I am training an agent to perform a manipulation task (grasping an object placed on a table). When I visualize the learnt policy, I see that the robotic hand is able to penetrate both the table as well as the object in order to lift the object up. This effect is more pronounced when the mesh is decomposed into a set of convex meshes in the xml. When I load the original mesh (which is then interpreted as a convex hull), penetration still persists but the object seems to resist it to some extent. The visualizations and corresponding xml files can be accessed here. I have a couple of questions in this regard: 1. What could be causing this penetration effect (in decomposed mesh, hull, as well as table)? I tried reducing the timestep, but it doesn't get rid of the penetrations. 2. From the looks of it, the hand acceleration value is very high. Is this the main culprit? Would limiting this value solve the issue? If so, how can I do that? 3. Why is there such a big difference between the decomposed mesh and the hull? Does the decomposed mesh provide lower resistance than the original mesh? What values should I change to make it behave in a similar manner? 4. Is there something else terribly wrong in the xml model that could be causing this? Thanks for your help!