Collision not detected?

[cstr-withyou]

Intro

Hi!

I am an undergraduate in Peking University, I use MuJoCo for my research on dexterous hands.

My setup

mujoco 3.2.5, python, Windows11

My question

I'm writing a mjcf model, and it seems the collision between hand and the door link is not detected.
The xml is in /debug_xml/debug.xml, and you should drag it into bin/simulate.exe in mujoco, and you should click "load key" in the simulator.
When I see the CONTACT info in mjdata, the info only includes collision between hand and handle, but there is obviously collision between the hand and the door.
research.zip

Minimal model and/or code that explain my question

No response

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[cstr-withyou]

Oh, please modify the mesh path in the "assets" to your absolute path or relative path. I forgot and apologize for that.

[cstr-withyou]

It's a problem in 3.2.5. There is no problem in 3.2.6