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                                            XinyuWang2

What could be the cause of mjWARN_BADQACC?

Yes, having contacts is expected. I think the main reason is that during the constraint activation, quaternion for relpose is [1, 0, 0, 0] and this correction step would lead...

Contacts seem unstable for mesh geom using adhesion

Thank you so much! Now the issue is magically fixed I think.

Contacts seem unstable for mesh geom using adhesion

I think it improves a lot. But it looks like the contact is still not stable enough (maybe?). I have another video that illustrates the problem. (https://drive.google.com/drive/folders/1VOApl8zFhZvVUAowxQZZn6jvL6TOUNOQ?usp=sharing) In the video,...

Contacts seem unstable for mesh geom using adhesion

It doesn't help much. Occasionally the mesh object would shake while being lifted by the gripper in the air. Since all the shape I need is of some very basic...