mujoco Collision problems

[2802029572]

Intro

Hi!

I am a graduate student , I'm using mujoco for robotic arm obstacle avoidance reinforcement learning training, and during the training, the robotic arm bounces off when it hits an obstacle. Why is this and how can I fix it?

My setup

mujoco

My question

I am a graduate student , I'm using mujoco for robotic arm obstacle avoidance reinforcement learning training, and during the training, the robotic arm bounces off when it hits an obstacle. Why is this and how can I fix it?

Minimal model and/or code that explain my question

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[AumGupta]

Hey @2802029572 ,
Found something similar
https://forum.coppeliarobotics.com/viewtopic.php?p=41441&sid=74ecadcf368044f6f57d8a4d0a5d5304#p41441

[btaba]

Hi @2802029572 it sounds like you'll want to adjust the stiffness/damping of your contact, via solref on the collision geoms.