Insert a plate into a hole and collide back of the hole


I want to insert a rectangular plate into a rectangular hole and collide the back of the hole.

At present, the two cannot collide.

Is there a good way to create objects where they collide with each other?

Maybe It’s too hard for the agent to learn to insert the plane into the hole because of sparse reward. It may be a good choice to give your agent the plane’s posture and the hole’s posture. Then, the agent may learn how to match them.