Some agents PASS THROUGH obstacles. why?

Hello, and I am sorry to bother you again. I am implementing multi-agent trajectory planning in 3D Space in https://github.com/Michi-Tsubaki/MultiAgentTrajectoryPlanning/blob/tsubaki/make-door-example-3d/Multi-agent-in-3d-space.jl branch for UAV's path planning. I ported the code for 2D space to 3D space naively. The results of inferences are shown in the figures below.  The main points for making 3d version was that in real 3D space, height limitation (like a floor and a ceiling), so I added an obstacle as the ground/floor.  However, some agents **PASS THROUGH** the floor. So,... - Do you have any idea of its cause / solution? - Have you encountered similar problem when using RxInfer?