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I did that, and it shows just 2 yellow points of contact. They appear for a moment and then disappear. But, they did that when the assemblage was successful too. I'm not sure if that's the reason that the objects get stuck. I also don't understand how the problem could be in the code? The main difference is I call sim.rmlPos and sim.rmlStep functions to move along the trajectory in small increments instead of in a single move. And it worked fine when it was a single move (sim.rmlMoveToPosition).