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Just an update on what I ended up doing. I used dynamic joints at first with a high friction to see if that would be enough to enable gripping. That did not work, so I moved on to using the gripper aspect which worked great. I kept my old model I marked up with kinematic joints, so I tried the gripper ...

Hi All, I am working on the mechanism shown below and I am not sure the best way to proceed with simulating the gripping of the tire. I started with kinematic joints for the mechanism, but I realized that is not going to work. The next thing I started looking at is using dynamic joints, but ...