Question Crashes with articulation bodies

Hey, I am working on some complex physic scenarios, and am experiencing frequent crashes of physic system during interaction between articulation bodies and rigid bodies.
Before all hell breaks loose, I get the following error message:
"Skipped updating the transform of this Rigidbody because its components are infinite. Could you have applied infinite forces, acceleration or set huge velocity?"

It happens basically in situation where, as said, huge forces are being applied from rigidbodies to articulation bodies.
Is there any kind of workaround to prevent these kind of crashes?

 

Have you solved this problem? I have the same problem when I import a manipulator model in unity.

 

not fully, but 99%. This behavior can have many causes, from messed up or missing colliders to applying too large forces somewhere. Best is to test step by step, and then work on the individual cause if found. This is not optimal, and i'd wish the system would be more robust.