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openai / mujoco-py

MuJoCo is a physics engine for detailed, efficient rigid body simulations with contacts. mujoco-py allows using MuJoCo from Python 3.
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Strange force and position output during soft object contact #666

Open zixichen007115 opened 2 years ago

zixichen007115 commented 2 years ago

Describe the bug I try to control an indenter to press against a gel. 5FA1C0D7C30932D031C8F21169EB40C7

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

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.