On 6/28/06, andy at uniway.be <andy at uniway.be> wrote: > Thanks to the help of Andres James, another solution was proposed... I tried it and it works in my case... > > In joint.cpp, replace line 538 from: > if (vel > 0) fm = -fm; > to: > if ((vel > 0) || (vel==0 && limit==2)) fm = -fm; I've applied this patch - thanks for submitting it! Jason