The tip of the robot does not move in Z direction

[ajaigit]

Hello PyElastica,

I am having trouble with the tip of the robot as it always points in the positive z-direction and barely moves down by a cm or two in the downward z-direction. Although I am applying forces in the normal, binormal, and twist directions. I did run the file a sufficiently large number of times but every time the tip never moved more than 2 cm. I am wondering what could I be possibly doing wrong ?

I have attached my code for reference.
MyElastica.txt