Unstable behaviour with rigidbodies #59
Comments
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Hi, we're not seeing any significant difference in simulation stability with and without the URDF importer package. Are you sure that's the only difference between your two setups?
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Yes, there is no other difference than importing the URDF-importer tool. A video of the exact steps is shown in this video. I'm getting a warning with inconsistent line ending, but I'm really doubting that is the issue. I noticed the tool changed the rigidbody component, but I'm not sure if that has anything to do with it. So far I have been unable to solve the issue and any help would be appreciated. |
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Hi, thanks for the repro, I was able to follow your steps and get the same result. It turns out this effect is caused by RigidbodyEditor.cs: as long as you have a rigid body selected in the editor, its inertiaTensorRotation is constantly being converted to euler angles and back. I made a fix and it will be released soon. To get it now, you can paste the following git URL into package manager: |
LaurieCheers-unity
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Thank you for the fix! it now works as intended. |
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* Adding ROS# link (#39) * Adding ROS# link * Fixing Unity 2020.1.8f1 compatability issues. * Adding precompile error if an older version of Unity is used * Fixing spacing * Removing 2020.1 version enforcement * Remove degree to rad conversions (#44) * AIRO-331 Re-organizing package directory and adding Yamato integration (#41) * Moving package into package folder * Adding test project. * Adding boilerplate tests. * Add yamato config * Disabling audio in test project and adding submodule checkout to Yamato cfg * Adding Unity .gitattributes and normalizing line endings. (#42) * Vidur/remove controller limits for free joints (#45) * AIRO - 365 Add feedback while URDF is being imported (#43) * Convert RobotExtensions to an iterator * Adding EditorCorutine to package manifest * Adding import status data * Updating the assembly file. * Adding option to add or remove progressbar * Update git links with tags(#48) * Regenerating meta files for tests copied from ROS-TCP-Connector * Latest VHACD (#49) * Remove the submodule for now, to avoid a packman bug. (#52) * Update version (#53) * VHACD license -> root folder (#55) * VHACD dlls should not be in LFS * update latest version in readme (#58) * Disable RigidbodyEditor controls at runtime Fix for #59 * test.txt * deleting the txt file added by mistake * Adding default values for Articulation Body Parameters (#57) * Adding a default value if mass is zero. * Correct the null value error in Articulation Body attributes * Adding return value of Create function as GameObject * Adding default values variables for damping and friction * Update link branch from master to main. (#66) * Updating Contribution Content (#68) * Contributing content * PR feedback * Adding PR template (#73) * Resolve conflicts (#80) Merge main to dev and resolve all the conflicts * Update package.json (#84) * Fix bad merge * Fix bad merge Co-authored-by: mpinol <mpinol@users.noreply.github.com> Co-authored-by: Christopher Joseph <cjoseph@virtanatech.com> Co-authored-by: Christopher Joseph <38385529+chris15joseph@users.noreply.github.com> Co-authored-by: vidurvij-Unity <60901103+vidurvij-Unity@users.noreply.github.com> Co-authored-by: Devin Miller (Unity) <mrpropellers@users.noreply.github.com> Co-authored-by: Devin Miller <devin.miller@unity3d.com> Co-authored-by: peifeng-unity <56408141+peifeng-unity@users.noreply.github.com> Co-authored-by: Hamid Younesy <hamid.younesy@unity3d.com> Co-authored-by: Amanda <31416491+at669@users.noreply.github.com>
hyounesy
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* Merge 0.3.0 into main (#86) * Adding ROS# link (#39) * Adding ROS# link * Fixing Unity 2020.1.8f1 compatability issues. * Adding precompile error if an older version of Unity is used * Fixing spacing * Removing 2020.1 version enforcement * Remove degree to rad conversions (#44) * AIRO-331 Re-organizing package directory and adding Yamato integration (#41) * Moving package into package folder * Adding test project. * Adding boilerplate tests. * Add yamato config * Disabling audio in test project and adding submodule checkout to Yamato cfg * Adding Unity .gitattributes and normalizing line endings. (#42) * Vidur/remove controller limits for free joints (#45) * AIRO - 365 Add feedback while URDF is being imported (#43) * Convert RobotExtensions to an iterator * Adding EditorCorutine to package manifest * Adding import status data * Updating the assembly file. * Adding option to add or remove progressbar * Update git links with tags(#48) * Regenerating meta files for tests copied from ROS-TCP-Connector * Latest VHACD (#49) * Remove the submodule for now, to avoid a packman bug. (#52) * Update version (#53) * VHACD license -> root folder (#55) * VHACD dlls should not be in LFS * update latest version in readme (#58) * Disable RigidbodyEditor controls at runtime Fix for #59 * test.txt * deleting the txt file added by mistake * Adding default values for Articulation Body Parameters (#57) * Adding a default value if mass is zero. * Correct the null value error in Articulation Body attributes * Adding return value of Create function as GameObject * Adding default values variables for damping and friction * Update link branch from master to main. (#66) * Updating Contribution Content (#68) * Contributing content * PR feedback * Adding PR template (#73) * Resolve conflicts (#80) Merge main to dev and resolve all the conflicts * Update package.json (#84) * Fix bad merge * Fix bad merge Co-authored-by: mpinol <mpinol@users.noreply.github.com> Co-authored-by: Christopher Joseph <cjoseph@virtanatech.com> Co-authored-by: Christopher Joseph <38385529+chris15joseph@users.noreply.github.com> Co-authored-by: vidurvij-Unity <60901103+vidurvij-Unity@users.noreply.github.com> Co-authored-by: Devin Miller (Unity) <mrpropellers@users.noreply.github.com> Co-authored-by: Devin Miller <devin.miller@unity3d.com> Co-authored-by: peifeng-unity <56408141+peifeng-unity@users.noreply.github.com> Co-authored-by: Hamid Younesy <hamid.younesy@unity3d.com> Co-authored-by: Amanda <31416491+at669@users.noreply.github.com> * removing unused meta file Co-authored-by: LaurieCheers-unity <73140792+LaurieCheers-unity@users.noreply.github.com> Co-authored-by: mpinol <mpinol@users.noreply.github.com> Co-authored-by: Christopher Joseph <cjoseph@virtanatech.com> Co-authored-by: Christopher Joseph <38385529+chris15joseph@users.noreply.github.com> Co-authored-by: vidurvij-Unity <60901103+vidurvij-Unity@users.noreply.github.com> Co-authored-by: Devin Miller (Unity) <mrpropellers@users.noreply.github.com> Co-authored-by: Devin Miller <devin.miller@unity3d.com> Co-authored-by: peifeng-unity <56408141+peifeng-unity@users.noreply.github.com> Co-authored-by: Amanda <31416491+at669@users.noreply.github.com>
sdiao
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* Adding ROS# link (#39) * Adding ROS# link * Fixing Unity 2020.1.8f1 compatability issues. * Adding precompile error if an older version of Unity is used * Fixing spacing * Removing 2020.1 version enforcement * Remove degree to rad conversions (#44) * AIRO-331 Re-organizing package directory and adding Yamato integration (#41) * Moving package into package folder * Adding test project. * Adding boilerplate tests. * Add yamato config * Disabling audio in test project and adding submodule checkout to Yamato cfg * Adding Unity .gitattributes and normalizing line endings. (#42) * Vidur/remove controller limits for free joints (#45) * AIRO - 365 Add feedback while URDF is being imported (#43) * Convert RobotExtensions to an iterator * Adding EditorCorutine to package manifest * Adding import status data * Updating the assembly file. * Adding option to add or remove progressbar * Update git links with tags(#48) * Regenerating meta files for tests copied from ROS-TCP-Connector * Latest VHACD (#49) * Remove the submodule for now, to avoid a packman bug. (#52) * Update version (#53) * VHACD license -> root folder (#55) * VHACD dlls should not be in LFS * update latest version in readme (#58) * Disable RigidbodyEditor controls at runtime Fix for #59 * test.txt * deleting the txt file added by mistake * Adding default values for Articulation Body Parameters (#57) * Adding a default value if mass is zero. * Correct the null value error in Articulation Body attributes * Adding return value of Create function as GameObject * Adding default values variables for damping and friction * Update link branch from master to main. (#66) * Updating Contribution Content (#68) * Contributing content * PR feedback * Adding PR template (#73) * Resolve conflicts (#80) Merge main to dev and resolve all the conflicts * Update package.json (#84) * Fix bad merge * Fix bad merge * support for runtime urdf importing (#67) * moved "NeedsRuntimeConversion" to Runtime and adjusted namespace * moved MeshProcessing and AssetHandler to Runtime * move all editor only calls to RuntimeURDF.cs * fixed compile issues: builds in runtime, but does nothing * URDF can now be imported in runtime (STL only) * cleanup: moved files into corresponding runtime directories. * Added UnityMeshImporter and AssimpNet plugin * Loading collada files in runtime (using AssimpNet plugin). * Proper creation of materials for HDRP/Standard when loading collada files * disable Assimpnet for IL2CPP builds * added parameter to URDFRobotExtensions.Create() to allow the option of using the runtime import mode in editor. * cleaning up material extensions * disable controller component during import to avoid incorrect configuration. * fix for the default diffuse material in HDRP * minor clean up and code convention fixes * added support for .obj visual meshes * don't enable the controller automatically in runtime mode. * variable name typo fix * Broke the Create() function into pipeline stages to reuse the code for both the none-blocking coroutine and blocking function call. * Added RuntimeURDFImporter component as an example usage of runtime import functionality * fix the bug with editor dialogs * random code formatting fixes * Moved and renamed the Transform extension function FindChildByQuery * fixed materials for URP projects. * removed unused code. * minor code formatting * removed unused code * URDF imported objects lose mesh colliders when made into prefabs (#72) * Saving decomposed mesh * checks to make the newly added vhacd mesh creation be compatible with the runtime mode. * minor code formatting Co-authored-by: Hamid Younesy <hamid.younesy@unity3d.com> * removing lfs as causes issues with the plugin dlls * deleting plugin to add it back without lfs * adding back AssimpNet libraries without lfs * deleting vhacd library to add it back without lfs * adding back VHACD libraries without lfs * Fixed the overexposed highlight color Co-authored-by: vidurvij-Unity <60901103+vidurvij-Unity@users.noreply.github.com> * Hamid/fix bad merge (#87) * Merge 0.3.0 into main (#86) * Adding ROS# link (#39) * Adding ROS# link * Fixing Unity 2020.1.8f1 compatability issues. * Adding precompile error if an older version of Unity is used * Fixing spacing * Removing 2020.1 version enforcement * Remove degree to rad conversions (#44) * AIRO-331 Re-organizing package directory and adding Yamato integration (#41) * Moving package into package folder * Adding test project. * Adding boilerplate tests. * Add yamato config * Disabling audio in test project and adding submodule checkout to Yamato cfg * Adding Unity .gitattributes and normalizing line endings. (#42) * Vidur/remove controller limits for free joints (#45) * AIRO - 365 Add feedback while URDF is being imported (#43) * Convert RobotExtensions to an iterator * Adding EditorCorutine to package manifest * Adding import status data * Updating the assembly file. * Adding option to add or remove progressbar * Update git links with tags(#48) * Regenerating meta files for tests copied from ROS-TCP-Connector * Latest VHACD (#49) * Remove the submodule for now, to avoid a packman bug. (#52) * Update version (#53) * VHACD license -> root folder (#55) * VHACD dlls should not be in LFS * update latest version in readme (#58) * Disable RigidbodyEditor controls at runtime Fix for #59 * test.txt * deleting the txt file added by mistake * Adding default values for Articulation Body Parameters (#57) * Adding a default value if mass is zero. * Correct the null value error in Articulation Body attributes * Adding return value of Create function as GameObject * Adding default values variables for damping and friction * Update link branch from master to main. (#66) * Updating Contribution Content (#68) * Contributing content * PR feedback * Adding PR template (#73) * Resolve conflicts (#80) Merge main to dev and resolve all the conflicts * Update package.json (#84) * Fix bad merge * Fix bad merge Co-authored-by: vidurvij-Unity <60901103+vidurvij-Unity@users.noreply.github.com> Co-authored-by: Devin Miller (Unity) <mrpropellers@users.noreply.github.com> Co-authored-by: Devin Miller <devin.miller@unity3d.com> Co-authored-by: peifeng-unity <56408141+peifeng-unity@users.noreply.github.com> Co-authored-by: Hamid Younesy <hamid.younesy@unity3d.com> Co-authored-by: Amanda <31416491+at669@users.noreply.github.com> * removing unused meta file Co-authored-by: LaurieCheers-unity <73140792+LaurieCheers-unity@users.noreply.github.com> Co-authored-by: vidurvij-Unity <60901103+vidurvij-Unity@users.noreply.github.com> Co-authored-by: Devin Miller (Unity) <mrpropellers@users.noreply.github.com> Co-authored-by: Devin Miller <devin.miller@unity3d.com> Co-authored-by: peifeng-unity <56408141+peifeng-unity@users.noreply.github.com> Co-authored-by: Amanda <31416491+at669@users.noreply.github.com> * [AIRO-589] Model and collision rotation mismatch (#78) correct collider rotation only for y-axis and add null check * Replace ../ with package://, throw more warnings otherwise (#90) * Replace ../ with package://, throw more warnings otherwise * PR feedback: more descriptive warning message * add changelog (#92) add changelog * Save assets for generated cylinder meshes (#91) * Initial GeneratedMeshes directory commit * Cylinder mesh saving * PR feedback: new cylinder method, Unity decomposer support * PR feedback: non-VHACD cylinder, unit tests * PR feedback: unit test conventions * Forum links to README, config.yml (#96) * Add test coverage (#93) * Math, VHACD Unit Tests (#94) * Math, VHACD tests * Organization for Math, VHACD * Vector3 fixes * fix the bash numeric error (#99) * RuntimeURDF tests (#97) * RuntimeURDF tests, skippping dialogs * PR feedback: removing unused blocks * Geometry, GeometryCollision Tests (#95) * UrdfGeometry tests * Folder organization * PR feedback: test fixes, Yamato config * Added sample STL for Geometry tests * UrdfCollisionExtensions, UrdfCollisionsExtensions Tests (#98) * UrdfCollisionExtensions tests * UrdfCollisionsExtensions tests * Destroy objects, naming conventions * UrdfCollision(s) minor cleanup, reorganization * Fixing line coverage typo * Cleaning up Geometry tests, fixes to Collisions tests * Remove class member * add unit tests for UrdfJoint (#100) * BuiltInExtensions Tests (#103) * BuiltInExtensions Tests * Removed debug logs * PR feedback: internal BuiltIn class * Add unit tests for UrdfJoints (#102) * UrdfAssetPathHandler Tests (#104) * UrdfAssetPathHandler Tests * UrdfAssetPathHandler test cleanup * PR feedback * update version to 0.4.0 (#109) Co-authored-by: vidurvij-Unity <60901103+vidurvij-Unity@users.noreply.github.com> Co-authored-by: Devin Miller (Unity) <mrpropellers@users.noreply.github.com> Co-authored-by: Devin Miller <devin.miller@unity3d.com> Co-authored-by: LaurieCheers-unity <73140792+LaurieCheers-unity@users.noreply.github.com> Co-authored-by: peifeng-unity <56408141+peifeng-unity@users.noreply.github.com> Co-authored-by: Hamid Younesy <hamid.younesy@unity3d.com> Co-authored-by: Amanda <31416491+at669@users.noreply.github.com> Co-authored-by: Hamid Younesy <hyounesy@users.noreply.github.com>
sdiao
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* Adding ROS# link (#39) * Adding ROS# link * Fixing Unity 2020.1.8f1 compatability issues. * Adding precompile error if an older version of Unity is used * Fixing spacing * Removing 2020.1 version enforcement * Remove degree to rad conversions (#44) * AIRO-331 Re-organizing package directory and adding Yamato integration (#41) * Moving package into package folder * Adding test project. * Adding boilerplate tests. * Add yamato config * Disabling audio in test project and adding submodule checkout to Yamato cfg * Adding Unity .gitattributes and normalizing line endings. (#42) * Vidur/remove controller limits for free joints (#45) * AIRO - 365 Add feedback while URDF is being imported (#43) * Convert RobotExtensions to an iterator * Adding EditorCorutine to package manifest * Adding import status data * Updating the assembly file. * Adding option to add or remove progressbar * Update git links with tags(#48) * Regenerating meta files for tests copied from ROS-TCP-Connector * Latest VHACD (#49) * Remove the submodule for now, to avoid a packman bug. (#52) * Update version (#53) * VHACD license -> root folder (#55) * VHACD dlls should not be in LFS * update latest version in readme (#58) * Disable RigidbodyEditor controls at runtime Fix for #59 * test.txt * deleting the txt file added by mistake * Adding default values for Articulation Body Parameters (#57) * Adding a default value if mass is zero. * Correct the null value error in Articulation Body attributes * Adding return value of Create function as GameObject * Adding default values variables for damping and friction * Update link branch from master to main. (#66) * Updating Contribution Content (#68) * Contributing content * PR feedback * Adding PR template (#73) * Resolve conflicts (#80) Merge main to dev and resolve all the conflicts * Update package.json (#84) * Fix bad merge * Fix bad merge * support for runtime urdf importing (#67) * moved "NeedsRuntimeConversion" to Runtime and adjusted namespace * moved MeshProcessing and AssetHandler to Runtime * move all editor only calls to RuntimeURDF.cs * fixed compile issues: builds in runtime, but does nothing * URDF can now be imported in runtime (STL only) * cleanup: moved files into corresponding runtime directories. * Added UnityMeshImporter and AssimpNet plugin * Loading collada files in runtime (using AssimpNet plugin). * Proper creation of materials for HDRP/Standard when loading collada files * disable Assimpnet for IL2CPP builds * added parameter to URDFRobotExtensions.Create() to allow the option of using the runtime import mode in editor. * cleaning up material extensions * disable controller component during import to avoid incorrect configuration. * fix for the default diffuse material in HDRP * minor clean up and code convention fixes * added support for .obj visual meshes * don't enable the controller automatically in runtime mode. * variable name typo fix * Broke the Create() function into pipeline stages to reuse the code for both the none-blocking coroutine and blocking function call. * Added RuntimeURDFImporter component as an example usage of runtime import functionality * fix the bug with editor dialogs * random code formatting fixes * Moved and renamed the Transform extension function FindChildByQuery * fixed materials for URP projects. * removed unused code. * minor code formatting * removed unused code * URDF imported objects lose mesh colliders when made into prefabs (#72) * Saving decomposed mesh * checks to make the newly added vhacd mesh creation be compatible with the runtime mode. * minor code formatting Co-authored-by: Hamid Younesy <hamid.younesy@unity3d.com> * removing lfs as causes issues with the plugin dlls * deleting plugin to add it back without lfs * adding back AssimpNet libraries without lfs * deleting vhacd library to add it back without lfs * adding back VHACD libraries without lfs * Fixed the overexposed highlight color Co-authored-by: vidurvij-Unity <60901103+vidurvij-Unity@users.noreply.github.com> * Hamid/fix bad merge (#87) * Merge 0.3.0 into main (#86) * Adding ROS# link (#39) * Adding ROS# link * Fixing Unity 2020.1.8f1 compatability issues. * Adding precompile error if an older version of Unity is used * Fixing spacing * Removing 2020.1 version enforcement * Remove degree to rad conversions (#44) * AIRO-331 Re-organizing package directory and adding Yamato integration (#41) * Moving package into package folder * Adding test project. * Adding boilerplate tests. * Add yamato config * Disabling audio in test project and adding submodule checkout to Yamato cfg * Adding Unity .gitattributes and normalizing line endings. (#42) * Vidur/remove controller limits for free joints (#45) * AIRO - 365 Add feedback while URDF is being imported (#43) * Convert RobotExtensions to an iterator * Adding EditorCorutine to package manifest * Adding import status data * Updating the assembly file. * Adding option to add or remove progressbar * Update git links with tags(#48) * Regenerating meta files for tests copied from ROS-TCP-Connector * Latest VHACD (#49) * Remove the submodule for now, to avoid a packman bug. (#52) * Update version (#53) * VHACD license -> root folder (#55) * VHACD dlls should not be in LFS * update latest version in readme (#58) * Disable RigidbodyEditor controls at runtime Fix for #59 * test.txt * deleting the txt file added by mistake * Adding default values for Articulation Body Parameters (#57) * Adding a default value if mass is zero. * Correct the null value error in Articulation Body attributes * Adding return value of Create function as GameObject * Adding default values variables for damping and friction * Update link branch from master to main. (#66) * Updating Contribution Content (#68) * Contributing content * PR feedback * Adding PR template (#73) * Resolve conflicts (#80) Merge main to dev and resolve all the conflicts * Update package.json (#84) * Fix bad merge * Fix bad merge Co-authored-by: vidurvij-Unity <60901103+vidurvij-Unity@users.noreply.github.com> Co-authored-by: Devin Miller (Unity) <mrpropellers@users.noreply.github.com> Co-authored-by: Devin Miller <devin.miller@unity3d.com> Co-authored-by: peifeng-unity <56408141+peifeng-unity@users.noreply.github.com> Co-authored-by: Hamid Younesy <hamid.younesy@unity3d.com> Co-authored-by: Amanda <31416491+at669@users.noreply.github.com> * removing unused meta file Co-authored-by: LaurieCheers-unity <73140792+LaurieCheers-unity@users.noreply.github.com> Co-authored-by: vidurvij-Unity <60901103+vidurvij-Unity@users.noreply.github.com> Co-authored-by: Devin Miller (Unity) <mrpropellers@users.noreply.github.com> Co-authored-by: Devin Miller <devin.miller@unity3d.com> Co-authored-by: peifeng-unity <56408141+peifeng-unity@users.noreply.github.com> Co-authored-by: Amanda <31416491+at669@users.noreply.github.com> * [AIRO-589] Model and collision rotation mismatch (#78) correct collider rotation only for y-axis and add null check * Replace ../ with package://, throw more warnings otherwise (#90) * Replace ../ with package://, throw more warnings otherwise * PR feedback: more descriptive warning message * add changelog (#92) add changelog * Save assets for generated cylinder meshes (#91) * Initial GeneratedMeshes directory commit * Cylinder mesh saving * PR feedback: new cylinder method, Unity decomposer support * PR feedback: non-VHACD cylinder, unit tests * PR feedback: unit test conventions * Forum links to README, config.yml (#96) * Add test coverage (#93) * Math, VHACD Unit Tests (#94) * Math, VHACD tests * Organization for Math, VHACD * Vector3 fixes * fix the bash numeric error (#99) * RuntimeURDF tests (#97) * RuntimeURDF tests, skippping dialogs * PR feedback: removing unused blocks * Geometry, GeometryCollision Tests (#95) * UrdfGeometry tests * Folder organization * PR feedback: test fixes, Yamato config * Added sample STL for Geometry tests * UrdfCollisionExtensions, UrdfCollisionsExtensions Tests (#98) * UrdfCollisionExtensions tests * UrdfCollisionsExtensions tests * Destroy objects, naming conventions * UrdfCollision(s) minor cleanup, reorganization * Fixing line coverage typo * Cleaning up Geometry tests, fixes to Collisions tests * Remove class member * add unit tests for UrdfJoint (#100) * BuiltInExtensions Tests (#103) * BuiltInExtensions Tests * Removed debug logs * PR feedback: internal BuiltIn class * Add unit tests for UrdfJoints (#102) * UrdfAssetPathHandler Tests (#104) * UrdfAssetPathHandler Tests * UrdfAssetPathHandler test cleanup * PR feedback * update version to 0.4.0 (#109) Co-authored-by: vidurvij-Unity <60901103+vidurvij-Unity@users.noreply.github.com> Co-authored-by: Devin Miller (Unity) <mrpropellers@users.noreply.github.com> Co-authored-by: Devin Miller <devin.miller@unity3d.com> Co-authored-by: LaurieCheers-unity <73140792+LaurieCheers-unity@users.noreply.github.com> Co-authored-by: peifeng-unity <56408141+peifeng-unity@users.noreply.github.com> Co-authored-by: Hamid Younesy <hamid.younesy@unity3d.com> Co-authored-by: Amanda <31416491+at669@users.noreply.github.com> Co-authored-by: Hamid Younesy <hyounesy@users.noreply.github.com> Co-authored-by: vidurvij-Unity <60901103+vidurvij-Unity@users.noreply.github.com> Co-authored-by: Devin Miller (Unity) <mrpropellers@users.noreply.github.com> Co-authored-by: Devin Miller <devin.miller@unity3d.com> Co-authored-by: LaurieCheers-unity <73140792+LaurieCheers-unity@users.noreply.github.com> Co-authored-by: peifeng-unity <56408141+peifeng-unity@users.noreply.github.com> Co-authored-by: Hamid Younesy <hamid.younesy@unity3d.com> Co-authored-by: Amanda <31416491+at669@users.noreply.github.com> Co-authored-by: Hamid Younesy <hyounesy@users.noreply.github.com>
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* Merge 0.3.0 into main (#86) * Adding ROS# link (#39) * Adding ROS# link * Fixing Unity 2020.1.8f1 compatability issues. * Adding precompile error if an older version of Unity is used * Fixing spacing * Removing 2020.1 version enforcement * Remove degree to rad conversions (#44) * AIRO-331 Re-organizing package directory and adding Yamato integration (#41) * Moving package into package folder * Adding test project. * Adding boilerplate tests. * Add yamato config * Disabling audio in test project and adding submodule checkout to Yamato cfg * Adding Unity .gitattributes and normalizing line endings. (#42) * Vidur/remove controller limits for free joints (#45) * AIRO - 365 Add feedback while URDF is being imported (#43) * Convert RobotExtensions to an iterator * Adding EditorCorutine to package manifest * Adding import status data * Updating the assembly file. * Adding option to add or remove progressbar * Update git links with tags(#48) * Regenerating meta files for tests copied from ROS-TCP-Connector * Latest VHACD (#49) * Remove the submodule for now, to avoid a packman bug. (#52) * Update version (#53) * VHACD license -> root folder (#55) * VHACD dlls should not be in LFS * update latest version in readme (#58) * Disable RigidbodyEditor controls at runtime Fix for #59 * test.txt * deleting the txt file added by mistake * Adding default values for Articulation Body Parameters (#57) * Adding a default value if mass is zero. * Correct the null value error in Articulation Body attributes * Adding return value of Create function as GameObject * Adding default values variables for damping and friction * Update link branch from master to main. (#66) * Updating Contribution Content (#68) * Contributing content * PR feedback * Adding PR template (#73) * Resolve conflicts (#80) Merge main to dev and resolve all the conflicts * Update package.json (#84) * Fix bad merge * Fix bad merge Co-authored-by: mpinol <mpinol@users.noreply.github.com> Co-authored-by: Christopher Joseph <cjoseph@virtanatech.com> Co-authored-by: Christopher Joseph <38385529+chris15joseph@users.noreply.github.com> Co-authored-by: vidurvij-Unity <60901103+vidurvij-Unity@users.noreply.github.com> Co-authored-by: Devin Miller (Unity) <mrpropellers@users.noreply.github.com> Co-authored-by: Devin Miller <devin.miller@unity3d.com> Co-authored-by: peifeng-unity <56408141+peifeng-unity@users.noreply.github.com> Co-authored-by: Hamid Younesy <hamid.younesy@unity3d.com> Co-authored-by: Amanda <31416491+at669@users.noreply.github.com> * removing unused meta file Co-authored-by: LaurieCheers-unity <73140792+LaurieCheers-unity@users.noreply.github.com> Co-authored-by: mpinol <mpinol@users.noreply.github.com> Co-authored-by: Christopher Joseph <cjoseph@virtanatech.com> Co-authored-by: Christopher Joseph <38385529+chris15joseph@users.noreply.github.com> Co-authored-by: vidurvij-Unity <60901103+vidurvij-Unity@users.noreply.github.com> Co-authored-by: Devin Miller (Unity) <mrpropellers@users.noreply.github.com> Co-authored-by: Devin Miller <devin.miller@unity3d.com> Co-authored-by: peifeng-unity <56408141+peifeng-unity@users.noreply.github.com> Co-authored-by: Amanda <31416491+at669@users.noreply.github.com>
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Hi, I'm encountering unstable behavior using the package together with rigidbodies. A minimal reproducible example can be seen with the articulation robotics project (https://github.com/Unity-Technologies/articulations-robot-demo).
Picking up a cube with the package shows the following unstable behavior. The rotation and position keep changing (which eventually causes the cube to fall).
Without the package, it is stable, with a constant rotation and minimal fluctuations in the position.
Decreasing the size of the rigidbodies increases the instability.
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