google-deepmind / google-deepmind/mujoco
Unexpected Bouncing Behavior with Hfield Using Margin>0 (Demo provided)
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Description
Dear MuJoCo Team,
I am encountering an unexpected bouncing issue when I replace a plane with a flat hfield and set margin=1 in my MuJoCo model. Here’s my XML file:
```xml
```
This strange bouncing always happens with margin > 0 with type `hfield`, but does not happen when the geom is using a `plane` type. Could anyone help diagnose the cause of this issue?
https://github.com/user-attachments/assets/05257a0c-9a26-4060-8892-a9742c8dc356
Operating system: MacOS 14.5
MuJoCo version: v3.1.6 and v3.2.0
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