ShuffleWire

He is right, I think this demonstrate his point (two box link with a hingejoint, on which we apply a force, should not move) [test_torque_force.zip](https://github.com/cyberbotics/webots/files/12180381/test_torque_force.zip)

Please try with Webots 2023b. If possible share your world (you can zip all the folder and upload here), and describe the exact sequence of action that trigger the crash....

Have a look there : https://www.cyberbotics.com/doc/reference/motor , at the wb_motor_enable_force_feedback chapter : ``` the wb_motor_get_force_feedback (resp. wb_motor_get_torque_feedback) function does not measure: The force specified with the wb_motor_set_force (resp. wb_motor_set_torque) function....

@lkx8421 The author doesn't respond, maybe could you instead provide a minimal world showing your issue ?

I might have a clue : your code could be reduced to ``` while True: points = self.lidar.getPointCloud() if self.step(self.timeStep) == -1: break ``` but during the first loop, you...

It's seems to be fixed in 2023b, but I don't know how... If anyone have a idea before closing, I would be happy :)

Look like your video is not available anymore Could you share your full world directly here ? Did you tune mass, coeeficient of friction, CFM, ERP ? that could help...

It's been 1 year, and nothing more happens. I should be able to remesh it to lower it size. Would you be interested @omichel

I don't know what your use case is, but I've been playing lately with Solid into Solid (especially with physic for each of them), and in the end, even if...

An assertion if falling ``` #5 0x00007fb24a053eb2 in __GI___assert_fail (assertion=0x559f33c90e3c "mIsKinematic || mSolidMerger", file=0x559f33c906fc "nodes/WbSolid.cpp", line=1173, function=0x559f33c90e18 "dxBody* WbSolid::bodyMerger() const") at ./assert/assert.c:101 ```` I'm adding a trace of the crash...