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: MuJoCo Stress Test: 30,000 Cubes Expose Soft Default Contact Parameters(2 posts)→
More from Embodied
- YC-backed Earendil Robotics builds autonomous interceptor drones for affordable air defense — ycombinator · 2026-09-15
- OM-1 robot foundation model generalizes zero-shot across arms and humanoids from human data — zipengfu · 2026-09-15
- OM-1 captures subconscious human physical intelligence directly from people, building on Stanford's DexCap — zipengfu · 2026-09-15
- UW AI researcher wins top Marconi award, aims to put 'superhuman hearing' in billions of devices — lazowska · 2026-09-15
- Redditor pits Claude Fable 5.1 vs GPT 6 Astra on a robot arm painting task — KungRaLeo · 2026-09-15
- Tesla's fleet isn't 1,000 robotaxis: only 439 registered vehicles, all in Texas — mitchdeg · 2026-09-15