Collision error (180.3 KB)

I tried to use this box for experiments, however it showed a wrong collision status.

traybox is ok:

How to solve it? Thank you .

Hi @floodsung,

It looks like the box from the top picture wasn’t convexly decomposed in opposite to the traybox. As a result, the convex hull automatically built around the non-convex object’s mesh was used as the collision shape.

To fix the collision behavior you observed I’d recommend performing the convex decomposition of the box mesh first and then reference the standalone convex meshes in your urdf file, similar to how it was done in traybox.urdf