Hi, I had a robot arm model in urdf format and converted it to xml format using the compile command. The generated xml was then modified and I see the the robot is stable in MuJoCo. But, when I introduce a small block, the robot behaves strangely. The arm is expected to be straight but it changes within the first second of loading up the simulation. I've tried playing around with inertia parameters, contact forces, etc. But, I not able to figure out the cause. Can you please, have a look, all the necessary files are attached. Thanks
I disabled warm start and now it seems that the robot is stable, when I move the block. Is this the correct solution? What is warmstart?