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Simulation stop with SetVelocityTarget()


I'm writing a plugin to control the velocity of a joint to simulate a brushless motor I try to use the SetVelocityTarget() function with the SetVelocityPID() function. The plugin compile correctly but when I publish a new message to set the velocity, the simulation stop : the model disassembles itself at the origin of the world.

I already used the SetPositionTarget() with the PID and it works well.

Any ideas ?