Hello,Â
It would be better the cube and the part of the beam have the same diameter. Additionally, the surfaces which take part in the contacts(target and contact), should have a refined meshing. You could have a better insight on the penetration (except for visual) by using Contact tool in your Solution branch. In this link, you can find some tips on how to avoid penetration. I think you will find helpful!
Kind Regards,
Stella
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