Hi! I am new to MuJoCo and I am trying to control a robot model that I made with the Schunk 3-finger hand. I am controlling the joint positions using mujoco-py interface similar to the script shown here. I continuously increase the joint values in every simulation step. I see the following results (video is attached), which do not respect collision constraints and the robot penetrates itself. What is the right way of controlling such a robot? I have a mocap body attached to the hand. My end goal is that the robot goes down, grasps the object and comes back up. I was able to simulate this using just MuJoCo simulation using slider controls and mocap control manually. But I would like to have a script for the same. Any input will be highly appreciated. Thanks!