Inputs needed for robot and environment interaction in mujoco py

[santoz007]

Hello,

I am working on a hybrid position/force controller for manipulators. After executing the controller, the behaviour of the manipulator is not quite as expected. The position control is working properly in the desired directions but the force control is not working as expected.

Additionally, I observed the following behaviour:
Initially, the manipulator and the object are not in contact but as time passes the manipulator and the object come into contact and as the manipulator moves over the surface of the object , the simulation tends to stop abruptly. I think is because the manipulator is experiencing a huge force at the end-effector that is messing the simulation. Although, I am not very clear at this point of time about the source of this force.

I am attaching my model xml file:
Issue.zip

Is my model xml appropriately setup for contacts? or am I missing any parameters?

Any inputs in this context are highly appreciated!