Hi there, I try to develop a manipulation skill using Mujoco. When I do simulation, I found that the object is slowly sliding in hand, even I set the contact force with in the friction cone. I also check the actual contact forces, they are always in friction cone. Another question is that: when I set a larger friction coefficient in geom property: Code: <geom contype='1' conaffinity='1' condim='3' rgba='0.8 0.6 .4 1' material="geom" friction="2 0.003 0.0001" margin="0" solref=".008 1" solimp=".95 .99 .0001"/> the finger is easy to penetrate the object. The last question is: when I use Mujoco 1.50, the simulation is much more slower than the 1.31, is it because there are too much profile showing in the simulation screen (counts, convergence, dimensions, and so on)? How can I close these plots? Thanks so much! Best regards,
Oh I got the answer of the first and the third question: The slippage is unavoidable, because the mujoco are dealing with deformation dynamics in order to make integration solvable. For the third one, set showprofiler = false;