Issues with Drone Arm Kinematics in MuJoCo 3.2.6

[clatrajim]

Intro

Hello!
I am a undergrad student /researcher at University of Seville, I use MuJoCo for my research on drones with arms, plus Reinforcement Learning and Neuronal Networks

The drone has to move and take a box.

My setup

MuJoCo 3.2.6 for create the dron with arms
I did a bridge between MuJoCo and Ardupilot.

My question

The drone's landing gear are positioned correctly, but the arms extend past the ground. I would like the arms to behave more like a human’s, remaining in contact with the ground (or resting on it) when no force is applied, and only moving when force is actively applied. I have configured two joints per arm (shoulder and elbow), but I can’t seem to prevent the arms from penetrating the ground at rest.
How can I modify my simulation parameters or constraints to have the arms "rest" on the ground and only lift when acted upon?

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.

[yuvaltassa]

It's penetrating despite the collisions or simply not colliding?

[clatrajim]

The functioning is strange; the arms pass through without difficulty, but when I move them, they apply a force thanks to the floor.

I'm not entirely sure what's happening, but by using the same XML in Mujoco version 3.3.0, this problem was solved.

Thank you for responding.