marble posted at 10:34PM Wed, 15 February 2017 - #4297378

Please have a look at my parameters and see if you can see anything glaringly wrong?

I came back to your post : the floor have a value of 0.1. That mean that the VWD floor will go upper. When I see the pose you want to use the VWD: floor goes through G3F that could be a reason of simulation problem (even VWD is robust!).