I am currently facing a problem similar to the one I encountered with peg-in-hall task.
The colliders generated by the URDF importer are larger than the triangle mesh, so I have set them to use the triangle mesh.
However, when I actually move the robot, there are times when it does not move due to invisible obstacles.
We cannot share the current robot model, but has anyone faced a similar problem?
Steps to Reproduce
Import URDF
Change collision setting to “Triangle Mesh”
Run simulation
There are invisible obstacles around the robot, which prevents it from working.
Even if we display the collider, we cannot see the obstacles that are colliding.
The following is an example of a strange phenomenon that occurs using a triangle mesh.
The two objects do not appear to be in contact, but the object using the triangle mesh are defying gravity.
@hijikata_M i am just another user, but not sure if what you are seeing is related to this note from the official doc (under convex decomposition):
While triangle mesh and mesh simplification are not supported by rigid bodies and fall back to convex hull, it is possible to use a triangle mesh geometry directly on a rigid body by adding a signed-distance field to it; select SDF Mesh in the approximation drop-down to do so.
Does this document mean that the triangle mesh is automatically converted to a convex hull? If so, it seems strange that this is not reflected when displaying the collider.
I had a similar problem with SDF Mesh and found that the expected collision behaviour still didn’t happen, the solution I found was that I needed to set the following in the “physicsScene” and it would collide properly.
But I have a strange problem, when I run the same example in version 2023.1.1, everything shows up fine, but after migrating to version 4.2.0, the rigid body with collision attribute becomes invisible, but the collision attribute is still there, just the entities are invisible, I don’t know if you’ve ever encountered this problem, the invisible model is imported in STEP format.
