nq=6 nv=6 nbody=8 ngeom=8 nu=12 nexclude=21
opt: timestep=0.002 cone=0 iterations=100 gravity=[np.float64(-0.0), np.float64(-0.0), np.float64(-9.8100004196167)]
body 0 world                    mass=0 ipos=[0.0, 0.0, 0.0] pos=[0.0, 0.0, 0.0] inertia=[0.0, 0.0, 0.0]
body 1 static_body_0            mass=1 ipos=[0.0, 0.0, 0.0] pos=[0.0, 0.0, 0.0] inertia=[0.10000000149011612, 0.09999995678663254, 0.09999995678663254]
body 2 body_1                   mass=8.256 ipos=[0.0, 0.02, 0.169] pos=[0.0, 0.0, 0.0] inertia=[0.04474171623587608, 0.04155958816409111, 0.017937593162059784]
body 3 body_2                   mass=3.9668 ipos=[-0.0, 0.113, 0.158] pos=[0.0, 0.0, 0.22] inertia=[0.1001259982585907, 0.09976565092802048, 0.006413338705897331]
body 4 body_3                   mass=5.26105 ipos=[-0.0, 0.018, 0.041] pos=[-0.0, -0.0, 0.38] inertia=[0.020603012293577194, 0.01833554171025753, 0.008399348706007004]
body 5 body_4                   mass=2.271 ipos=[0.0, 0.045, 0.242] pos=[0.0, 0.0, 0.0] inertia=[0.03423342481255531, 0.03349801152944565, 0.0028557965997606516]
body 6 body_5                   mass=2.54629 ipos=[0.0, 0.015, 0.035] pos=[0.0, -0.0, 0.42] inertia=[0.008555497042834759, 0.006411907263100147, 0.002992776921018958]
body 7 body_6                   mass=0.577639 ipos=[-0.0, 0.0, 0.121] pos=[0.0, 0.0, 0.0] inertia=[0.0005365847027860582, 0.00038676493568345904, 0.0003408273041713983]
jnt 0 joint_2                  type=3 limited=1 range=[-3.141590118408203, 3.141590118408203] stiffness=0 actfrc=[-194.0, 194.0] (lim=1)
jnt 1 joint_3                  type=3 limited=1 range=[-3.141590118408203, 3.141590118408203] stiffness=0 actfrc=[-194.0, 194.0] (lim=1)
jnt 2 joint_4                  type=3 limited=1 range=[-2.617990016937256, 2.617990016937256] stiffness=0 actfrc=[-102.0, 102.0] (lim=1)
jnt 3 joint_5                  type=3 limited=1 range=[-6.28318977355957, 6.28318977355957] stiffness=0 actfrc=[-102.0, 102.0] (lim=1)
jnt 4 joint_6                  type=3 limited=1 range=[-3.141590118408203, 3.141590118408203] stiffness=0 actfrc=[-34.0, 34.0] (lim=1)
jnt 5 joint_7                  type=3 limited=1 range=[-6.28318977355957, 6.28318977355957] stiffness=0 actfrc=[-34.0, 34.0] (lim=1)
opt cone=0 impratio=1.0 noslip=0 o_solref=[0.02, 1.0] timestep=0.002
geom 0 shape_0_0                body=0 type=6 condim=3 contype=0 conaff=1 fric=[1.0, 0.005, 0.0] size=[3.0, 3.0, 0.06] pos=[0.0, 0.0, -0.06] quat=[1.0, 0.0, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 1 shape_1_1                body=1 type=5 condim=3 contype=0 conaff=0 fric=[1.0, 0.005, 0.0] size=[0.12, 0.0375, 0.12] pos=[-0.02, 0.0, 0.037] quat=[1.0, 0.0, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 2 shape_2_2                body=2 type=3 condim=3 contype=1 conaff=0 fric=[1.0, 0.005, 0.0] size=[0.1, 0.015, 0.1] pos=[0.0, 0.01, 0.17] quat=[1.0, 0.0, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 3 shape_3_3                body=3 type=3 condim=3 contype=1 conaff=0 fric=[1.0, 0.005, 0.0] size=[0.1, 0.145, 0.1] pos=[0.0, 0.13, 0.185] quat=[1.0, 0.0, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 4 shape_4_4                body=4 type=3 condim=3 contype=1 conaff=0 fric=[1.0, 0.005, 0.0] size=[0.1, 0.1, 0.1] pos=[0.0, 0.0, 0.04] quat=[1.0, 0.0, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 5 shape_5_5                body=5 type=3 condim=3 contype=1 conaff=0 fric=[1.0, 0.005, 0.0] size=[0.1, 0.075, 0.1] pos=[0.0, 0.035, 0.29] quat=[1.0, 0.0, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 6 shape_6_6                body=6 type=3 condim=3 contype=1 conaff=0 fric=[1.0, 0.005, 0.0] size=[0.1, 0.09, 0.1] pos=[0.0, 0.0, 0.04] quat=[1.0, 0.0, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 7 shape_7_7                body=7 type=3 condim=3 contype=1 conaff=0 fric=[1.0, 0.005, 0.0] size=[0.05, 0.0325, 0.05] pos=[0.0, 0.0, 0.083] quat=[1.0, 0.0, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
act 0 gain=[1940.0, 0.0, 0.0] bias=[0.0, -1940.0, 0.0] trn=[np.int32(0), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 1 gain=[97.0, 0.0, 0.0] bias=[0.0, 0.0, -97.0] trn=[np.int32(0), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 2 gain=[1940.0, 0.0, 0.0] bias=[0.0, -1940.0, 0.0] trn=[np.int32(1), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 3 gain=[97.0, 0.0, 0.0] bias=[0.0, 0.0, -97.0] trn=[np.int32(1), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 4 gain=[1020.0, 0.0, 0.0] bias=[0.0, -1020.0, 0.0] trn=[np.int32(2), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 5 gain=[51.0, 0.0, 0.0] bias=[0.0, 0.0, -51.0] trn=[np.int32(2), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 6 gain=[1020.0, 0.0, 0.0] bias=[0.0, -1020.0, 0.0] trn=[np.int32(3), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 7 gain=[51.0, 0.0, 0.0] bias=[0.0, 0.0, -51.0] trn=[np.int32(3), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 8 gain=[340.0, 0.0, 0.0] bias=[0.0, -340.0, 0.0] trn=[np.int32(4), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 9 gain=[17.0, 0.0, 0.0] bias=[0.0, 0.0, -17.0] trn=[np.int32(4), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 10 gain=[340.0, 0.0, 0.0] bias=[0.0, -340.0, 0.0] trn=[np.int32(5), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 11 gain=[17.0, 0.0, 0.0] bias=[0.0, 0.0, -17.0] trn=[np.int32(5), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
dof 0 damping=0.00 armature=0.0000 frictionloss=0.000
dof 1 damping=0.00 armature=0.0000 frictionloss=0.000
dof 2 damping=0.00 armature=0.0000 frictionloss=0.000
dof 3 damping=0.00 armature=0.0000 frictionloss=0.000
dof 4 damping=0.00 armature=0.0000 frictionloss=0.000
dof 5 damping=0.00 armature=0.0000 frictionloss=0.000
