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Votes
1
Found in
2020.2
2020.2.1f1
2021.1
2021.2
Issue ID
1312244
Regression
No
URDF robot using ArticulationBody collapses on itself and passes through colliders when Friction Type is set to be Directional
How to reproduce:
1. Open the attached project's "case_1312244-Project.zip" Scene labeled "TutorialPoseEstimation"
2. Enter the Play Mode
3. Observe the URDF robot
Expected result: Robot doesn't move and stays upright
Actual result: Robot collapses and passes through the Box Collider
Reproducible with: 2020.2.5f1, 2021.1.0b7, 2021.2.0a6
Couldn't test with: 2018.4.32f1, 2019.4.20f1 (Articulation Body Component is not available)
Note: Issue is not reproducible with Patch Friction Type
WORKAROUND: ArticulationBody will only apply the directional friction properly if the Temporal Gauss-Seidel solver is enabled.
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