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Model collapsing on Joint->SetVelocity

Hello!

I have recently made a UAV model (quadrotor) and trying to attach controller plugin to model. After I set velocity using

this->model->GetJointController()->SetVelocityTarget( this->joint->GetScopedName(), _vel);

the model is collapsing (looks like it doesn't have any collision processing anymore and all links positions are reset to 0,0,0)

Joints are controlled with PID with parameters (0.1, 0, 0).

I have tried to add velocity limit - no result.

I have tried to change physics solver - it does work only on 'simbody' solver

Verbose output doesn't show any errors and warnings.

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