Real-Time Physics Simulation Forum

I'm trying to use haptic devices to manipulate objects in Pybullet, during which I found the abnormal collision as illustrated below(when one object is fixed, moving another object towards it will result in continuous intersecting with or piercing through the fixed one which is not like the real world situation. Below is a simplified version for demonstration in which I drag the upper box downwards with my mouse). I'm wondering if there's any method to solve or reduce this problem. I really appreciate any help you can provide.