MuJoCo Stress Test: 30,000 Cubes Expose Soft Default Contact Parameters

A robotics simulation stress test dropping 30,000 cubes onto a random heightfield sparked discussion. Kevin Zakka noted MuJoCo's default contact parameters are too soft and require tuning solref/solimp, while Newton performed solidly.

2026-09-14 ~ 2026-09-14 · 2 related posts

• MuJoCo penetration stress test: 30k cubes on a heightfield, tune solref/solimp for stiffer contacts — kevin_zakka · 2026-09-14
• Robot sim stress test: drop 30k cubes to check penetration, MuJoCo defaults are soft — ChongZzZhang · 2026-09-14