I have been trying to simulate picking up a rope object in simulation using Mujoco, and personally I have found that, for my simulation, the most effective method has been to activate a weld constraint between the rope and the gripper, so that way the rope moves in conjunction with the arm, as if it was being gripped tightly. This works nicely when I grip the rope in the center of one of the capsules, or when the gripper doesn't actually make contact with the rope, but if I make contact with the gripper too close to a joint between two capsules, phantom movement appears in the rope, which leads to unstable behavior, eventually resulting in crashing the entire simulation. I've attached the model I'm using for the gripper and the rope. Additionally, here is a video of the described behavior: https://drive.google.com/file/d/1rjKEsqpahpAYH5lwuqbsX-qWoz2_ytPE/view?usp=sharing Does anyone have any ideas what might be causing this? Thanks!