MuJoCo penetration stress test: 30k cubes on a heightfield, tune solref/solimp for stiffer contacts
kevin_zakka · x · 2026-09-14
Kevin Zakka shares a concrete stress test for robot simulation solvers: drop 30,000 10-cm cubes onto a 3-cm resolution random heightfield and check penetration. MuJoCo's defaults are soft but can be hardened by tweaking solref/solimp; PhysX shows similar issues, e.g. simulating a heavy robot on a thin light object. Issues can be posted on the mjwarp/mujoco GitHub for direct developer feedback.
Related event: Roboticists Debate Contact Tuning as MuJoCo Defaults Prove Too Soft(4 posts)→
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