help with simscape multibody contact forces

i am trying to create a simulation of octapod each leg 4 DOF, but my body keep penetrating through the ground like the GIF file.I commented out all legs except to make it easy to work with but still no luck.

My Simulink setup is also provided as the PNG image in the comment.

Can someone please tell me how fix this and tell me what I'm doing wrong? there should be a contact point in the sphere by the end of the leg too. I'm using R2018a.

Here is the link to the library:

https://ww2.mathworks.cn/matlabcentral/fileexchange/47417-simscape-multibody-contact-forces-library

[Sumedh Salvekar]

hey there..have you found the solution for this...I'm facing the same problem here..

Answer 1

[Lorenzo Romanini]

I think it's matter of dimensions. with too small radius and plane tickness, the model does not work.

Answer 2

[Sumedh Salvekar]

I found it..you should check the frame attached to PlaB port.

It states that the frame attached to PlaB should have its z-axis normal to plane....at least in my case this was the problem.

hope it helps !!