A body(robot component) is connected to the main body(robot) through a slide type joint. This body is penetrating inside walls(another body/geom) after a collision. Once it penetrates the wall(another body/geom) the sliding joint gets activated. I don't want it to penetrate any outside geom/bodies. How I can fix the same?
This issue is only with the slide-type joint. When I trying with hinge-type or ball-type joint the penetration is not taking place. Still not sure what is causing this behavior.
Nevermind, I was able to fix it. I changed the solref values of the wall's geom. I reduced both parameters of solref, which reduce the damping(second parameter) and made it more resposive(first parameter)