Describe the bug
I try to control an indenter to press against a gel.
If the indenter contacts the center point of the gel, the force and position seem realistic. But in the other position, after pressing to some extent, the indenter starts to slip, and the force in the z-axis starts to be 0.
You can see the strange force and position after ten steps in the following figure
Describe the bug I try to control an indenter to press against a gel.![5FA1C0D7C30932D031C8F21169EB40C7](https://user-images.githubusercontent.com/75701303/147746122-f9a92071-3364-436c-b6b3-a837fe5f079b.png)
If the indenter contacts the center point of the gel, the force and position seem realistic. But in the other position, after pressing to some extent, the indenter starts to slip, and the force in the z-axis starts to be 0. You can see the strange force and position after ten steps in the following figure![InkedFigure_1_LI](https://user-images.githubusercontent.com/75701303/147745987-f23f518d-23d5-43f5-bac7-22a588152a24.jpg)
To Reproduce You can find the code in my project. https://github.com/zixichen007115/mujoco_force
Expected behavior The force in the z-axis should improve steadily, and in the other axes should be 0. There should be no slip.