search

Unity-Technologies / URDF-Importer

URDF importer
Apache License 2.0
232 stars 71 forks source link

Non-convex MeshCollider with ArticulationBody is not supported #171

Closed agru97 closed 2 years ago

agru97 commented 2 years ago

I imported my Robot withe the newest version of the URDF-Importer, but now I have to disable the All Colliders Convex tag in the URDF Robot Script because when the Colliders are enabled my robot behaves very weird. When they are disabled I get 153 of these errors: 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.

hyounesy commented 2 years ago

Hi @agru97, thanks for reporting the issue. This is a bit strange, because after importing your robot with URDF-Importer, all the meshes should be decomposed to convex. Have you tried both the VHACD and Unity for the Mesh Decomposer option?

hyounesy commented 2 years ago

Created an internal ticket to remove the isConvex flag from URDF Robot as it is only supported by RigidBody's which is not supported anymore: [AIRO-1690]

vidurvij-Unity commented 2 years ago

Changes suggested by the issue are merged.