Hello :)

I have made a movable box sitting on a pedestal. IIt can be pushed with a haptic falcon and there is no surface below it so it drops off to infinity. I want to reset it to it's original place when it's pushed, and did the following to do so:

obj1 = nodes[nodelist.index("RBCollection")].bodies.back()
nodes[nodelist.index("RBCollection")].bodies.pop_back()
obj1.position.setValue(movObjPos1)
obj1.orientation.setValue(movObjOr1)
obj1.forces.setValue([])
Mass[0] = getMass(1)
obj1.mass.setValue(Mass[0])

nodes[nodelist.index("RBCollection")].bodies.push_back(obj1)

basically, I have saved the the original movObjPos1, and movObjOr1 and reset the force and mass.
But, when it resets it tend the continue dropping off. It's like there is a velocity/momentum in it. The type of the object is "RigidBody" and I found the features at the buttom related to it. But I dont know how to manipulate them so that it is stable when reset. It keeps coming up with errors or simply doesn't take effect. Would you please help me? :)

RigidBody

metadata
geometry
autoDamp
angularDampingFactor - a damping torque equal to angularVelocity * -angularDampingFactor is added
linearDampingFactor - a damping force equal to linearVelocity * -linearDampingFactor is added
autoDisable - dBodySetAutoDisableFlag
disableAngularSpeed - dBodySetAutoDisableAngularThreshold
disableLinearSpeed - dBodySetAutoDisableLinearThreshold
fixed - if fixed, attach the geometry to 0 instead of the rigid body. dGeomSetBody( ( dGeomID )params->shape_id, 0 );
forces - dBodyAddForceAtPos, dBodyAddRelForceAtRelPos
torques - dBodyAddTorque
orientation - dBodySetRotation/ dBodyGetRotation
position - dBodySetPosition/dBodyGetPosition
angularVelocity - dBodySetAngularVel/ dBodyGetAngularVel
linearVelocity - dBodySetLinearVel/dBodyGetLinearVel
mass - dBodySetMass with inertia parameters set from other fields.
massDensityModel - Box, Sphere, Cylinder working. dMassSetBoxTotal, dMassSetSphereTotal, dMassSetCylinderTotal.
centerOfMass, inertia -

Some time have passed, did you solve it? Perhaps inertia is the key. Reset to unit matrix if it is not already set to that.