I could not find it anywhere but what is the collisionDetectionMode for ArticulationBody.
Is it discrete CCD or something else ?
Can it be changed ?
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I usually use a configurable joint. I presume you can ask for more Documentation under 2020.2 “3D Physics Reference” that probably is under development.
Maybe you can figure out by getting the property via scripting? Here there is the API for ArticulationBody.
Did you try the robotics demo project?
I’m also used to Configurable joint, but it is kind of jerky, I thought I will give it a shot with ArticulationBody.
There is nothing in documentation.
Unfortunately as for now results are not very promising.