Discussions

There are inconsistent collision properties for the feet in the XML provided in the mujoco playground, leads to robot not being able to stand, it's not representative of reality.

https://github.com/kscalelabs/mujoco_playground/blob/master/playground/resources/zbot/zbot.xml

See FOOT1 and FOOT2 below

  <default class="collision">
    <geom group="3"/>
    <default class="FOOT1">
      <geom size="0.08 0.0275 0.006" pos="0 -0.043 0.0133277" type="box" contype="1" conaffinity="1"/>
      <site size="0.08 0.0275 0.006" pos="0 -0.043 0.0133277" type="box"/>
    </default>
    <default class="FOOT2">
      <geom size="0.027 0.0325" pos="0 9.61687e-05 0.0388277" type="cylinder"/>
    </default>

Can't upload pics but these shapes are very different.