I noticed that in the simulation the arms (but not the arm tips) of the robot are not actually solid bodies - i.e. they are able to pass through each other and the cube is able to pass through the arms. Unfortunately the policy I have learnt in simulation exploits this inaccuracy and so is not transferring very well to the real robot - the arms collide with the cube and one another when the policy does not expect them to.
I’m just posting this on the off chance there is a quick/easy fix to this issue - i.e. are you aware of any way to make the arms behave as if they are solid bodies? No worries if not, thanks.