CoppeliaSim Crash When Adding Convex Shape In PyBullet Engine
Posted: 07 Dec 2024, 13:19
I encountered a crash in CoppeliaSim when using Python to add a shape, perform convex decomposition via HACD, and then start the PyBullet engine. The simulator crashes immediately upon starting the engine. Below is the error log from the CoppeliaSim console:
Steps to Reproduce using attached scene:
1. Open scene in CoppeliaSim (version 4.8.0).
4. Start the PyBullet physics engine.
5. The simulator crashes immediately.
Expected Behavior:
The shape should be added, and convex decomposition should work without causing a crash when PyBullet is started.
Actual Behavior:
CoppeliaSim crashes immediately when starting the PyBullet engine after adding a convex shape via Python.
Version Information:
- CoppeliaSim version: 4.8.0
- PyBullet engine version: 2.78
- Graphics card: NVIDIA GeForce RTX 3060, Driver version 566.36
Additional Information:
- I will attach the scene file that reproduces the issue. Simply loading the scene and starting the PyBullet engine results in the crash.
- The issue may be related to the interaction between HACD convex decomposition and PyBullet physics, but I am unsure.
Scene File: https://drive.google.com/file/d/1T1QhJA ... sp=sharing
Code: Select all
[CoppeliaSim:loadinfo] plugin simGeom: loading...
[CoppeliaSim:loadinfo] plugin simGeom: done.
[CoppeliaSim:loadinfo] plugin simBullet-2-78: loading...
[CoppeliaSim:loadinfo] plugin simBullet-2-78: done.
[CoppeliaSim:loadinfo] OpenGL: NVIDIA Corporation, Renderer: NVIDIA GeForce RTX 3060/PCIe/SSE2, Version: 4.6.0 NVIDIA 566.36
CoppeliaSim: debug: 51: simWriteTexture_D - 0x7FFCF048F5B0
CoppeliaSim: debug: 50: UnhandledExceptionFilter - 0x7FFDA0C9C830
CoppeliaSim: debug: 49: memcpy - 0x7FFDA3456F00
CoppeliaSim: debug: 48: _C_specific_handler - 0x7FFDA343F730
CoppeliaSim: debug: 47: _chkstk - 0x7FFDA3455310
CoppeliaSim: debug: 46: RtlFindCharInUnicodeString - 0x7FFDA33CDDF0
CoppeliaSim: debug: 45: KiUserExceptionDispatcher - 0x7FFDA3454410
CoppeliaSim: debug: 44: simInit - 0x7FFBE27B30B0
CoppeliaSim: debug: 43: simInit - 0x7FFBE27B30B0
CoppeliaSim: debug: 42: simInit - 0x7FFBE27B30B0
CoppeliaSim: debug: 41: simInit - 0x7FFBE27B30B0
CoppeliaSim: debug: 40: simInit - 0x7FFBE27B30B0
CoppeliaSim: debug: 39: simInit - 0x7FFBE27B30B0
CoppeliaSim: debug: 38: simInit - 0x7FFBE27B30B0
CoppeliaSim: debug: 37: simInit - 0x7FFBE27B30B0
CoppeliaSim: debug: 36: simInit - 0x7FFBE27B30B0
CoppeliaSim: debug: 35: simInit - 0x7FFBE27B30B0
CoppeliaSim: debug: 34: simInit - 0x7FFBE27B30B0
CoppeliaSim: debug: 33: simInit - 0x7FFBE27B30B0
CoppeliaSim: debug: 32: simInit - 0x7FFBE27B30B0
CoppeliaSim: debug: 31: simInit - 0x7FFBE27B30B0
CoppeliaSim: debug: 30: simInit - 0x7FFBE27B30B0
CoppeliaSim: debug: 29: simInit - 0x7FFBE27B30B0
CoppeliaSim: debug: 28: simInit - 0x7FFBE27B30B0
CoppeliaSim: debug: 27: simInit - 0x7FFBE27B30B0
CoppeliaSim: debug: 26: simInit - 0x7FFBE27B30B0
CoppeliaSim: debug: 25: simInit - 0x7FFBE27B30B0
CoppeliaSim: debug: 24: simMsg - 0x7FFBE27A9030
CoppeliaSim: debug: 23: dynPlugin_step_D - 0x7FFBE27B3060
CoppeliaSim: debug: 22: simGetJointCallbackCallOrder - 0x7FFCF03933D0
CoppeliaSim: debug: 21: simGetJointCallbackCallOrder - 0x7FFCF03933D0
CoppeliaSim: debug: 20: simWriteTexture_D - 0x7FFCF048F5B0
CoppeliaSim: debug: 19: simWriteTexture_D - 0x7FFCF048F5B0
CoppeliaSim: debug: 18: lua_setlocal - 0x7FFD10E3ABB0
CoppeliaSim: debug: 17: luaopen_utf8 - 0x7FFD10E52520
CoppeliaSim: debug: 16: lua_setlocal - 0x7FFD10E3ABB0
CoppeliaSim: debug: 15: lua_setlocal - 0x7FFD10E3ABB0
CoppeliaSim: debug: 14: lua_setlocal - 0x7FFD10E3ABB0
CoppeliaSim: debug: 13: lua_pcallk - 0x7FFD10E31D20
CoppeliaSim: debug: 12: simGetJointCallbackCallOrder - 0x7FFCF03933D0
CoppeliaSim: debug: 11: simGetJointCallbackCallOrder - 0x7FFCF03933D0
CoppeliaSim: debug: 10: simGetJointCallbackCallOrder - 0x7FFCF03933D0
CoppeliaSim: debug: 9: simGetJointCallbackCallOrder - 0x7FFCF03933D0
CoppeliaSim: debug: 8: simGetJointCallbackCallOrder - 0x7FFCF03933D0
CoppeliaSim: debug: 7: simGetJointCallbackCallOrder - 0x7FFCF03933D0
CoppeliaSim: debug: 6: simWriteTexture_D - 0x7FFCF048F5B0
CoppeliaSim: debug: 5: simWriteTexture_D - 0x7FFCF048F5B0
CoppeliaSim: debug: 4: simWriteTexture_D - 0x7FFCF048F5B0
CoppeliaSim: debug: 3: simWriteTexture_D - 0x7FFCF048F5B0
CoppeliaSim: debug: 2: recalloc - 0x7FFDA0809290
CoppeliaSim: debug: 1: BaseThreadInitThunk - 0x7FFDA2A42580
CoppeliaSim: debug: 0: RtlUserThreadStart - 0x7FFDA340AF101. Open scene in CoppeliaSim (version 4.8.0).
4. Start the PyBullet physics engine.
5. The simulator crashes immediately.
Expected Behavior:
The shape should be added, and convex decomposition should work without causing a crash when PyBullet is started.
Actual Behavior:
CoppeliaSim crashes immediately when starting the PyBullet engine after adding a convex shape via Python.
Version Information:
- CoppeliaSim version: 4.8.0
- PyBullet engine version: 2.78
- Graphics card: NVIDIA GeForce RTX 3060, Driver version 566.36
Additional Information:
- I will attach the scene file that reproduces the issue. Simply loading the scene and starting the PyBullet engine results in the crash.
- The issue may be related to the interaction between HACD convex decomposition and PyBullet physics, but I am unsure.
Scene File: https://drive.google.com/file/d/1T1QhJA ... sp=sharing