Dropping 100kg on a 0.5kg plate: sim contact penetration fixed by tuning solref/solimp
ChongZzZhang · x · 2026-09-15
A developer stress-tested contact simulation in Isaac Sim by dropping a 100kg pillar onto a 0.5kg, 3cm plate: default parameters produced 1cm penetration, but a few tuning rounds fixed it. MuJoCo devs responded that defaults are soft and solref/solimp can harden contact, noting PhysX has similar issues with heavy robots on thin objects.
Related event: Roboticists Debate Contact Tuning as MuJoCo Defaults Prove Too Soft(4 posts)→
More from Embodied
- UCLA's ChairNav teaches autonomous wheelchairs to learn each rider's preferences — zhoubolei · 2026-10-31
- Amazon Echo kills local voice storage: everything goes to the cloud from March 28 — alex_verem · 2026-10-31
- HP paid $116M for Humane, then bricked every $699 AI Pin 10 days later — alex_verem · 2026-10-31
- Moxie, the $800 AI robot friend for kids, went silent overnight after shutdown — alex_verem · 2026-10-31
- Subvocal's YC-backed glasses decode silent speech at 200+ wpm, built in 4 months — garrytan · 2026-10-31
- Nomagic warehouse robots go from bimanual to trimanual, pause to solve tricky picks — m_wulfmeier · 2026-10-31