[Bug Report] Robot arm penetrates objects in the Pusher-v5 environmen

[thanhminh97]

Describe the bug

During the simulation, the robot arm exhibits object penetration, passing through objects instead of interacting with them correctly through physical collisions (e.g., pushing or making contact as expected

num_up_409600_pt_-60.85.mp4

Code example

import os
import gymnasium as gym

os.environ["MUJOCO_GL"] = "egl"
env = gym.make('Pusher-v5', render_mode="rgb_array", width=1280, height=720)

 
observation,_ = env.reset()
obs = observation
k = 0
frames = []
for _ in range(1000):
        with torch.no_grad():
            obs_array = np.array(obs)
            obs_tensor = torch.tensor(obs_array, dtype=torch.float32).unsqueeze(0).to(device)
            action, logprob, _, value = agent.get_action_and_value(obs_tensor)
            next_obs, reward, terminated,ter , info = env.step(action[0].cpu().numpy())
            k+=reward
            obs=next_obs
            img = env.render()
            frames.append(img)
            # Fix for multi-env outputs
            if terminated or ter :
                break
video= f"num_up_{tong_ptv}_pt_{round(k, 2)}.mp4"

imageio.mimsave(video, frames, fps=30)

System info

!pip install gymnasium_robotics[mujoco-py]

gym.version == '1.2.0'

https://www.kaggle.com/

python --version == Python 3.12.12

Additional context

No response

Checklist

• I have checked that there is no similar issue in the repo

[Kallinteris-Andreas]

I tested whether Pusher-v5 behavior changes across MuJoCo versions
- 3.0.0
- 3.1.0
- 3.2.0
- 3.3.0
- 3.4.0
- 3.5.0
- 3.6.0
- 3.7.0
- 3.8.0

I can not reproduce the issue, please provide the exact code to reproduce it