Hi, I've been trying to create a simulator which can adequately model a Sawyer robot interacting with a set of random objects. I'm using a Sawyer model that I found online combined with object meshes which I've convexified myself. Unfortunately, I've run into a bunch of really strange issues with object contacts and the simulator often runs quite slow. Here is a google document with the behavior described: https://docs.google.com/document/d/1c-DOjd4NP55ctrDwCd50tC0CNoyTLupXMs-ciUVL2dA/edit?usp=sharing I've also attached a demo XML file which showcases this behavior: https://drive.google.com/file/d/10vWYJkdfnNdFpw7DRwk-8_0Txyht4u8K/view?usp=sharing I'd appreciate any tips you have for creating a faster, more stable simulator and creating better contacts. In particular, I've had a hard time creating a single set of parameters that enable grasping, lifting, and pushing tasks with a wide range of objects. Thanks for the help in advance, and let me know if I can supply anything else!