,-4.98423757e-04,-1.88967634e-04,-2.82229215e-05,
  2.10000000e-01,-7.73110815e-04, 9.00000000e-02, 2.98242026e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.18436339,  0.17910968, -0.04369879,  0.17910968,  0.25380265,
        0.28461302, -0.04369879,  0.28461302,  1.35091631,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021568863040481948
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.94010532e-01,  1.84113554e-01, -4.08469544e-01,  1.67462226e-01,
        9.82904980e-01,  7.65127666e-02,  4.15573786e-01, -1.38777878e-17,
       -9.09559469e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09981543, -0.09094917,  0.15057568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.06513767,   1.18208575, -13.01155239,   1.18208575,
        32.96523318,   1.8079026 , -13.01155239,   1.8079026 ,
        13.22938371,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006119946024252879
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83454048e-15,  2.26763239e-14,  1.00000000e+00, -6.42769580e-29,
        1.00000000e+00, -2.26763239e-14, -1.00000000e+00,  0.00000000e+00,
        2.83454048e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08224309, -0.06229774,  0.06197401])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76944600e-05, 1.78960019e-05,-3.29242880e-05, 3.09699427e-05,
 -1.06174661e-05, 2.97902638e-05, 1.00921816e-05,-2.57056683e-05,
 -5.64143763e-05, 1.96303987e-05, 2.44075063e-05, 1.74940638e-05,
  2.65350132e-01, 7.24155247e-03, 5.01727092e-02, 1.77320007e-02,
 -2.67045779e-03, 1.25551095e-03,-9.80944855e+00,-1.16911993e-02,
 -2.42145542e-02, 1.09520140e-04]


--- Step 1043 ---
qpos:
[-1.35497163e-02, 1.35234818e-02, 1.00366130e-02, 1.47254996e-02,
 -1.90585423e-02,-9.09779344e-03,-1.74388840e-02, 1.63590628e-02,
 -1.21239332e-02,-6.69633738e-03,-1.43681898e-02, 1.51348663e-02,
  1.40346084e+00, 2.73469545e-02, 3.20831717e-01,-2.56407307e-02,
  9.40899764e-02,-7.32986555e-02, 1.04474873e-01, 9.95989280e-01,
  2.51559205e-04,-2.75003531e-03,-8.94300237e-02]

qacc:
[-5.96862899e+00, 2.53441090e+00,-9.71201248e+00, 1.62484235e+01,
  1.93596802e+00, 7.08264344e-02, 1.24497620e+00,-6.01204139e+00,
 -2.68389371e+00,-4.85401406e-01, 8.93752404e-01, 2.33821865e+00,
  1.05982817e+00, 2.65672914e+01, 9.21596270e+01,-3.16587968e+02,
  6.97371651e-01,-1.20589502e+00, 3.07496351e-01, 1.86143158e+01,
  4.59277978e+01,-7.76245351e-01]

qfrc_actuator:
[ 5.07963114e-04,-5.32231846e-04,-2.06171003e-04,-1.93705775e-05,
 -6.19957697e-04,-7.04146406e-04,-2.05883933e-04,-4.85374020e-05,
 -5.91719054e-04,-4.96277892e-04,-1.70950137e-04,-1.71487896e-05,
  2.10000000e-01,-7.96346073e-04, 9.00000000e-02, 2.95865328e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1876526 ,  0.18150122, -0.04765299,  0.18150122,  0.2707873 ,
        0.31664428, -0.04765299,  0.31664428,  1.3936906 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002483266514934039
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.92385669e-01,  1.85639475e-01, -4.11322018e-01,  1.68592495e-01,
        9.82617924e-01,  7.77083357e-02,  4.18598123e-01, -1.38777878e-17,
       -9.08171576e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09977065, -0.09091044,  0.15054569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.13241151,  13.07179951,  -1.26027364,  13.07179951,
        14.24665683,  11.55716593,  -1.26027364,  11.55716593,
       133.00554992,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006160320767507331
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.40485259e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.40485259e-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([ 0.08258349, -0.06018888,  0.06197385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.53092733e-05, 4.29688530e-05,-1.42439730e-05, 1.95345140e-05,
  1.15310871e-05, 1.36549990e-05,-6.49423754e-06,-1.41085933e-05,
 -1.58857142e-05, 1.89488391e-05, 2.57043474e-05, 1.31061601e-05,
  2.64663140e-01, 7.05497647e-03, 4.89890773e-02, 1.85814908e-02,
 -2.56026860e-03, 1.37152803e-03,-9.80951634e+00,-1.17441828e-02,
 -2.42086883e-02, 9.98935016e-05]


--- Step 1044 ---
qpos:
[-1.35494878e-02, 1.35233749e-02, 1.00361056e-02, 1.47256364e-02,
 -1.90582501e-02,-9.09808974e-03,-1.74386902e-02, 1.63591203e-02,
 -1.21251236e-02,-6.69703366e-03,-1.43684237e-02, 1.51352787e-02,
  1.40347568e+00, 2.73281321e-02, 3.21616942e-01,-2.54840286e-02,
  9.40790584e-02,-7.33076142e-02, 1.04480762e-01, 9.95905227e-01,
  1.14574036e-04,-2.73782874e-03,-9.03618791e-02]

qacc:
[ 2.39629366e+00,-5.77480128e-01, 2.92309257e+00,-5.56988870e+00,
  1.21608593e+00, 7.88199093e-01,-3.46765528e+00, 6.69789667e+00,
  4.64153734e+00, 3.14571512e-01,-1.84101128e+00, 4.69231192e+00,
  2.46929099e-01, 3.18943573e+01, 4.98889994e+01,-2.48181273e+02,
  6.35280154e-01,-1.36702378e+00, 1.16301019e-02, 2.61129000e+01,
  4.44691850e+01, 6.27459628e+00]

qfrc_actuator:
[ 5.23171827e-04,-5.27043246e-04,-1.96844098e-04,-2.58601973e-05,
 -6.13064570e-04,-7.06495649e-04,-2.13718819e-04,-3.97077396e-05,
 -5.63924894e-04,-5.12497009e-04,-1.78016100e-04,-1.07376482e-05,
  2.10000000e-01,-7.67847519e-04, 9.00000000e-02, 2.94386841e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.19049565,  0.18541171,  0.04371603,  0.18541171,  0.20895575,
       -0.07829438,  0.04371603, -0.07829438,  0.52256369,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002727159701413908
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.89222472,  0.18676267, -0.41116269,  0.1696187 ,  0.98240506,
        0.07816515,  0.41852664,  0.        , -0.90820452])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09971189, -0.09087753,  0.15055104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.15632346,   8.99915373,   9.59708701,   8.99915373,
        64.42808465, -48.07734476,   9.59708701, -48.07734476,
        58.23827551,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006174680429413756
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.24753134e-14,  5.61882836e-15,  1.00000000e+00, -1.26284929e-28,
        1.00000000e+00, -5.61882836e-15, -1.00000000e+00,  0.00000000e+00,
        2.24753134e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08303538, -0.05738381,  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:
[ 1.42228736e-05, 2.70998169e-05, 1.71254570e-05,-4.75952923e-06,
  7.23971598e-06, 3.33911555e-06,-6.30486734e-06, 8.91467808e-06,
  2.73713903e-05, 3.07316921e-07, 4.89522593e-07, 8.37231970e-06,
  2.63929245e-01, 6.84984318e-03, 4.88721565e-02, 1.98927075e-02,
 -2.38768141e-03, 1.44880353e-03,-9.80957909e+00,-1.17978535e-02,
 -2.41905356e-02, 9.03069274e-05]


--- Step 1045 ---
qpos:
[-1.35490787e-02, 1.35231071e-02, 1.00359016e-02, 1.47253846e-02,
 -1.90578774e-02,-9.09820907e-03,-1.74381011e-02, 1.63592295e-02,
 -1.21256264e-02,-6.69776488e-03,-1.43686648e-02, 1.51350791e-02,
  1.40349900e+00, 2.73145240e-02, 3.22338940e-01,-2.53581796e-02,
  9.40706131e-02,-7.33217336e-02, 1.04486250e-01, 9.95820905e-01,
  3.27347107e-05,-2.65102475e-03,-9.12890758e-02]

qacc:
[ 1.57812918e+00,-1.86446123e+00, 7.97517953e+00,-1.50636635e+01,
  7.07795841e-01,-7.65348421e-01, 2.84776068e+00,-2.71257679e+00,
  6.00238715e+00,-1.29809744e+00, 7.12589089e+00,-1.76615201e+01,
 -5.64542686e-01, 2.74066297e+01, 2.04114846e-01,-1.35698845e+02,
  6.18181932e-01,-1.29017488e+00,-1.00166887e-01, 2.40960315e+01,
  3.96374261e+01, 2.22787918e+00]

qfrc_actuator:
[ 5.32040014e-04,-5.59495833e-04,-1.91160008e-04,-4.74842992e-05,
 -6.09129955e-04,-6.72310090e-04,-1.82913690e-04,-3.45387332e-05,
 -5.29338623e-04,-5.21945959e-04,-1.82163011e-04,-4.26593855e-05,
  2.10000000e-01,-6.75830951e-04, 9.00000000e-02, 2.93250323e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.19445354,  0.19022179,  0.04034661,  0.19022179,  0.20029913,
       -0.02756014,  0.04034661, -0.02756014,  0.32439107,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003024937916163527
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.89210982,  0.18778624, -0.41094574,  0.17056022,  0.98220992,
        0.07856768,  0.41838891,  0.        , -0.90826798])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0996579 , -0.0908475 ,  0.15055606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.12042068,  -0.72602735, -13.10031767,  -0.72602735,
        40.12395711,  -1.49655196, -13.10031767,  -1.49655196,
        13.20336047,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006153121828449404
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12770299e-14,  5.63851497e-15,  1.00000000e+00, -6.35857021e-29,
        1.00000000e+00, -5.63851497e-15, -1.00000000e+00,  0.00000000e+00,
        1.12770299e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08305177, -0.05738271,  0.06197388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.29680731e-06,-1.39686430e-05, 1.32228242e-05,-1.99640377e-05,
  4.15247366e-06, 3.51244119e-05, 3.10229327e-05, 5.26645873e-06,
  3.53970830e-05,-8.76219601e-06,-3.71973581e-06,-3.17270698e-05,
  2.63250619e-01, 6.65628471e-03, 5.06098559e-02, 2.14452101e-02,
 -2.17127012e-03, 1.49559135e-03,-9.80965303e+00,-1.18481774e-02,
 -2.41585529e-02, 8.17873474e-05]


--- Step 1046 ---
qpos:
[-1.35489107e-02, 1.35225343e-02, 1.00361338e-02, 1.47252310e-02,
 -1.90574605e-02,-9.09802714e-03,-1.74371835e-02, 1.63590421e-02,
 -1.21260546e-02,-6.69872077e-03,-1.43688685e-02, 1.51345205e-02,
  1.40352968e+00, 2.73062958e-02, 3.22990319e-01,-2.52633808e-02,
  9.40645493e-02,-7.33407352e-02, 1.04490957e-01, 9.95735686e-01,
  1.77695904e-06,-2.49732590e-03,-9.22182578e-02]

qacc:
[  -2.07213659,  -1.4161841 ,   4.05661067,  -2.83693781,   0.38860501,
   -1.13061936,   5.86016819, -11.73838196,   0.65580896,  -1.14142821,
    5.15307079, -11.25995982,  -1.11464545,  29.0089929 , -10.1059274 ,
 -115.42444758,   0.59537276,  -1.22053598,  -0.19506566,  22.27846956,
   35.62889429,  -1.09796287]

qfrc_actuator:
[ 5.19336232e-04,-5.78763861e-04,-1.70097390e-04,-4.23721879e-05,
 -6.06966527e-04,-6.51857196e-04,-1.64903415e-04,-4.92646624e-05,
 -5.26550993e-04,-5.45054512e-04,-1.84550518e-04,-6.13653429e-05,
  2.10000000e-01,-6.71564240e-04, 9.00000000e-02, 2.92427661e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.19941397,  0.19605167,  0.0364647 ,  0.19605167,  0.2028034 ,
       -0.01822323,  0.0364647 , -0.01822323,  0.29739078,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033480564671723096
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.89206034,  0.18876272, -0.41060564,  0.17147031,  0.98202273,
        0.07892591,  0.41812234,  0.        , -0.90839073])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09960966, -0.09082011,  0.15056177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.03239115,  -0.97505236, -12.99586442,  -0.97505236,
        48.65311696,  -2.67254809, -12.99586442,  -2.67254809,
        13.23290681,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006100304729143163
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.13746677e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.13746677e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08306402, -0.05738073,  0.06197411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24276278e-05,-2.52162069e-05, 1.91092912e-05, 4.58107382e-06,
  2.29094444e-06, 4.67158271e-05, 2.92646010e-05,-1.20457462e-05,
  3.82969124e-06,-3.01031402e-05,-5.74800217e-06,-1.98277483e-05,
  2.62821614e-01, 6.41468470e-03, 5.37735946e-02, 2.29062115e-02,
 -2.04383393e-03, 1.58705024e-03,-9.80968421e+00,-1.18910377e-02,
 -2.41270934e-02, 7.46340351e-05]


--- Step 1047 ---
qpos:
[-1.35485512e-02, 1.35218013e-02, 1.00368451e-02, 1.47254632e-02,
 -1.90570212e-02,-9.09746214e-03,-1.74363366e-02, 1.63583518e-02,
 -1.21264450e-02,-6.69995824e-03,-1.43691248e-02, 1.51347918e-02,
  1.40356732e+00, 2.73037917e-02, 3.23568525e-01,-2.52002610e-02,
  9.40607552e-02,-7.33643533e-02, 1.04494571e-01, 9.95649008e-01,
  1.77433618e-05,-2.28320409e-03,-9.31549238e-02]

qacc:
[   1.6783017 ,  -0.75982715,   0.7670616 ,   5.26931199,   0.18545853,
   -0.33187277,   4.04164551, -12.91717344,   0.33439596,   1.48256491,
   -9.33221534,  23.99115335,  -1.62637436,  31.78283738, -11.93895017,
 -114.38964309,   0.56742012,  -1.15413658,  -0.27349564,  20.56663614,
   32.24446353,  -3.85202584]

qfrc_actuator:
[ 5.29544122e-04,-5.72159869e-04,-1.40061715e-04,-2.15497729e-05,
 -6.05861733e-04,-6.39838990e-04,-1.72414058e-04,-7.56000119e-05,
 -5.24751887e-04,-5.58402480e-04,-1.85923898e-04,-1.88921277e-05,
  2.10000000e-01,-6.51188174e-04, 9.00000000e-02, 2.91563643e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20542047,  0.20276458,  0.0329256 ,  0.20276458,  0.20764542,
       -0.01370183,  0.0329256 , -0.01370183,  0.28979997,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036852892147851065
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.89208571,  0.18971723, -0.4101103 ,  0.17237456,  0.98183877,
        0.07924416,  0.41769617,  0.        , -0.90858676])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09956721, -0.09079515,  0.15056848])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 12.90382719,  -1.27285241, -12.84089572,  -1.27285241,
        59.35623431,  -4.60458987, -12.84089572,  -4.60458987,
        13.36025666,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006023249537503855
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15201834e-14, -5.76009168e-15,  1.00000000e+00,  6.63573122e-29,
        1.00000000e+00,  5.76009168e-15, -1.00000000e+00,  0.00000000e+00,
        1.15201834e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08307304, -0.05737806,  0.06197443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.85809337e-06,-3.36548817e-06, 2.73371482e-05, 2.04922446e-05,
  1.16940784e-06, 4.36557207e-05, 5.32180117e-06,-2.35562459e-05,
  1.93760630e-06,-3.21984401e-05,-8.97941808e-06, 4.05995686e-05,
  2.62449224e-01, 6.17937642e-03, 5.73066737e-02, 2.43728569e-02,
 -1.98276734e-03, 1.71559322e-03,-9.80968332e+00,-1.19283713e-02,
 -2.40954223e-02, 6.86233108e-05]


--- Step 1048 ---
qpos:
[-1.35477272e-02, 1.35211383e-02, 1.00375762e-02, 1.47255997e-02,
 -1.90565725e-02,-9.09679850e-03,-1.74354772e-02, 1.63577279e-02,
 -1.21264651e-02,-6.70111386e-03,-1.43695749e-02, 1.51358778e-02,
  1.40361114e+00, 2.73071963e-02, 3.24070318e-01,-2.51689450e-02,
  9.40590971e-02,-7.33923228e-02, 1.04496841e-01, 9.95560360e-01,
  7.68021593e-05,-2.01422302e-03,-9.41037057e-02]

qacc:
[ 4.02611867e+00,-1.67950925e-01, 1.12404433e+00,-2.85050236e+00,
  8.13910475e-02, 2.32323016e-01,-9.20443866e-01, 1.97983303e+00,
  3.22382610e+00, 2.32021028e+00,-1.15669934e+01, 2.59291003e+01,
 -2.13936208e+00, 3.36396900e+01,-1.63185582e+01,-1.05936385e+02,
  5.33987681e-01,-1.08784883e+00,-3.35748703e-01, 1.88834347e+01,
  2.93150604e+01,-6.17301071e+00]

qfrc_actuator:
[ 5.53162762e-04,-5.67808110e-04,-1.40364935e-04,-2.71333528e-05,
 -6.05388001e-04,-6.50836537e-04,-1.77216777e-04,-7.30706064e-05,
 -5.05786404e-04,-5.30242065e-04,-1.86613883e-04, 2.37378936e-05,
  2.10000000e-01,-6.05890187e-04, 9.00000000e-02, 2.91337879e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21254953,  0.21044826,  0.02981327,  0.21044826,  0.2139282 ,
       -0.00973191,  0.02981327, -0.00973191,  0.28124587,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040295295322440234
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.92192708e-01,  1.90666065e-01, -4.09436959e-01,  1.73289883e-01,
        9.81654956e-01,  7.95246164e-02,  4.17088466e-01,  1.38777878e-17,
       -9.08865893e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09953038, -0.09077243,  0.15057639])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 12.74458379,  -1.62856809, -12.64010214,  -1.62856809,
        72.64907724,  -7.71817705, -12.64010214,  -7.71817705,
        13.7390043 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005927882358495035
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.34110378e-14,  5.85275945e-15,  1.00000000e+00, -1.37019173e-28,
        1.00000000e+00, -5.85275945e-15, -1.00000000e+00,  0.00000000e+00,
        2.34110378e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08307952, -0.05737486,  0.06197483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.39174940e-05, 8.98376017e-06, 3.07314409e-06,-4.38423831e-06,
  4.94465798e-07, 1.34888580e-05, 4.04971768e-06, 4.12482545e-06,
  1.90556270e-05, 1.00589750e-05,-7.03603417e-06, 4.17306963e-05,
  2.62096946e-01, 5.95018395e-03, 6.09672999e-02, 2.59346977e-02,
 -1.97221796e-03, 1.87519176e-03,-9.80965796e+00,-1.19615343e-02,
 -2.40631272e-02, 6.35694974e-05]


--- Step 1049 ---
qpos:
[-1.35473159e-02, 1.35207314e-02, 1.00382542e-02, 1.47249587e-02,
 -1.90568114e-02,-9.09643631e-03,-1.74344764e-02, 1.63571825e-02,
 -1.21266017e-02,-6.70225318e-03,-1.43700211e-02, 1.51374604e-02,
  1.40365766e+00, 2.73155059e-02, 3.24484834e-01,-2.51743084e-02,
  9.40594059e-02,-7.34243316e-02, 1.04497598e-01, 9.95469276e-01,
  1.74710628e-04,-1.69551736e-03,-9.50684773e-02]

qacc:
[-3.58378897e+00,-1.10734744e+00, 7.73386056e+00,-2.13067792e+01,
 -5.96231139e+00,-6.20712621e-01, 1.32435971e+00, 6.18228461e-03,
 -1.01649403e+00, 1.03477118e+00,-5.75188736e+00, 1.43254958e+01,
 -2.63074140e+00, 2.89807545e+01,-1.76637218e+01,-1.24644635e+02,
  4.91731376e-01,-1.00982162e+00,-3.78447223e-01, 1.69829546e+01,
  2.65768121e+01,-8.11499633e+00]

qfrc_actuator:
[ 5.31220390e-04,-5.47221296e-04,-1.40851213e-04,-6.59858710e-05,
 -6.40794252e-04,-6.93264978e-04,-1.80449611e-04,-7.13433395e-05,
 -5.12373777e-04,-5.30685309e-04,-1.86731551e-04, 4.83927316e-05,
  2.10000000e-01,-6.01371005e-04, 9.00000000e-02, 2.91267980e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25979933,  0.25789586,  0.03139139,  0.25789586,  0.26053112,
       -0.00601201,  0.03139139, -0.00601201,  0.30919096,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000557405139307418
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.90889706e-01,  1.92266132e-01, -4.11520676e-01,  1.74544424e-01,
        9.81342822e-01,  8.06257373e-02,  4.19344460e-01,  1.38777878e-17,
       -9.07827199e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09951712, -0.09074422,  0.1505507 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 12.56308376,  -2.05081713, -12.39456424,  -2.05081713,
        88.86855212, -12.62557995, -12.39456424, -12.62557995,
        14.65212499,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005819192539611232
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.96207623e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.96207623e-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([ 0.08308403, -0.05737127,  0.06197529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.12343188e-05, 2.60347409e-05, 1.58578764e-06,-3.84493182e-05,
 -3.54204551e-05,-3.38883955e-05, 1.89656591e-07, 2.52468560e-06,
 -5.99481662e-06, 5.52793333e-06, 2.53832250e-06, 2.56539257e-05,
  2.61785147e-01, 5.66934598e-03, 6.47895852e-02, 2.75182943e-02,
 -2.00108489e-03, 2.06088968e-03,-9.80961369e+00,-1.19914763e-02,
 -2.40300385e-02, 5.93049335e-05]


--- Step 1050 ---
qpos:
[-1.35471703e-02, 1.35205386e-02, 1.00388945e-02, 1.47242066e-02,
 -1.90574735e-02,-9.09619542e-03,-1.74338406e-02, 1.63566747e-02,
 -1.21268150e-02,-6.70359643e-03,-1.43706070e-02, 1.51390197e-02,
  1.40370522e+00, 2.73283289e-02, 3.24807733e-01,-2.52168428e-02,
  9.40615101e-02,-7.34600700e-02, 1.04496720e-01, 9.95375346e-01,
  3.07388185e-04,-1.33160177e-03,-9.60523487e-02]

qacc:
[-2.30920224e+00, 1.63803228e-01, 3.03110869e-01,-2.33116155e+00,
 -3.68308645e+00, 9.44408068e-01,-3.74715213e+00, 5.06008378e+00,
 -6.69952008e-01, 7.44205094e-02,-5.55738900e-01, 5.23339401e-01,
 -2.93874851e+00, 2.73136138e+01,-2.26026447e+01,-1.16701786e+02,
  4.48856780e-01,-9.32397422e-01,-4.08647415e-01, 1.51408205e+01,
  2.41511880e+01,-9.67533849e+00]

qfrc_actuator:
[ 5.18138019e-04,-5.34860093e-04,-1.41382268e-04,-7.08218785e-05,
 -6.61529744e-04,-7.00933407e-04,-2.00627227e-04,-7.01358331e-05,
 -5.16201661e-04,-5.66010573e-04,-2.04378663e-04, 4.45020152e-05,
  2.10000000e-01,-6.58184290e-04, 9.00000000e-02, 2.91467571e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.28481166,  0.28336017,  0.02871758,  0.28336017,  0.28508775,
       -0.00272416,  0.02871758, -0.00272416,  0.31169135,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006276024843599225
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88903433,  0.19477783, -0.41434232,  0.17654548,  0.98084739,
        0.08228058,  0.42243301,  0.        , -0.90639415])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09951745, -0.09070754,  0.15051562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 12.3665604 ,  -2.54355071, -12.10215542,  -2.54355071,
       108.20921546, -20.14357314, -12.10215542, -20.14357314,
        16.60020291,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005701388050919284
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21705343e-14, -6.08526717e-15,  1.00000000e+00, -7.40609530e-29,
        1.00000000e+00,  6.08526717e-15, -1.00000000e+00,  0.00000000e+00,
       -1.21705343e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08308702, -0.0573674 ,  0.06197579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.36759059e-05, 2.55769562e-05, 3.70798130e-06,-4.41386009e-06,
 -2.17909675e-05,-2.64750222e-05,-2.70623919e-05,-1.86976896e-07,
 -3.95589974e-06,-3.06037988e-05,-1.53017314e-05,-3.06616626e-06,
  2.61647512e-01, 5.37546586e-03, 6.91549107e-02, 2.93725351e-02,
 -2.06139940e-03, 2.26710909e-03,-9.80955470e+00,-1.20187279e-02,
 -2.39964070e-02, 5.56445558e-05]


--- Step 1051 ---
qpos:
[-1.35461483e-02, 1.35203930e-02, 1.00392575e-02, 1.47244766e-02,
 -1.90580350e-02,-9.09601960e-03,-1.74332422e-02, 1.63565007e-02,
 -1.21270718e-02,-6.70489138e-03,-1.43714808e-02, 1.51401533e-02,
  1.40375380e+00, 2.73458466e-02, 3.25041582e-01,-2.52942245e-02,
  9.40652378e-02,-7.34992692e-02, 1.04494118e-01, 9.95278177e-01,
  4.71267098e-04,-9.26352260e-04,-9.70580765e-02]

qacc:
[ 7.58957276e+00, 2.92859229e+00,-1.46920150e+01, 3.28186145e+01,
  8.74228030e-01, 7.03477333e-01,-4.04526899e+00, 9.93201576e+00,
 -3.89295572e-01,-7.56311919e-03, 1.91814483e+00,-8.86221174e+00,
 -3.14154948e+00, 2.86993639e+01,-2.58278280e+01,-9.98664721e+01,
  4.05881490e-01,-8.65218338e-01,-4.31082700e-01, 1.35293693e+01,
  2.20643591e+01,-1.10603684e+01]

qfrc_actuator:
[ 5.63647764e-04,-5.45247289e-04,-1.59687118e-04,-2.00981277e-05,
 -6.55699705e-04,-6.87805410e-04,-1.95016429e-04,-5.14782497e-05,
 -5.18367086e-04,-5.51040808e-04,-2.14648669e-04, 2.38052368e-05,
  2.10000000e-01,-7.71119992e-04, 9.00000000e-02, 2.91802962e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.28498907,  0.28407695,  0.02278277,  0.28407695,  0.28508635,
       -0.00121302,  0.02278277, -0.00121302,  0.30011414,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006281025468338057
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.87373960e-01,  1.96140984e-01, -4.17248331e-01,  1.77498178e-01,
        9.80575706e-01,  8.34606626e-02,  4.25513633e-01, -1.38777878e-17,
       -9.04952014e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09952232, -0.09068682,  0.15047887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005577964112101833
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24398325e-14,  6.21991623e-15,  1.00000000e+00, -7.73747159e-29,
        1.00000000e+00, -6.21991623e-15, -1.00000000e+00,  0.00000000e+00,
        1.24398325e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08308885, -0.05736335,  0.06197631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.51254721e-05, 4.48233970e-06,-1.27183321e-05, 5.18623912e-05,
  5.17941684e-06,-7.25812385e-06,-3.18920163e-06, 1.65853387e-05,
 -2.23665798e-06,-5.42509121e-06,-1.85781003e-05,-2.25966811e-05,
  2.61593802e-01, 5.04308048e-03, 7.37367975e-02, 3.12648383e-02,
 -2.14608004e-03, 2.48915323e-03,-9.80948478e+00,-1.20437969e-02,
 -2.39622571e-02, 5.24218628e-05]


--- Step 1052 ---
qpos:
[-1.35438991e-02, 1.35202404e-02, 1.00394565e-02, 1.47250064e-02,
 -1.90585227e-02,-9.09591530e-03,-1.74323361e-02, 1.63568730e-02,
 -1.21276963e-02,-6.70617729e-03,-1.43722003e-02, 1.51406587e-02,
  1.40379933e+00, 2.73662435e-02, 3.25193992e-01,-2.54037247e-02,
  9.40711057e-02,-7.35403917e-02, 1.04490624e-01, 9.95176044e-01,
  6.41729518e-04,-4.88359759e-04,-9.81019409e-02]

qacc:
[ 10.63357554,  0.9633369 , -4.58113459,  9.38375871,  0.6513164 ,
   0.16886414, -3.04852292, 12.06806461, -3.20628955, -1.70559928,
   8.7626315 ,-19.90173874, -3.34418661, 19.76114478,-22.91554214,
 -93.92605585,  0.53503613, -0.48079622, -0.2230266 ,  1.67073154,
  16.60240547,-19.22991121]

qfrc_actuator:
[ 6.25524176e-04,-5.51449763e-04,-1.70648763e-04,-8.13774257e-06,
 -6.52037511e-04,-6.79959904e-04,-1.74114220e-04,-2.26616623e-05,
 -5.37290211e-04,-5.41569952e-04,-2.02535910e-04,-6.56353458e-06,
  2.10000000e-01,-8.13200083e-04, 9.00000000e-02, 2.91990229e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.32163979,  0.32086446,  0.0223194 ,  0.32086446,  0.32188812,
       -0.00356998,  0.0223194 , -0.00356998,  0.37296191,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007359609236818326
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.85715487e-01,  1.97763642e-01, -4.19997164e-01,  1.78691525e-01,
        9.80249735e-01,  8.47336814e-02,  4.28459350e-01, -1.38777878e-17,
       -9.03561058e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09953386, -0.09066528,  0.15044336])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.95016765,  -2.2540431 , -11.73566345,  -2.2540431 ,
        34.86301142,  -4.40081957, -11.73566345,  -4.40081957,
        12.7954234 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005450776169493371
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27301024e-14,  1.21984884e-06,  1.00000000e+00,  1.55288007e-20,
        1.00000000e+00, -1.21984884e-06, -1.00000000e+00,  0.00000000e+00,
       -1.27301024e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261044, -0.060161  ,  0.06197684])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.31780645e-05,-4.12193854e-06,-9.82118236e-06, 1.27176517e-05,
  3.79522589e-06, 3.86097792e-06, 1.95904708e-05, 2.87190254e-05,
 -1.89328156e-05, 1.64466148e-06, 7.92685775e-06,-3.16830316e-05,
  2.61540993e-01, 4.77057679e-03, 7.81902296e-02, 3.30260709e-02,
 -2.25056011e-03, 2.72492426e-03,-9.80940700e+00,-1.20671876e-02,
 -2.39274404e-02, 4.95081067e-05]


--- Step 1053 ---
qpos:
[-1.35412700e-02, 1.35200068e-02, 1.00398739e-02, 1.47249678e-02,
 -1.90586180e-02,-9.09582673e-03,-1.74317825e-02, 1.63583170e-02,
 -1.21281969e-02,-6.70749715e-03,-1.43730409e-02, 1.51408207e-02,
  1.40384007e+00, 2.73886461e-02, 3.25274433e-01,-2.55397375e-02,
  9.40794806e-02,-7.35821604e-02, 1.04486694e-01, 9.95067825e-01,
  7.99687906e-04,-2.39976292e-05,-9.91936678e-02]

qacc:
[  3.3016313 , -1.89484596,  8.98935708,-19.10417031,  3.39645893,
   3.16259501,-15.84439917, 34.98251414,  1.07923438, -0.41563095,
   2.86309025, -8.58382858, -3.37216783, 15.3945683 ,-25.93344274,
 -63.15791469,  0.62677188, -0.16157204, -0.10895523, -7.52504677,
  12.49104003,-24.11979435]

qfrc_actuator:
[ 6.43261430e-04,-5.55105923e-04,-1.59454347e-04,-3.68345584e-05,
 -6.31936725e-04,-6.93004031e-04,-1.97625233e-04, 2.96568316e-05,
 -5.30420920e-04,-5.53131129e-04,-2.12825528e-04,-2.46100099e-05,
  2.10000000e-01,-7.24065907e-04, 9.00000000e-02, 2.93088353e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.33355016,  0.3328605 ,  0.02143825,  0.3328605 ,  0.33399851,
       -0.00696129,  0.02143825, -0.00696129,  0.44163452,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007752931914434736
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.884101  ,  0.19967801, -0.42248564,  0.18016374,  0.97986157,
        0.08609491,  0.4311687 ,  0.        , -0.90227133])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09955112, -0.0906423 ,  0.15041094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.76114727,  -2.28425826, -11.53718983,  -2.28425826,
        45.12995202,  -6.60671871, -11.53718983,  -6.60671871,
        13.06921726,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005336299304080708
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.30031947e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.30031947e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08224189, -0.06226105,  0.06197732])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.95595692e-05,-7.50449958e-06, 9.54466075e-06,-2.89733163e-05,
  2.01941822e-05,-5.58888418e-06,-1.93008721e-05, 5.37217298e-05,
  6.38242119e-06,-1.03411128e-05,-1.00598130e-05,-1.83158366e-05,
  2.61693000e-01, 4.71832428e-03, 8.22627041e-02, 3.47418706e-02,
 -2.45195020e-03, 2.98877560e-03,-9.80930194e+00,-1.20893599e-02,
 -2.39047365e-02, 4.50557779e-05]


--- Step 1054 ---
qpos:
[-1.35391376e-02, 1.35197030e-02, 1.00404021e-02, 1.47249370e-02,
 -1.90581271e-02,-9.09572211e-03,-1.74317735e-02, 1.63600413e-02,
 -1.21279205e-02,-6.70874262e-03,-1.43740559e-02, 1.51407551e-02,
  1.40386819e+00, 2.74089266e-02, 3.25310480e-01,-2.56898460e-02,
  9.40790943e-02,-7.36245420e-02, 1.04480935e-01, 9.94967108e-01,
  1.06206857e-03, 3.31051643e-04,-1.00195885e-01]

qacc:
[ -4.30167652, -0.37813461,  1.19526353, -1.20187871,  5.07386358,
   2.10933173, -8.69158252, 14.42125921,  6.77365895,  0.10377831,
   0.71084351, -4.40178829, -3.21041157, -6.00145965,-22.97153057,
 -14.88965887, -2.19033408, -0.15322554, -0.45721623, 57.37327819,
 -49.17197905, 44.94852468]

qfrc_actuator:
[ 6.17118904e-04,-5.57157661e-04,-1.53035749e-04,-3.59435822e-05,
 -6.02320867e-04,-7.00856503e-04,-2.29494371e-04, 4.20746879e-05,
 -4.90668292e-04,-5.41766885e-04,-2.18590453e-04,-3.52966943e-05,
  2.10000000e-01,-7.16255211e-04, 9.00000000e-02, 2.94272828e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.31868753, 0.31790062, 0.02238163, 0.31790062, 0.31795992,
       0.01033471, 0.02238163, 0.01033471, 0.17189705, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0007267033149079025
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88256809,  0.20169549, -0.42472638,  0.18174518,  0.97944828,
        0.08746291,  0.4336384 ,  0.        , -0.90108698])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09957287, -0.09061982,  0.15038173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.72460601, 11.1038023 ,  3.76456645, 11.1038023 , 12.50881942,
       -2.31308195,  3.76456645, -2.31308195, 18.54717245,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005314102900379203
  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([ 0.10150705, -0.05614757,  0.06197741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.55767104e-05,-5.60698054e-06, 5.01012588e-06, 3.29128644e-07,
  3.01809580e-05,-1.26517997e-05,-3.35417943e-05, 1.25553672e-05,
  3.99902731e-05, 2.74403411e-06,-9.76616335e-06,-1.18331549e-05,
  2.61932750e-01, 4.62687444e-03, 8.58615725e-02, 3.61859464e-02,
 -2.72266633e-03, 3.26495951e-03,-9.80917328e+00,-1.21111713e-02,
 -2.38927937e-02, 3.84012038e-05]


--- Step 1055 ---
qpos:
[-1.35380244e-02, 1.35191865e-02, 1.00410574e-02, 1.47252796e-02,
 -1.90576298e-02,-9.09556529e-03,-1.74318707e-02, 1.63611754e-02,
 -1.21271689e-02,-6.70974420e-03,-1.43746864e-02, 1.51405005e-02,
  1.40388388e+00, 2.74264448e-02, 3.25314162e-01,-2.58492439e-02,
  9.40699144e-02,-7.36679730e-02, 1.04473185e-01, 9.94873208e-01,
  1.41468130e-03, 5.74900990e-04,-1.01118589e-01]

qacc:
[-8.82766974e+00, 1.49896836e-01,-2.48915917e+00, 8.87298044e+00,
  5.02629966e-02,-8.49069635e-01, 5.61952489e+00,-1.57028456e+01,
  4.15614350e+00,-1.14937906e+00, 5.35022447e+00,-9.40145885e+00,
 -2.61952372e+00,-1.02725300e+01,-1.97944076e+01,-3.35763239e-01,
 -2.19836970e+00,-2.62342214e-01,-4.97770340e-01, 5.04430833e+01,
 -5.07586098e+01, 3.99724959e+01]

qfrc_actuator:
[ 5.65373217e-04,-5.75977682e-04,-1.49462347e-04,-1.76487099e-05,
 -6.02852146e-04,-6.87866836e-04,-2.30540049e-04, 1.31622403e-05,
 -4.67393361e-04,-4.98989527e-04,-1.86033528e-04,-4.15459017e-05,
  2.10000000e-01,-8.07170887e-04, 9.00000000e-02, 2.95846048e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.31250709, 0.31174046, 0.02187609, 0.31174046, 0.31174089,
       0.01091853, 0.02187609, 0.01091853, 0.15691497, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0007077819466316268
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88181742,  0.20354319, -0.42540359,  0.18332568,  0.97906597,
        0.0884394 ,  0.43449941,  0.        , -0.90067211])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09958415, -0.09059917,  0.15037029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.72890566, -11.58661237,  -1.82143943, -11.58661237,
        12.08375681,  -2.25729316,  -1.82143943,  -2.25729316,
        26.08808802,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005316715841140462
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.61021808e-14,  6.52554520e-15,  1.00000000e+00, -1.70330960e-28,
        1.00000000e+00, -6.52554520e-15, -1.00000000e+00,  0.00000000e+00,
        2.61021808e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10151384, -0.05617982,  0.0619774 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.24806650e-05,-2.09930165e-05, 3.01997896e-06, 1.82307064e-05,
  3.26354884e-07,-4.82620230e-07,-7.36330136e-06,-3.03733063e-05,
  2.44793456e-05, 4.17964095e-05, 3.15087244e-05,-6.70169182e-06,
  2.62563589e-01, 4.64214101e-03, 8.80814662e-02, 3.70480135e-02,
 -1.96759058e-03, 2.71965537e-03,-9.80969311e+00,-1.20266134e-02,
 -2.38105310e-02, 4.38606646e-05]


--- Step 1056 ---
qpos:
[-1.35375402e-02, 1.35183909e-02, 1.00420659e-02, 1.47261769e-02,
 -1.90574874e-02,-9.09558655e-03,-1.74316472e-02, 1.63622993e-02,
 -1.21264880e-02,-6.71017267e-03,-1.43753843e-02, 1.51405061e-02,
  1.40387590e+00, 2.74340434e-02, 3.25380995e-01,-2.59730246e-02,
  9.40524780e-02,-7.37016891e-02, 1.04467361e-01, 9.94784045e-01,
  1.72647251e-03, 6.43309836e-04,-1.01986808e-01]

qacc:
[ -5.43674869, -0.20283502, -2.13552476, 11.35793634, -3.06758162,
  -1.14613625,  3.79911171, -4.36971295, -0.62884794,  1.48272947,
  -5.28456981,  9.47259019, -1.8078198 ,-47.18185251,-14.90025299,
 186.57209788, -2.06414259,  2.4287373 ,  0.48157334,-11.45499383,
 -89.29727531, 27.45425076]

qfrc_actuator:
[ 5.34492032e-04,-5.86935376e-04,-1.29903997e-04, 1.07197860e-05,
 -6.21126232e-04,-6.97919711e-04,-2.13312298e-04, 1.34678212e-05,
 -4.71766856e-04,-4.55316177e-04,-1.84230555e-04,-2.73275283e-05,
  2.10000000e-01,-8.31564895e-04, 9.00000000e-02, 2.97483308e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.29886045, 0.29721412, 0.03132622, 0.29721412, 0.29800925,
       0.00807587, 0.03132622, 0.00807587, 0.22223888, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0006675999058663453
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88181711,  0.20539267, -0.42451436,  0.18506441,  0.97867965,
        0.0890916 ,  0.43376233,  0.        , -0.90102733])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09958474, -0.09057806,  0.15037683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.8639245 ,  -3.04288947, -11.46706276,  -3.04288947,
        31.25952211,  -5.14679835, -11.46706276,  -5.14679835,
        13.22967429,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005398611987135205
  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([ 0.10246951, -0.07552772,  0.06197705])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.23926350e-05,-2.13516252e-05, 1.62139594e-05, 2.79279722e-05,
 -1.82704084e-05,-1.31631809e-05, 1.51641120e-05,-5.62154221e-07,
 -3.61454224e-06, 7.32522903e-05, 1.40776135e-05, 1.69670125e-05,
  2.63185679e-01, 4.75524278e-03, 8.96998810e-02, 3.76761396e-02,
 -1.36137635e-03, 2.23277659e-03,-9.81004908e+00,-1.19472141e-02,
 -2.37510996e-02, 5.39987521e-05]


--- Step 1057 ---
qpos:
[-1.35370855e-02, 1.35174901e-02, 1.00435140e-02, 1.47277237e-02,
 -1.90575651e-02,-9.09581833e-03,-1.74314583e-02, 1.63634470e-02,
 -1.21255191e-02,-6.71015037e-03,-1.43762899e-02, 1.51407074e-02,
  1.40384876e+00, 2.74321271e-02, 3.25530837e-01,-2.60605883e-02,
  9.40266965e-02,-7.37264110e-02, 1.04462805e-01, 9.94698834e-01,
  1.99252411e-03, 5.50286630e-04,-1.02810293e-01]

qacc:
[-2.40072791e-01,-2.99345748e-02,-2.83661505e+00, 1.34519638e+01,
 -1.90916182e+00,-1.28614114e-01,-3.90850540e-02, 6.54121667e-01,
  2.49961630e+00, 1.57386582e+00,-5.58244152e+00, 8.97979582e+00,
 -4.95327210e-01,-4.67814549e+01, 1.26438724e+01, 1.32786441e+02,
 -2.08625976e+00, 2.24854270e+00, 3.17060695e-01,-1.45363499e+01,
 -8.25900995e+01, 2.25764483e+01]

qfrc_actuator:
[ 5.33899657e-04,-5.75271798e-04,-1.01031654e-04, 4.48017414e-05,
 -6.31934801e-04,-7.21588712e-04,-2.21010095e-04, 1.32077601e-05,
 -4.56868262e-04,-4.47037284e-04,-2.00581739e-04,-1.89548676e-05,
  2.10000000e-01,-8.25536386e-04, 9.00000000e-02, 2.98214504e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.32177394, 0.3190696 , 0.04163004, 0.3190696 , 0.32044715,
       0.01016908, 0.04163004, 0.01016908, 0.24383395, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0007363854167217989
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.82687865e-01,  2.07144222e-01, -4.21845238e-01,  1.86897418e-01,
        9.78310417e-01,  8.93201199e-02,  4.31197738e-01, -1.38777878e-17,
       -9.02257453e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09956555, -0.09055492,  0.15040584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.99076022, -7.52744123,  9.33359305, -7.52744123, 21.04063205,
        7.29862315,  9.33359305,  7.29862315, 17.87702037,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000547529263169047
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26731015e-14, -1.26731015e-14,  1.00000000e+00,  1.60607501e-28,
        1.00000000e+00,  1.26731015e-14, -1.00000000e+00,  0.00000000e+00,
        1.26731015e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10244389, -0.07554859,  0.06197673])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52081410e-06, 4.23949132e-06, 2.74212284e-05, 3.42720175e-05,
 -1.13441780e-05,-2.79332603e-05,-8.56907927e-06,-3.09881996e-07,
  1.48429832e-05, 5.28526807e-05, 1.09415008e-06, 1.23278871e-05,
  2.64368494e-01, 5.25798581e-03, 8.65427040e-02, 3.59683949e-02,
 -1.09303341e-03, 1.53510543e-03,-9.81033013e+00,-1.18433603e-02,
 -2.37701777e-02, 6.18194599e-05]


--- Step 1058 ---
qpos:
[-1.35373313e-02, 1.35167185e-02, 1.00449628e-02, 1.47293215e-02,
 -1.90577721e-02,-9.09586063e-03,-1.74317736e-02, 1.63638734e-02,
 -1.21243789e-02,-6.70986272e-03,-1.43769593e-02, 1.51399650e-02,
  1.40380630e+00, 2.74212256e-02, 3.25777188e-01,-2.61060888e-02,
  9.39925647e-02,-7.37428174e-02, 1.04458943e-01, 9.94616868e-01,
  2.21022762e-03, 3.07746747e-04,-1.03596840e-01]

qacc:
[ -6.0745954 ,  0.28552113, -0.96498714,  1.72842587, -1.14235986,
   0.17643659,  2.78392922,-14.60652709,  1.49739357, -2.25481867,
  12.52873834,-29.43109254,  0.64452819,-45.99409979, 14.88569962,
 153.86324715, -2.08759558,  2.07886099,  0.17326793,-16.37336869,
 -76.81147441, 18.67400073]

qfrc_actuator:
[ 4.97874800e-04,-5.67850168e-04,-1.02303905e-04, 4.64898642e-05,
 -6.38256766e-04,-7.00065826e-04,-2.43436146e-04,-2.29268858e-05,
 -4.48489469e-04,-4.42349321e-04,-1.92152973e-04,-6.73871215e-05,
  2.10000000e-01,-8.15443774e-04, 9.00000000e-02, 2.99318754e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.30434294, 0.30051851, 0.04809627, 0.30051851, 0.30247052,
       0.01169938, 0.04809627, 0.01169938, 0.23124205, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.000683531435190145
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88437059,  0.20834338, -0.41771007,  0.18838676,  0.97805574,
        0.08897972,  0.42708207,  0.        , -0.90421287])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09952594, -0.09053478,  0.15045322])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([12.04880495, -7.47677313,  9.44836304, -7.47677313, 24.04775467,
        9.49512889,  9.44836304,  9.49512889, 19.5625853 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005510312484376667
  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([ 0.1024243 , -0.0755653 ,  0.06197658])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.60575600e-05, 1.69073420e-05, 4.16240584e-06, 3.48507620e-06,
 -6.65434421e-06, 4.11830592e-06,-2.92606841e-05,-3.76335603e-05,
  8.83114022e-06, 3.49684108e-05, 1.98961753e-05,-4.58922583e-05,
  2.65325510e-01, 5.74635317e-03, 8.23928108e-02, 3.42680513e-02,
 -1.01840025e-03, 9.93422834e-04,-9.81045508e+00,-1.17567260e-02,
 -2.37958792e-02, 7.30958100e-05]


--- Step 1059 ---
qpos:
[-1.35380068e-02, 1.35160580e-02, 1.00458477e-02, 1.47309692e-02,
 -1.90580536e-02,-9.09558045e-03,-1.74319273e-02, 1.63637994e-02,
 -1.21231468e-02,-6.70954999e-03,-1.43774042e-02, 1.51386803e-02,
  1.40376145e+00, 2.74057324e-02, 3.26180296e-01,-2.60731124e-02,
  9.39555547e-02,-7.37430046e-02, 1.04452439e-01, 9.94539260e-01,
  2.25585819e-03,-7.20874726e-05,-1.04338712e-01]

qacc:
[ -3.74460083,  1.83379179, -6.52345509,  8.19486511, -0.64696783,
  -1.05337077,  6.48966612,-15.64852501,  0.80842533, -1.71189705,
   8.43950383,-18.2010926 ,  1.73579385,-23.75698362, -6.06250057,
 356.98339091, -0.7195498 ,  4.05480688, -0.66031296,-78.47339162,
 -77.14204725, 22.56779378]

qfrc_actuator:
[ 4.76778473e-04,-5.80918626e-04,-1.39152461e-04, 4.68330689e-05,
 -6.41889528e-04,-6.51743604e-04,-2.20957958e-04,-4.43454416e-05,
 -4.44021054e-04,-4.57563451e-04,-1.86969689e-04,-9.55832843e-05,
  2.10000000e-01,-8.52894380e-04, 9.00000000e-02, 3.00443505e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.25846546, 0.2513575 , 0.06019801, 0.2513575 , 0.25188346,
       0.02748321, 0.06019801, 0.02748321, 0.14370898, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.000553647675721896
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.86476192e-01,  2.10696947e-01, -4.12027616e-01,  1.91067009e-01,
        9.77551429e-01,  8.88065408e-02,  4.21489452e-01, -1.38777878e-17,
       -9.06833304e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09947003, -0.09049727,  0.15051987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 12.07668699,  -6.4343727 , -10.21984426,  -6.4343727 ,
        20.16336297,  -5.09133856, -10.21984426,  -5.09133856,
        15.2821732 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005527119746703002
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.02170694e-14, -7.53256042e-14,  1.00000000e+00, -3.78263110e-27,
        1.00000000e+00,  7.53256042e-14, -1.00000000e+00,  0.00000000e+00,
       -5.02170694e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09620446, -0.09303947,  0.06197651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21231478e-05,-2.60887698e-06,-3.27174439e-05, 1.28208262e-06,
 -3.81588920e-06, 4.29738068e-05, 1.84247509e-05,-2.29863136e-05,
  4.73371409e-06, 6.44505760e-06, 1.32558751e-05,-2.69050463e-05,
  2.66089880e-01, 6.16278608e-03, 7.75683173e-02, 3.22775492e-02,
 -1.09476685e-03, 5.81759319e-04,-9.81045730e+00,-1.16833472e-02,
 -2.38267766e-02, 8.75093528e-05]


--- Step 1060 ---
qpos:
[-1.35389300e-02, 1.35153852e-02, 1.00463441e-02, 1.47322675e-02,
 -1.90583764e-02,-9.09528625e-03,-1.74314278e-02, 1.63634738e-02,
 -1.21211807e-02,-6.70948378e-03,-1.43776939e-02, 1.51381440e-02,
  1.40370290e+00, 2.73822505e-02, 3.26646908e-01,-2.59655832e-02,
  9.39243209e-02,-7.37319628e-02, 1.04446533e-01, 9.94459333e-01,
  2.11140823e-03,-4.81362174e-04,-1.05099689e-01]

qacc:
[-2.15958900e+00, 3.53989944e-01, 1.97131645e-01,-5.62428620e+00,
 -3.39522494e-01,-2.32330591e+00, 9.37521459e+00,-1.47872802e+01,
  6.41606017e+00, 7.68527828e-01,-6.39496666e+00, 1.93057543e+01,
  2.02105081e+00,-4.73508822e+01,-1.32453833e+02, 5.98206500e+02,
  1.44406214e+00, 2.80725158e+00, 1.49377470e-01,-9.29834717e+01,
 -2.45778735e+01,-9.58087239e+00]

qfrc_actuator:
[ 4.64648693e-04,-5.88562256e-04,-1.61277235e-04, 2.85972553e-05,
 -6.43911947e-04,-6.58561088e-04,-1.89753798e-04,-5.68667632e-05,
 -4.06382730e-04,-4.84584704e-04,-1.83816424e-04,-5.84038030e-05,
  2.10000000e-01,-8.66412522e-04, 9.00000000e-02, 3.00515590e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23632985, -0.22355456,  0.07664958, -0.22355456,  0.28781778,
        0.1501686 ,  0.07664958,  0.1501686 ,  0.67430843,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004901557378331534
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.88887442e-01,  2.12100597e-01, -4.06069517e-01,  1.92922972e-01,
        9.77247838e-01,  8.81327987e-02,  4.15523576e-01,  1.38777878e-17,
       -9.09582408e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09939567, -0.09046633,  0.15059001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 12.28482859, -10.03311148,   7.08898352, -10.03311148,
        20.91208916,  12.21025086,   7.08898352,  12.21025086,
        29.56612254,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005652326731073742
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.22761727e-14,  1.22761727e-14,  1.00000000e+00, -1.50704416e-28,
        1.00000000e+00, -1.22761727e-14, -1.00000000e+00,  0.00000000e+00,
        1.22761727e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07994379, -0.08976776,  0.06197598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27575044e-05,-1.57900992e-05,-2.66397346e-05,-1.94519587e-05,
 -2.12528749e-06, 2.00429141e-05, 4.15582085e-05,-1.04887883e-05,
  3.77734553e-05,-2.18752612e-05, 5.17217089e-06, 3.73880776e-05,
  2.66206378e-01, 6.38694726e-03, 6.97319734e-02, 2.83612931e-02,
 -1.49079830e-03, 3.52718361e-04,-9.81019182e+00,-1.16239396e-02,
 -2.39210756e-02, 1.03028352e-04]


--- Step 1061 ---
qpos:
[-1.35399913e-02, 1.35147253e-02, 1.00462725e-02, 1.47330013e-02,
 -1.90583764e-02,-9.09504916e-03,-1.74307513e-02, 1.63630433e-02,
 -1.21191236e-02,-6.70950377e-03,-1.43779782e-02, 1.51380471e-02,
  1.40363253e+00, 2.73505397e-02, 3.27189337e-01,-2.57826280e-02,
  9.38980850e-02,-7.37118549e-02, 1.04441066e-01, 9.94372544e-01,
  1.80109077e-03,-9.27661705e-04,-1.05920436e-01]

qacc:
[-1.21569623e+00, 4.45066080e-01, 8.25132631e-01,-9.69984799e+00,
  2.81003217e+00,-7.91482108e-01, 3.14637238e+00,-5.19352471e+00,
  7.95784492e-01, 7.74017782e-01,-4.78356845e+00, 1.24479120e+01,
  2.92728582e+00,-4.98629301e+01,-1.16928384e+02, 5.70207161e+02,
  1.24948525e+00, 2.26653755e+00, 1.09812229e-01,-8.05357469e+01,
 -2.71909173e+01,-3.00008254e+01]

qfrc_actuator:
[ 4.57888737e-04,-5.92871871e-04,-1.92270213e-04,-4.06458609e-07,
 -6.27218786e-04,-6.80530305e-04,-1.89375666e-04,-6.40983281e-05,
 -4.02779230e-04,-4.82923392e-04,-1.81901722e-04,-3.63306328e-05,
  2.10000000e-01,-8.24832103e-04, 9.00000000e-02, 2.99681406e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22690932, -0.22685904,  0.00477629, -0.22685904,  0.22753026,
        0.02949315,  0.00477629,  0.02949315,  1.62774267,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045956334436135705
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.90517662e-01,  2.13714223e-01, -4.01627345e-01,  1.94817306e-01,
        9.76896223e-01,  8.78634537e-02,  4.11125906e-01,  1.38777878e-17,
       -9.11578570e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09932517, -0.09043075,  0.15064486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([12.46663519,  8.26697263,  9.33135342,  8.26697263, 20.29383694,
       -6.93439201,  9.33135342, -6.93439201, 18.61005581,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005761400698998803
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.40875241e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.40875241e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07992393, -0.08974693,  0.06197551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.11578837e-06,-1.94484740e-05,-3.81975757e-05,-3.09779167e-05,
  1.66219068e-05,-2.61577997e-06, 9.27833322e-06,-5.13789781e-06,
  4.67820673e-06,-7.95865223e-06,-6.97084545e-07, 2.20365758e-05,
  2.66888240e-01, 6.83766017e-03, 6.65584737e-02, 2.45506974e-02,
 -1.99381733e-03, 5.93765054e-04,-9.80981806e+00,-1.16044637e-02,
 -2.40254633e-02, 1.15072568e-04]


--- Step 1062 ---
qpos:
[-1.35407802e-02, 1.35139857e-02, 1.00458038e-02, 1.47337275e-02,
 -1.90581766e-02,-9.09470984e-03,-1.74304104e-02, 1.63628905e-02,
 -1.21177285e-02,-6.70970064e-03,-1.43781702e-02, 1.51378759e-02,
  1.40355522e+00, 2.73115852e-02, 3.27829579e-01,-2.55231630e-02,
  9.38762753e-02,-7.36846209e-02, 1.04435900e-01, 9.94275141e-01,
  1.34691324e-03,-1.41589053e-03,-1.06832227e-01]

qacc:
[ 2.35056356e+00, 9.84122665e-01,-3.63718465e+00, 4.20598308e+00,
  1.72218997e+00, 1.64092376e+00,-6.83425834e+00, 1.21111577e+01,
 -5.77260496e+00,-6.33356988e-01, 2.25280750e+00,-3.57891321e+00,
  3.75995540e+00,-4.52059058e+01,-8.76334030e+01, 5.15026639e+02,
  1.10654881e+00, 1.78151502e+00, 7.52256970e-02,-6.93373584e+01,
 -2.85524627e+01,-4.57239835e+01]

qfrc_actuator:
[ 4.72092806e-04,-5.95201460e-04,-2.10496498e-04,-1.09509827e-08,
 -6.17396634e-04,-6.76019780e-04,-2.07278292e-04,-5.04494642e-05,
 -4.36999803e-04,-4.99619518e-04,-1.80642427e-04,-4.10642972e-05,
  2.10000000e-01,-7.46756966e-04, 9.00000000e-02, 2.97996519e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.19880924, -0.19877928,  0.00345101, -0.19877928,  0.19908309,
        0.01577417,  0.00345101,  0.01577417,  1.10740611,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003311109994223805
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.8920509 ,  0.21236024, -0.39893397,  0.19385776,  0.97719145,
        0.0866951 ,  0.40824546,  0.        , -0.9128722 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09924984, -0.09042822,  0.15068147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([12.55882876,  8.45795554,  9.28370442,  8.45795554, 23.04481506,
       -9.55329919,  9.28370442, -9.55329919, 21.26239968,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005816643676551242
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.77175106e-14, -2.38587553e-14,  1.00000000e+00, -1.13848041e-27,
        1.00000000e+00,  2.38587553e-14, -1.00000000e+00,  0.00000000e+00,
       -4.77175106e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07990743, -0.08973171,  0.06197528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.40180453e-05,-2.23893290e-05,-2.80082558e-05,-2.35985205e-06,
  1.02840814e-05, 4.74988871e-06,-1.74784290e-05, 1.37571600e-05,
 -3.40860415e-05,-2.04187544e-05, 2.68153569e-07,-4.67466455e-06,
  2.67475044e-01, 7.33872249e-03, 6.27695518e-02, 2.06114845e-02,
 -2.66055834e-03, 9.89511240e-04,-9.80934769e+00,-1.15778213e-02,
 -2.41310689e-02, 1.21553172e-04]


--- Step 1063 ---
qpos:
[-1.35413923e-02, 1.35132367e-02, 1.00453276e-02, 1.47344161e-02,
 -1.90582055e-02,-9.09451354e-03,-1.74302468e-02, 1.63639594e-02,
 -1.21170990e-02,-6.71018204e-03,-1.43785965e-02, 1.51383770e-02,
  1.40349597e+00, 2.72750123e-02, 3.28546445e-01,-2.52751247e-02,
  9.38545730e-02,-7.36655590e-02, 1.04435308e-01, 9.94172344e-01,
  9.53293468e-04,-1.79468583e-03,-1.07783214e-01]

qacc:
[ 1.53276742e+00,-7.16814355e-02, 3.91086514e-01,-1.01696189e+00,
 -1.98738034e+00, 2.82397561e+00,-1.54957194e+01, 3.70218213e+01,
 -6.68359352e+00, 1.67550962e+00,-9.33648086e+00, 2.15337993e+01,
  4.19446305e+00, 8.44816061e+00, 1.48007529e+02,-3.53241111e+02,
  2.68224450e-02,-2.04302570e+00, 1.14350893e+00, 2.42359147e+01,
  5.76080802e+01,-1.98903730e+01]

qfrc_actuator:
[ 4.80767372e-04,-5.78502888e-04,-2.03253953e-04,-5.94896077e-08,
 -6.29455712e-04,-6.91263154e-04,-2.17954849e-04, 1.08921437e-05,
 -4.75445559e-04,-5.27204953e-04,-1.97618029e-04,-8.28610223e-06,
  2.10000000e-01,-6.79983780e-04, 9.00000000e-02, 2.95133616e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.19497781, -0.19020199,  0.04288993, -0.19020199,  0.20822161,
        0.05873168,  0.04288993,  0.05873168,  0.45543248,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030614362193442284
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.94087799e-01,  2.10381530e-01, -3.95406904e-01,  1.92405723e-01,
        9.77619359e-01,  8.50906938e-02,  4.04458954e-01,  2.77555756e-17,
       -9.14556152e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09916042, -0.09043033,  0.15072975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([12.82257214,  1.59229697, 12.72332294,  1.59229697, 24.66341959,
       -1.48185703, 12.72332294, -1.48185703, 13.00802342,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005974581774930293
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.16140245e-14,  2.32280490e-14,  1.00000000e+00, -2.69771130e-28,
        1.00000000e+00, -2.32280490e-14, -1.00000000e+00,  0.00000000e+00,
        1.16140245e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08234415, -0.06216125,  0.06197461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.10291809e-06,-1.67770957e-06,-9.06192587e-07,-2.02197832e-06,
 -1.17771728e-05,-1.56116107e-05,-1.13752329e-05, 6.12071838e-05,
 -3.94193509e-05,-3.92100944e-05,-2.13364759e-05, 3.18199225e-05,
  2.67817671e-01, 7.78153462e-03, 5.78812138e-02, 1.65004172e-02,
 -3.51483064e-03, 1.51319450e-03,-9.80879550e+00,-1.15429430e-02,
 -2.42466957e-02, 1.23535837e-04]


--- Step 1064 ---
qpos:
[-1.35418950e-02, 1.35125520e-02, 1.00448844e-02, 1.47350857e-02,
 -1.90580338e-02,-9.09463820e-03,-1.74301298e-02, 1.63661144e-02,
 -1.21172800e-02,-6.71101864e-03,-1.43788830e-02, 1.51389050e-02,
  1.40345197e+00, 2.72406733e-02, 3.29316347e-01,-2.50427501e-02,
  9.38339885e-02,-7.36533504e-02, 1.04438280e-01, 9.94065135e-01,
  6.11047469e-04,-2.07448892e-03,-1.08765028e-01]

qacc:
[ 9.48533709e-01,-4.81923886e-02, 3.71695592e-01,-7.95688256e-01,
  1.74561814e+00, 1.93763437e+00,-1.21171479e+01, 3.12344642e+01,
 -7.06362608e+00,-7.90629216e-01, 2.04829127e+00,-1.57062430e+00,
  3.44773808e+00, 8.16751730e+00, 1.25949486e+02,-3.26688164e+02,
  2.79468630e-01,-1.71333018e+00, 8.91034527e-01, 2.01767877e+01,
  5.19576258e+01,-1.56548484e+01]

qfrc_actuator:
[ 4.86110864e-04,-5.68178518e-04,-1.98713405e-04,-3.41492997e-07,
 -6.18789818e-04,-7.18154520e-04,-2.24319793e-04, 6.42892657e-05,
 -5.16058136e-04,-5.43392939e-04,-1.89739710e-04,-6.97567121e-06,
  2.10000000e-01,-6.97730245e-04, 9.00000000e-02, 2.92669807e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.19205294,  0.18846248, -0.03696247,  0.18846248,  0.2459611 ,
        0.2748644 , -0.03696247,  0.2748644 ,  1.59351862,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002849385127121736
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.89541472,  0.20972964, -0.39274159,  0.19206668,  0.97775942,
        0.08424317,  0.40167508,  0.        , -0.91578225])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0990781 , -0.09041618,  0.15076732])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.12895958,   1.52547869, -13.04003429,   1.52547869,
        25.8758661 ,   1.49118736, -13.04003429,   1.49118736,
        13.30340502,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006158248208956371
  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([ 0.08237648, -0.06216054,  0.06197384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.63671903e-06, 9.13495720e-06, 4.01808198e-06,-4.23723483e-07,
  1.03078159e-05,-3.53511144e-05,-8.87196210e-06, 5.35262633e-05,
 -4.17345792e-05,-4.11926298e-05,-1.75289115e-06,-4.88542845e-07,
  2.66909617e-01, 7.66003199e-03, 5.40525841e-02, 1.68261439e-02,
 -3.27411984e-03, 1.53460664e-03,-9.80906295e+00,-1.16038978e-02,
 -2.42450774e-02, 1.10234596e-04]


--- Step 1065 ---
qpos:
[-1.35419844e-02, 1.35121108e-02, 1.00444088e-02, 1.47357278e-02,
 -1.90577359e-02,-9.09504063e-03,-1.74300578e-02, 1.63685419e-02,
 -1.21176014e-02,-6.71195323e-03,-1.43791648e-02, 1.51390753e-02,
  1.40342192e+00, 2.72089622e-02, 3.30121802e-01,-2.48281435e-02,
  9.38153483e-02,-7.36468322e-02, 1.04443927e-01, 9.93954412e-01,
  3.11808376e-04,-2.26364818e-03,-1.09769783e-01]

qacc:
[ 3.57767945e+00, 3.48799349e-01,-6.72388112e-01, 8.15317714e-02,
  1.10047083e+00, 3.17172304e-01,-2.81815358e+00, 7.81543588e+00,
 -1.22417672e+00,-8.76385077e-01, 4.45142505e+00,-1.05821873e+01,
  2.77926333e+00, 1.07755231e+01, 1.06500395e+02,-2.96072739e+02,
  4.86087059e-01,-1.42259271e+00, 6.68709787e-01, 1.64236750e+01,
  4.73811212e+01,-1.16656379e+01]

qfrc_actuator:
[ 5.07205010e-04,-5.43995921e-04,-1.95831609e-04,-7.67208455e-07,
 -6.12579244e-04,-7.34046906e-04,-2.28157603e-04, 7.70612329e-05,
 -5.22114358e-04,-5.34805338e-04,-1.84981951e-04,-2.41693894e-05,
  2.10000000e-01,-6.78230262e-04, 9.00000000e-02, 2.90356006e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.18498974,  0.18142623, -0.03613482,  0.18142623,  0.23218461,
        0.23695674, -0.03613482,  0.23695674,  1.3747057 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022235789048319831
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.96117549e-01,  2.10408785e-01, -3.90770370e-01,  1.92868660e-01,
        9.77613494e-01,  8.41043208e-02,  3.99718675e-01, -1.38777878e-17,
       -9.16637868e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09900395, -0.09038625,  0.15079654])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.31475249,   1.42994815, -13.2377446 ,   1.42994815,
        30.56337254,   1.86320503, -13.2377446 ,   1.86320503,
        13.51601688,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006269963922761537
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.30016008e-15, -1.10668801e-14,  1.00000000e+00,  9.18568766e-29,
        1.00000000e+00,  1.10668801e-14, -1.00000000e+00,  0.00000000e+00,
        8.30016008e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08240127, -0.06215931,  0.06197337])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12882449e-05, 3.01204805e-05, 5.25365466e-06, 9.73310742e-08,
  6.49148887e-06,-3.52020776e-05,-1.03827537e-05, 1.19909989e-05,
 -7.23348506e-06,-1.48355263e-05,-3.97886075e-06,-1.90268227e-05,
  2.66142104e-01, 7.58414359e-03, 5.14035653e-02, 1.73787333e-02,
 -3.09583227e-03, 1.60788888e-03,-9.80923706e+00,-1.16636267e-02,
 -2.42401652e-02, 9.79769627e-05]


--- Step 1066 ---
qpos:
[-1.35421648e-02, 1.35121639e-02, 1.00435805e-02, 1.47360041e-02,
 -1.90577103e-02,-9.09573130e-03,-1.74297226e-02, 1.63707383e-02,
 -1.21176479e-02,-6.71277002e-03,-1.43795284e-02, 1.51393614e-02,
  1.40340717e+00, 2.71814035e-02, 3.30942422e-01,-2.46394880e-02,
  9.37989107e-02,-7.36459209e-02, 1.04451127e-01, 9.93842427e-01,
  6.43935454e-05,-2.36487362e-03,-1.10777407e-01]

qacc:
[  -0.80811441,   0.88748844,  -0.66925827,  -5.46541628,  -2.3529683 ,
   -1.58692355,   6.08970431, -10.30715318,   2.39521118,   0.61728046,
   -2.47168448,   4.52659735,   2.11675318,  19.44323506, 101.22917747,
 -321.13094868,   0.55063569,  -1.40173419,   0.38809969,  20.92619302,
   46.54360436,  -1.56772499]

qfrc_actuator:
[ 5.01896659e-04,-5.11703434e-04,-2.11645525e-04,-1.90156074e-05,
 -6.26800530e-04,-7.43254702e-04,-2.12709502e-04, 6.58372758e-05,
 -5.07782624e-04,-5.11467510e-04,-1.82017360e-04,-1.65865243e-05,
  2.10000000e-01,-6.73175155e-04, 9.00000000e-02, 2.88215906e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1863346 ,  0.18262628, -0.03698951,  0.18262628,  0.23771955,
        0.25370011, -0.03698951,  0.25370011,  1.43891414,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023591471360898708
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.96189520e-01,  2.12572561e-01, -3.89431958e-01,  1.94961082e-01,
        9.77145284e-01,  8.47187723e-02,  3.98540488e-01, -1.38777878e-17,
       -9.17150740e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09893873, -0.09033892,  0.15081796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([13.40595388, 13.25779743, -1.987563  , 13.25779743, 15.30509833,
       12.66801226, -1.987563  , 12.66801226, 97.90639005,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006324952072308987
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  3.5827732e-06,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -3.5827732e-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([ 0.08283225, -0.06007111,  0.06197314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.66403646e-06, 5.02344607e-05,-8.94216110e-06,-1.67747016e-05,
 -1.40384049e-05,-3.05320077e-05, 7.30919299e-06,-1.28593010e-05,
  1.41570769e-05, 1.34169096e-05,-1.24305774e-06, 6.44036843e-06,
  2.65438577e-01, 7.47473254e-03, 4.96286327e-02, 1.80539015e-02,
 -2.96041225e-03, 1.71065686e-03,-9.80933784e+00,-1.17215358e-02,
 -2.42331592e-02, 8.62096982e-05]


--- Step 1067 ---
qpos:
[-1.35427517e-02, 1.35123893e-02, 1.00429547e-02, 1.47360625e-02,
 -1.90575105e-02,-9.09644257e-03,-1.74292999e-02, 1.63724152e-02,
 -1.21178666e-02,-6.71356553e-03,-1.43792783e-02, 1.51396993e-02,
  1.40341037e+00, 2.71601685e-02, 3.31760411e-01,-2.44858832e-02,
  9.37848227e-02,-7.36507976e-02, 1.04458690e-01, 9.93731699e-01,
 -1.19345545e-04,-2.38098826e-03,-1.11765948e-01]

qacc:
[-3.52087873e+00,-7.80411069e-01, 4.04522648e+00,-8.28118295e+00,
  1.51647268e+00,-1.34336698e+00, 6.93940149e+00,-1.60510864e+01,
 -1.48391474e+00,-1.57647313e+00, 5.44792972e+00,-5.55173703e+00,
  1.34274901e+00, 3.18691457e+01, 1.02619272e+02,-3.63806371e+02,
  5.87393585e-01,-1.44700681e+00, 9.10332857e-02, 2.69501797e+01,
  4.58223912e+01, 9.47460438e+00]

qfrc_actuator:
[ 4.81085739e-04,-5.10398326e-04,-2.02838272e-04,-2.98556650e-05,
 -6.17427390e-04,-7.30577529e-04,-2.03732648e-04, 4.06103560e-05,
 -5.17082586e-04,-4.97208777e-04,-1.44538929e-04,-1.22206157e-05,
  2.10000000e-01,-6.97115337e-04, 9.00000000e-02, 2.85622826e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.18884911,  0.18540581, -0.03589811,  0.18540581,  0.22930088,
        0.20892439, -0.03589811,  0.20892439,  1.26789727,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002589528578883322
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.95867415e-01,  2.14052281e-01, -3.89362550e-01,  1.96312556e-01,
        9.76822205e-01,  8.53215064e-02,  3.98601248e-01, -1.38777878e-17,
       -9.17124335e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09888077, -0.09030058,  0.1508235 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.4569498 ,  10.56405226,   8.33608409,  10.56405226,
        42.97899444, -37.41234122,   8.33608409, -37.41234122,
        60.86841106,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006355751569957907
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09175033e-14,  2.18350067e-14,  1.00000000e+00, -2.38383759e-28,
        1.00000000e+00, -2.18350067e-14, -1.00000000e+00,  0.00000000e+00,
        1.09175033e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08340629, -0.05728437,  0.06197302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.09196852e-05, 2.68349595e-05, 1.75038138e-05,-9.32273596e-06,
  8.97476994e-06,-3.44337828e-06, 3.12604035e-06,-2.65320897e-05,
 -8.85679606e-06, 2.17902209e-05, 4.03206520e-05, 5.02286897e-06,
  2.64668605e-01, 7.26026503e-03, 4.88732379e-02, 1.90929206e-02,
 -2.75382205e-03, 1.76888941e-03,-9.80943651e+00,-1.17806227e-02,
 -2.42125049e-02, 7.47285931e-05]


--- Step 1068 ---
qpos:
[-1.35428938e-02, 1.35125700e-02, 1.00430893e-02, 1.47363249e-02,
 -1.90568550e-02,-9.09680492e-03,-1.74295161e-02, 1.63737792e-02,
 -1.21178495e-02,-6.71430314e-03,-1.43788243e-02, 1.51397650e-02,
  1.40342351e+00, 2.71437294e-02, 3.32526451e-01,-2.43630133e-02,
  9.37730265e-02,-7.36611110e-02, 1.04466111e-01, 9.93621334e-01,
 -2.44494088e-04,-2.32196372e-03,-1.12743927e-01]

qacc:
[ 3.88016621e+00,-1.77220487e+00, 5.35797391e+00,-2.99426161e+00,
  3.93026202e+00, 1.59396553e+00,-3.70706695e+00,-9.28205431e-01,
  2.06307748e+00,-1.05762606e+00, 5.02460428e+00,-1.00972412e+01,
  3.46496887e-01, 2.29778374e+01, 1.64786436e+01,-1.68563356e+02,
  5.72941570e-01,-1.35914742e+00,-3.55347159e-02, 2.49252428e+01,
  4.06081107e+01, 5.20320110e+00]

qfrc_actuator:
[ 5.04583106e-04,-5.09808882e-04,-1.61919863e-04,-1.84996304e-05,
 -5.94235410e-04,-7.04921728e-04,-2.34073304e-04, 2.51151595e-05,
 -5.04719161e-04,-5.06100740e-04,-1.40272669e-04,-2.75200232e-05,
  2.10000000e-01,-6.53521736e-04, 9.00000000e-02, 2.83307811e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1926152 ,  0.18670152,  0.04736198,  0.18670152,  0.20424855,
       -0.0458588 ,  0.04736198, -0.0458588 ,  0.37339116,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002891820951732148
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.95187912e-01,  2.14793334e-01, -3.90515591e-01,  1.96875565e-01,
        9.76659523e-01,  8.58847363e-02,  3.99848239e-01,  1.38777878e-17,
       -9.16581358e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09883086, -0.09027236,  0.1508132 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.43014589,  -0.76359308, -13.40842064,  -0.76359308,
        37.52017923,  -1.37189779, -13.40842064,  -1.37189779,
        13.50827378,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000633955807239163
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09453906e-14,  5.47269528e-15,  1.00000000e+00, -5.99007872e-29,
        1.00000000e+00, -5.47269528e-15, -1.00000000e+00,  0.00000000e+00,
        1.09453906e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08342412, -0.05728353,  0.06197309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29021696e-05, 1.88260619e-05, 4.83022915e-05, 1.29323419e-05,
  2.34672925e-05, 2.32348739e-05,-3.15876523e-05,-1.60517634e-05,
  1.21406291e-05, 1.18439272e-05, 1.39111161e-05,-1.28717427e-05,
  2.63764753e-01, 7.00454477e-03, 4.90075707e-02, 2.06146833e-02,
 -2.46705028e-03, 1.77042891e-03,-9.80954133e+00,-1.18375757e-02,
 -2.41776559e-02, 6.43514355e-05]


--- Step 1069 ---
qpos:
[-1.35427537e-02, 1.35130190e-02, 1.00433464e-02, 1.47367250e-02,
 -1.90559263e-02,-9.09681238e-03,-1.74304164e-02, 1.63746040e-02,
 -1.21176840e-02,-6.71486767e-03,-1.43783492e-02, 1.51396452e-02,
  1.40344321e+00, 2.71314999e-02, 3.33222302e-01,-2.42731134e-02,
  9.37634370e-02,-7.36765331e-02, 1.04472964e-01, 9.93510562e-01,
 -3.15684616e-04,-2.19609843e-03,-1.13718252e-01]

qacc:
[   2.4461916 ,   0.29105521,  -1.11260307,   3.11117851,   2.34504109,
    1.26561671,  -1.56301083,  -6.9303471 ,   1.2921874 ,  -0.21464802,
    1.87628962,  -5.24387621,  -0.28641945,  20.34709092,  -3.75920485,
 -136.96644999,   0.55170167,  -1.27719979,  -0.14219683,  23.04316657,
   36.24800746,   1.73718628]

qfrc_actuator:
[ 5.18471522e-04,-4.91747938e-04,-1.55631489e-04,-1.19134160e-05,
 -5.80855791e-04,-6.89592664e-04,-2.69560598e-04,-2.29252684e-06,
 -4.97449415e-04,-4.93422978e-04,-1.38016875e-04,-3.65626468e-05,
  2.10000000e-01,-5.88162255e-04, 9.00000000e-02, 2.82144310e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2122243 ,  0.2068646 ,  0.047394  ,  0.2068646 ,  0.21864928,
       -0.02804364,  0.047394  , -0.02804364,  0.33462874,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004014911137178376
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.89429043,  0.21538336, -0.39224308,  0.19724469,  0.97652957,
        0.08651313,  0.40167046,  0.        , -0.91578428])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09878957, -0.09024794,  0.15079527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.34550546,  -1.00528509, -13.30758873,  -1.00528509,
        45.43539884,  -2.4241425 , -13.30758873,  -2.4241425 ,
        13.52863062,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006288493240463461
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.10342711e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.10342711e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08343752, -0.05728166,  0.06197331])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.45442671e-05, 3.91344477e-05, 1.65751437e-05, 9.31548915e-06,
  1.40779884e-05, 2.10939278e-05,-3.51433026e-05,-2.78199410e-05,
  7.64286185e-06, 2.16282258e-05, 5.96999360e-06,-8.30471553e-06,
  2.63263143e-01, 6.84576957e-03, 5.16075395e-02, 2.20357261e-02,
 -2.28011369e-03, 1.82383042e-03,-9.80959874e+00,-1.18855336e-02,
 -2.41441085e-02, 5.55043176e-05]


--- Step 1070 ---
qpos:
[-1.35431379e-02, 1.35137090e-02, 1.00436837e-02, 1.47375529e-02,
 -1.90548438e-02,-9.09691109e-03,-1.74310360e-02, 1.63750843e-02,
 -1.21181222e-02,-6.71514481e-03,-1.43779483e-02, 1.51401003e-02,
  1.40346865e+00, 2.71236496e-02, 3.33841899e-01,-2.42168362e-02,
  9.37559538e-02,-7.36967457e-02, 1.04478898e-01, 9.93398731e-01,
 -3.37259730e-04,-2.01037028e-03,-1.14694406e-01]

qacc:
[  -4.54723272,   0.98445552,  -4.83898265,  11.92132996,   1.3455714 ,
   -1.61592655,   7.03710793, -13.37612636,  -5.27494522,   1.78051008,
   -8.20727094,  18.04571376,  -0.74686892,  21.8608565 , -10.72653939,
 -125.53966939,   0.52657067,  -1.19761002,  -0.22977463,  21.24079834,
   32.55741054,  -1.01327089]

qfrc_actuator:
[ 4.91073912e-04,-4.81252061e-04,-1.52034853e-04, 9.54829548e-06,
 -5.73363464e-04,-6.98357807e-04,-2.54577095e-04,-1.87434525e-05,
 -5.28748003e-04,-4.67941720e-04,-1.36866091e-04,-6.32372874e-06,
  2.10000000e-01,-5.82085792e-04, 9.00000000e-02, 2.81284430e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22260881,  0.21811768,  0.04448999,  0.21811768,  0.22657579,
       -0.01944858,  0.04448999, -0.01944858,  0.31795785,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044405322161789463
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.8931233 ,  0.21735982, -0.39380893,  0.19888413,  0.97609155,
        0.08769488,  0.40345491,  0.        , -0.91499953])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09875847, -0.09020931,  0.15077873])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.21561269,  -1.29410176, -13.15209943,  -1.29410176,
        55.46043183,  -4.156682  , -13.15209943,  -4.156682  ,
        13.62460971,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006210307543762714
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.23463777e-14,  5.58659443e-15,  1.00000000e+00, -1.24840149e-28,
        1.00000000e+00, -5.58659443e-15, -1.00000000e+00,  0.00000000e+00,
        2.23463777e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08344743, -0.05727898,  0.06197364])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.69857454e-05, 3.62050803e-05, 1.40430009e-05, 2.38928705e-05,
  7.91656969e-06,-5.44941996e-06, 1.40372106e-05,-1.73072202e-05,
 -3.10568649e-05, 3.84510465e-05, 6.06413165e-06, 3.12100491e-05,
  2.62929863e-01, 6.65548196e-03, 5.51193564e-02, 2.35988144e-02,
 -2.16698157e-03, 1.91912211e-03,-9.80962056e+00,-1.19267155e-02,
 -2.41110520e-02, 4.79443253e-05]


--- Step 1071 ---
qpos:
[-1.35438479e-02, 1.35144452e-02, 1.00441706e-02, 1.47386520e-02,
 -1.90536795e-02,-9.09716577e-03,-1.74311534e-02, 1.63753563e-02,
 -1.21185868e-02,-6.71535968e-03,-1.43776945e-02, 1.51406030e-02,
  1.40349953e+00, 2.71204874e-02, 3.34382954e-01,-2.41944417e-02,
  9.37504630e-02,-7.37214383e-02, 1.04483630e-01, 9.93285282e-01,
 -3.13331150e-04,-1.77071722e-03,-1.15676768e-01]

qacc:
[  -2.82001755,   0.20697505,  -1.78501019,   6.19626511,   0.72800878,
   -2.03916239,   7.84950973, -12.14157547,  -0.23692789,   0.59193403,
   -2.19130036,   3.20327163,  -1.17487323,  24.21515003, -13.28851384,
 -121.39771751,   0.49809547,  -1.11999234,  -0.30016861,  19.50270431,
   29.39340167,  -3.21288035]

qfrc_actuator:
[ 4.75103668e-04,-4.93127666e-04,-1.50059859e-04, 2.18374975e-05,
 -5.69393367e-04,-7.03522657e-04,-2.27754896e-04,-2.85994647e-05,
 -5.29237116e-04,-4.88219815e-04,-1.54044160e-04,-6.45997104e-06,
  2.10000000e-01,-5.77927278e-04, 9.00000000e-02, 2.80567603e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23125237,  0.22755808,  0.04117013,  0.22755808,  0.23384379,
       -0.01432348,  0.04117013, -0.01432348,  0.31042198,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047419860582840735
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.89182618,  0.21987253, -0.39535064,  0.201007  ,  0.97552861,
        0.08910733,  0.40526812,  0.        , -0.91419787])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0987359 , -0.09016666,  0.15076184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.05111854,  -1.6373621 , -12.94800141,  -1.6373621 ,
        67.98076978,  -6.94622487, -12.94800141,  -6.94622487,
        13.92951552,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006111536518095956
  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([ 0.08345461, -0.05727568,  0.06197406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67681533e-05, 1.23025197e-05, 1.20169904e-05, 1.47939564e-05,
  4.20604224e-06,-6.09095559e-06, 2.68138493e-05,-9.94336618e-06,
 -1.36249542e-06, 3.81917102e-06,-7.40259448e-06, 2.33087989e-06,
  2.62638922e-01, 6.45314059e-03, 5.89340715e-02, 2.52087540e-02,
 -2.10862115e-03, 2.04780004e-03,-9.80961535e+00,-1.19626737e-02,
 -2.40780025e-02, 4.14671707e-05]


--- Step 1072 ---
qpos:
[-1.35443999e-02, 1.35152632e-02, 1.00444378e-02, 1.47395663e-02,
 -1.90528212e-02,-9.09744089e-03,-1.74312782e-02, 1.63758712e-02,
 -1.21187088e-02,-6.71584667e-03,-1.43771781e-02, 1.51407704e-02,
  1.40353523e+00, 2.71221793e-02, 3.34843039e-01,-2.42057973e-02,
  9.37468379e-02,-7.37502977e-02, 1.04486946e-01, 9.93169737e-01,
 -2.47919199e-04,-1.48230309e-03,-1.16668827e-01]

qacc:
[   1.36113666,   0.33901542,  -0.27600809,  -2.62727529,  -2.65713886,
    0.49874193,  -2.83443225,   7.05644959,   3.00320109,  -1.78944084,
    7.26438938, -13.27663316,  -1.59633708,  25.78881236, -17.25293859,
 -112.66832486,   0.46641453,  -1.04172283,  -0.35420904,  17.77323729,
   26.61583118,  -4.96654619]

qfrc_actuator:
[ 4.83753608e-04,-5.00575252e-04,-1.66912061e-04, 1.08559874e-05,
 -5.85278710e-04,-7.06426108e-04,-2.29668612e-04,-1.67442336e-05,
 -5.11576195e-04,-5.18090713e-04,-1.46611548e-04,-2.45239433e-05,
  2.10000000e-01,-5.76980231e-04, 9.00000000e-02, 2.80428751e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24109551,  0.2380632 ,  0.03811772,  0.2380632 ,  0.24270284,
       -0.01003853,  0.03811772, -0.01003853,  0.30379089,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005041676223888995
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.90421443e-01,  2.22997484e-01, -3.96764133e-01,  2.03690877e-01,
        9.74819020e-01,  9.07629021e-02,  4.07013122e-01, -1.38777878e-17,
       -9.13422311e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09872139, -0.09011911,  0.15074572])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 12.86113261,  -2.04439229, -12.69760576,  -2.04439229,
        83.35966325, -11.3506952 , -12.69760576, -11.3506952 ,
        14.68866405,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005997675396307509
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.62772221e-14, -1.15693055e-14,  1.00000000e+00,  5.35395320e-28,
        1.00000000e+00,  1.15693055e-14, -1.00000000e+00,  0.00000000e+00,
        4.62772221e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08345968, -0.05727191,  0.06197454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.13479765e-06, 2.57128455e-06,-1.23084419e-05,-9.74784680e-06,
 -1.57570410e-05,-1.23795537e-06,-2.26666894e-07, 1.23258028e-05,
  1.76271351e-05,-2.91477205e-05, 7.39564271e-06,-1.81101196e-05,
  2.62363312e-01, 6.23043837e-03, 6.28629672e-02, 2.68894102e-02,
 -2.09148188e-03, 2.20300324e-03,-9.80958951e+00,-1.19945044e-02,
 -2.40446910e-02, 3.58943352e-05]


--- Step 1073 ---
qpos:
[-1.35455344e-02, 1.35160055e-02, 1.00448477e-02, 1.47403375e-02,
 -1.90528493e-02,-9.09787816e-03,-1.74317041e-02, 1.63779445e-02,
 -1.21189628e-02,-6.71666645e-03,-1.43762218e-02, 1.51403705e-02,
  1.40357448e+00, 2.71285889e-02, 3.35218579e-01,-2.42509865e-02,
  9.37449321e-02,-7.37830162e-02, 1.04488687e-01, 9.93051656e-01,
 -1.44923554e-04,-1.14971539e-03,-1.17673556e-01]

qacc:
[  -5.04342109,  -0.78366503,   3.2702361 ,  -5.93756902,  -7.70172285,
    3.84854959, -20.58887752,  48.13622921,  -1.13309893,  -2.8342959 ,
   11.86719649, -22.14858721,  -2.00093626,  25.7269683 , -22.28228609,
 -102.72718969,   0.42983529,  -0.96477503,  -0.39388648,  16.07695347,
   24.12804656,  -6.46216648]

qfrc_actuator:
[ 4.53564342e-04,-5.05420096e-04,-1.59245801e-04, 4.01227160e-06,
 -6.30474847e-04,-7.25798504e-04,-2.48515116e-04, 6.10277174e-05,
 -5.18889055e-04,-5.35655183e-04,-1.24763504e-04,-5.29807419e-05,
  2.10000000e-01,-5.80001131e-04, 9.00000000e-02, 2.80948416e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25715467,  0.2546587 ,  0.03574176,  0.2546587 ,  0.25801523,
       -0.00613146,  0.03574176, -0.00613146,  0.30084107,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005499509198392961
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.88696512e-01,  2.24862504e-01, -3.99568972e-01,  2.05086690e-01,
        9.74390504e-01,  9.22095190e-02,  4.10070675e-01,  1.38777878e-17,
       -9.12053749e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09871697, -0.09008877,  0.15071209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 12.65347607,  -2.52262205, -12.39946912,  -2.52262205,
       101.7875224 , -18.13396269, -12.39946912, -18.13396269,
        16.34275773,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005873329012639275
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.54427305e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.54427305e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0834631 , -0.05726781,  0.06197506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.99876254e-05,-6.34135338e-06, 6.35150902e-06,-7.34785311e-06,
 -4.56404794e-05,-1.96199749e-05,-1.87130347e-05, 7.79496768e-05,
 -6.80643368e-06,-3.31007803e-05, 1.61123409e-05,-2.98028835e-05,
  2.62119142e-01, 5.99373703e-03, 6.69129404e-02, 2.86292090e-02,
 -2.10573516e-03, 2.37877943e-03,-9.80954788e+00,-1.20229608e-02,
 -2.40110525e-02, 3.10603266e-05]


--- Step 1074 ---
qpos:
[-1.35470224e-02, 1.35165458e-02, 1.00454326e-02, 1.47406895e-02,
 -1.90534192e-02,-9.09802540e-03,-1.74325429e-02, 1.63808829e-02,
 -1.21196471e-02,-6.71744315e-03,-1.43757365e-02, 1.51399930e-02,
  1.40361606e+00, 2.71395657e-02, 3.35507559e-01,-2.43287769e-02,
  9.37445478e-02,-7.38193680e-02, 1.04488724e-01, 9.92930499e-01,
 -7.51293597e-06,-7.76993759e-04,-1.18694655e-01]

qacc:
[ -3.05647425, -1.61406322,  7.14753446,-14.54538916, -4.72137145,
   3.3261948 ,-14.94180831, 30.34687877, -3.77020658,  1.42648587,
  -5.08544485,  6.1800973 , -2.35706392, 25.50845364,-28.99059681,
 -83.56863236,  0.38037922, -0.9083138 , -0.4257427 , 14.7169419 ,
  21.95181945, -8.32582491]

qfrc_actuator:
[ 4.36254010e-04,-5.26331197e-04,-1.54895572e-04,-1.80692219e-05,
 -6.57049487e-04,-6.83891846e-04,-2.59472011e-04, 1.05926546e-04,
 -5.40848590e-04,-5.27913647e-04,-1.47806422e-04,-5.18018933e-05,
  2.10000000e-01,-5.69455509e-04, 9.00000000e-02, 2.81999026e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26735125,  0.26544258,  0.03188925,  0.26544258,  0.26764794,
       -0.00246961,  0.03188925, -0.00246961,  0.28790802,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005786151789970279
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88856529,  0.21899064, -0.40310648,  0.19942821,  0.97572696,
        0.09047259,  0.41313451,  0.        , -0.91067002])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09870005, -0.0901525 ,  0.1506689 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 12.43483636,  -3.07878468, -12.04766534,  -3.07878468,
       123.07658996, -28.27453507, -12.04766534, -28.27453507,
        19.66040273,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005742337771482281
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.83349756e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.83349756e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08346527, -0.05726349,  0.06197561])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.82106318e-05,-2.34265796e-05, 3.58416180e-06,-2.22723123e-05,
 -2.78818512e-05, 3.03954024e-05,-1.46150442e-05, 4.49295304e-05,
 -2.21460590e-05,-8.70892527e-06,-2.89235123e-05,-2.61164104e-07,
  2.61939676e-01, 5.77560443e-03, 7.11414496e-02, 3.04261944e-02,
 -2.14473144e-03, 2.57076796e-03,-9.80949441e+00,-1.20486027e-02,
 -2.39770856e-02, 2.68127562e-05]


--- Step 1075 ---
qpos:
[-1.35483624e-02, 1.35169552e-02, 1.00457727e-02, 1.47407947e-02,
 -1.90532692e-02,-9.09779495e-03,-1.74329948e-02, 1.63835780e-02,
 -1.21205889e-02,-6.71797784e-03,-1.43759584e-02, 1.51399685e-02,
  1.40365986e+00, 2.71552951e-02, 3.35712326e-01,-2.44375573e-02,
  9.37455390e-02,-7.38590758e-02, 1.04486982e-01, 9.92805921e-01,
  1.60914288e-04,-3.67668180e-04,-1.19734044e-01]

qacc:
[ 1.27786826e+00, 3.94018792e-04, 7.85610145e-01,-4.56567556e+00,
  6.25618842e+00,-1.09482537e+00, 5.63445446e+00,-1.07194084e+01,
 -2.27470029e+00, 3.02664133e+00,-1.18112231e+01, 1.88668863e+01,
 -2.64010488e+00, 2.70872114e+01,-3.03733614e+01,-7.36304445e+01,
  3.43870710e-01,-8.38979572e-01,-4.44920467e-01, 1.32192054e+01,
  2.00120893e+01,-9.29500278e+00]

qfrc_actuator:
[ 4.44427783e-04,-5.38972688e-04,-1.70377043e-04,-3.12074052e-05,
 -6.19183369e-04,-6.41110342e-04,-2.29957556e-04, 9.56661224e-05,
 -5.53492508e-04,-5.05231269e-04,-1.79296261e-04,-3.32043446e-05,
  2.10000000e-01,-5.88011809e-04, 9.00000000e-02, 2.83491213e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.27109476,  0.26967157,  0.02774191,  0.26967157,  0.27122741,
       -0.00128946,  0.02774191, -0.00128946,  0.28362928,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005891051937806054
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88652885,  0.22119802, -0.4063718 ,  0.20107938,  0.97522892,
        0.09217183,  0.41669376,  0.        , -0.90904692])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09871268, -0.0901227 ,  0.15062842])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005607863670725535
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.47470135e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.47470135e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08346648, -0.05725904,  0.06197618])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.61409957e-06,-2.59060273e-05,-2.06305164e-05,-1.44471565e-05,
  3.70812704e-05, 5.86960502e-05, 3.55549312e-05,-8.58680583e-06,
 -1.32568238e-05, 1.18458683e-05,-3.68513146e-05, 1.72209804e-05,
  2.61820929e-01, 5.53405418e-03, 7.54703979e-02, 3.22056301e-02,
 -2.20706156e-03, 2.78112069e-03,-9.80943288e+00,-1.20721585e-02,
 -2.39423998e-02, 2.30525955e-05]


--- Step 1076 ---
qpos:
[-1.35502843e-02, 1.35175643e-02, 1.00454390e-02, 1.47414196e-02,
 -1.90523218e-02,-9.09742504e-03,-1.74329606e-02, 1.63858074e-02,
 -1.21213299e-02,-6.71836380e-03,-1.43762556e-02, 1.51394441e-02,
  1.40369421e+00, 2.71699209e-02, 3.35876382e-01,-2.45583248e-02,
  9.37380381e-02,-7.38995005e-02, 1.04483110e-01, 9.92690170e-01,
  4.31512141e-04,-7.16271312e-05,-1.20689830e-01]

qacc:
[ -5.06947163,  3.22834487,-13.30489163, 23.21235469,  6.93559753,
  -2.14550572,  9.86162446,-18.77944408,  1.74785482, -0.62535824,
   4.620032  ,-13.25552809, -2.80358318, -1.21922652,-23.87123338,
  -3.740957  , -2.1230277 , -0.17926213, -0.53246019, 57.51447703,
 -50.10979285, 42.01935217]

qfrc_actuator:
[ 4.14273945e-04,-5.11137598e-04,-1.97407753e-04,-3.47902217e-06,
 -5.79203004e-04,-6.51265496e-04,-2.12300338e-04, 7.08251406e-05,
 -5.42794903e-04,-4.91553170e-04,-1.79924528e-04,-5.77531236e-05,
  2.10000000e-01,-6.08289008e-04, 9.00000000e-02, 2.84297482e-02,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.27432727, 0.27267342, 0.03007757, 0.27267342, 0.27287958,
       0.01312429, 0.03007757, 0.01312429, 0.15534676, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0005981608448100079
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88447767,  0.2234989 , -0.40956988,  0.20281003,  0.97470418,
        0.09391405,  0.42019916,  0.        , -0.90743191])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42, 43], dtype=int32)
  geom1: 42
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09873156, -0.09009396,  0.15058793])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([12.03558451, 12.03542857,  0.06126732, 12.03542857, 12.03583131,
       -0.04848069,  0.06126732, -0.04848069, 21.55919088,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005502339958932678
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52216110e-14, -1.13497250e-13,  1.00000000e+00, -2.86258348e-27,
        1.00000000e+00,  1.13497250e-13, -1.00000000e+00,  0.00000000e+00,
       -2.52216110e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10190416, -0.05680961,  0.06197662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.99608344e-05, 8.52031491e-06,-3.54068505e-05, 2.56260438e-05,
  4.10583325e-05, 2.96510067e-05, 3.38605057e-05,-2.12643556e-05,
  1.03448153e-05, 1.34597647e-05,-2.11254185e-06,-2.49783986e-05,
  2.61709110e-01, 5.27972308e-03, 7.96817416e-02, 3.38358395e-02,
 -2.28402868e-03, 3.00100509e-03,-9.80936504e+00,-1.20937475e-02,
 -2.39073143e-02, 1.96505882e-05]


