Hey everyone,
I’m running into a physics issue in Visual Components / KUKA.Sim and I’m not sure what the clean way to handle it is.
I’m manipulating large OSB panels with a robot gripper.
Each panel has a PhysicsEntity set to #In Physics and gravity works fine when the panel is free. Panels are stacked (sometimes up to ~50), so realistic gravity, rotation and sliding really matter.
The gripper uses the standard ToolContainer + TCP. Gripper motion itself is driven by a custom script (servo joints only, no attach/detach code in it).
As soon as the panel is picked by the gripper, Visual Components automatically switches the panel from
#In Physics → #Kinematic, which is expected while the panel is being held.
The problem is after release.
When the panel is dropped, it often stays in #Kinematic instead of switching back to #In Physics.
When this happens, gravity is no longer applied, the panel doesn’t rotate, it doesn’t slide on an inclined rack, and with many stacked panels I start getting compression and bouncing effects.
I’ve double-checked that this doesn’t come from the PhysicsEntity settings or my gripper script — it really looks like ToolContainer is forcing the object into #Kinematic and not reliably restoring #In Physics after release.
If anyone has dealt with this before or knows the intended way to handle physics state after ToolContainer release, I’d really appreciate some insight.
Thanks!