Comments (7)
I had a similar problem with the Baxter robot. I fixed it giving layers to the arms and the parts with colliders and disabling the physics collisions between them under the project settings -> Physics tab. hope that helps
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The URDF Importer has been updated so that it allows for a 'disable collision' tag in imported URDFs which I believe should help both of your cases. You can find a more detailed description here, https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/urdf_importer/urdf_appendix.md#disable-collision-support
The change should be included in URDF Importer version 0.0.5, which should hopefully be released sometime today or tomorrow.
@Transzendental , Can you please add the disable collision tag to your URDF, reimport the robot, and then let me know the result?
@Coloradete , would you also mind taking a look at our update to see if it would resolve your issue while also being simpler to implement?
Thank you!
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Hey @Coloradete and @Transzendental I'm doing a backlog sweep and would like to resolve this issue. Did the recent changes to the URDF Importer resolve your issues?
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Ive switched to ROS# on a non beta unity version instead. Since i no longer have the project im unfortunately not able to retest this. Feel free to close this issue.
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For Baxter, there are collision penetrations inside each arm and between the arms and the torso mesh collider. I can confirm the 'disable collision' tag resolves this issue for the common Baxter URDF file by creating tags for all combinations of the lists (torso, left_arm_links) and (torso, right_arm_links).
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For the Franka Panda arm, I found the 'disable collision' cannot fix the Invalid AABB errors.
- the Franka panda arm urdf can be loaded successfully in Pybullet.
- Unity version is 2020.2 and 2020.3, URDF importer 0.2.0, both have invalid AABB errors.
- When I use URDF importer 0.0.5 in Unity 2020.3, the MessProcess cannot be found.
Can anyone help? Thanks in advance!
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I have the same error when pressing play and I found that in some URDF Inertial (Script) there are NaN in Using URDF Data. By unchecking the box Use URDF Data. The problem is fixed.
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Related Issues (20)
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- Visual and Collision Mesh Mismatching after re-opening Unity Project HOT 5
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- UWP Built fresh project doesn't work (VS project unloaded), and duplicate assimp.dll HOT 2
- Why the robot I imported to unity trembles ……
- Reporting a vulnerability
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- Importing PR2 Causes Unity to Crash Again
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