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Description
Intro
Hi!
I am a graduate student at HKU, I use MuJoCo for my research on robotic manipulation.
My setup
MuJoCo 3.3.0, Python and C, Linux
What's happening? What did you expect?
When setting box geom with positive margin (nativeccd on by default, multiccd off), the box-box contact becomes intermittent under certain settings. The model below is reduced from more legitimate use cases. In this simple setting, it is necessary to have quat="1 0 1e-6 0" or larger to avoid perfectly aligned boxes, to see the intermittent contact. When margin is set to zero, the behavior disappears.
Steps for reproduction
- Setting the actuator to
1e-7to make two geoms contact. Turn on the contact point/force rendering to visualize.
Minimal model for reproduction
<mujoco>
<compiler angle="radian" />
<worldbody>
<body name="1" quat="1 0 1e-6 0">
<geom type="box" size="0.007 0.007 0.01" pos="0 0 0.05" condim="1" />
</body>
<body name="2" pos="0 0.02 0">
<joint name="2" axis="1 0 0" />
<geom type="box" size="0.007 0.007 0.01" pos="0 0 0.06" condim="1" margin="0.0005" />
</body>
</worldbody>
<actuator>
<motor name="2" joint="2" ctrlrange="0 1e-7" />
</actuator>
</mujoco>Code required for reproduction
Confirmations
- I searched the latest documentation thoroughly before posting.
- I searched previous Issues and Discussions, I am certain this has not been raised before.