Robot going through objects in environment

[santoz007]

Hi,

I am trying to simulate hybrid force/position control of a manipulator using mujoco py. In between the simulation, the manipulator penetrates through a fixed object in the environment instead of moving over it i.e. no penetration must take place. This is causing my simulation to stop entirely.

My model file is defined as follows:

Any help is highly appreciated.

[kevinzakka]

Few recommendations here:

• Increase the thickness of your table.
• Replace the collision geom of the last link of your robot with a primitive like a cylinder or a sphere.
• Reduce your simulation timestep.

[r-aristov]

Few recommendations here:

• Increase the thickness of your table.
• Replace the collision geom of the last link of your robot with a primitive like a cylinder or a sphere.
• Reduce your simulation timestep.

Have similar issue with mujoco-mjx here: Collisions not working properly in mujoco-mjx with Humanoid model

Unfortunately none of the suggested things worked.

[btaba]

Hi @r-aristov , the issue referenced for Humanoid was closed, Can you please provide a complete example that we can reproduce? I don't really understand what the expected behavior is vs. the behavior you're seeing, do you have a video?

[r-aristov]

@btaba Hello! The issue was resolved, thanks! It turned out that I missed conaffinity parameter and by default collisions were turned on only for feet of Humanoid.