Hi, I used the new composite feature and built a rope environment. However, the dynamic seems a bit strange: When a robot gripper touches the rope with a relative medium velocity, the gripper goes through the rope. A video of such behavior is attached. I wonder if there is something wrong with my modeling of either the robot or the rope? The rope and the gripper are in the same collision group and when the speed of the gripper is very slow, this does not happen. The XML file for the rope or the robot can be viewed here: https://github.com/Xingyu-Lin/dfm_env/blob/master/assets/tasks/rope_temp.xml https://github.com/Xingyu-Lin/dfm_env/blob/master/assets/robots/sawyer.xml Thanks!