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My Robot disappears after a few seconds with Convex Colliders enabled.

Discussion in 'Robotics' started by agru, Jan 3, 2022.

  1. agru

    agru

    Joined:
    Jul 6, 2020
    Posts:
    13
    Hi,
    My Robot disappears after a few seconds with Convex Colliders enabled. When I try to disable the convex colliders, my robot doesn't disappear but I get tons of errors because you can't use non-convex colliders with Articulation Bodies.
    Does anybody have an idea how to fix this?
    Thanks in advance
     
    agru, Jan 3, 2022
    #1

  2. amanda-unity

    amanda-unity

    Unity Technologies

    Joined:
    May 29, 2020
    Posts:
    19
    Hi--can you clarify the issue you're having? Are you getting other errors in the Unity Console when using convex colliders, e.g. invalid AABB messages?

    And can you elaborate on how to reproduce your issue? Was your robot imported using the URDF-Importer? If so, did you use the VHACD or Unity mesh decomposer?
     
    amanda-unity, Jan 6, 2022
    #2
    agru likes this.

  3. agru

    agru

    Joined:
    Jul 6, 2020
    Posts:
    13
    Thanks for replying.
    I used the URDF Importer and VHACD. I get around 150 error messages:
    Non-convex MeshCollider with ArticulationBody is not supported.
    If you want to use a non-convex mesh either use the Rigidbody kinematic or remove the ArticulationBody component
     
    agru, Jan 7, 2022
    #3

  4. amanda-unity

    amanda-unity

    Unity Technologies

    Joined:
    May 29, 2020
    Posts:
    19
    What is the exact issue you're seeing when using convex colliders?

    My initial guess is that internal collisions when using convex colliders are causing the robot to behave unexpectedly. You can try referring to Unity-Robotics-Hub/216 and URDF-Importer/11 for similar resolutions for internal collisions.
     
    amanda-unity, Jan 7, 2022
    #4