Can I create a passive joint?

[omichel]

I would like to create a passive joint that can move freely. How can I do that?

[omichel]

First of all, any joint, passive or active, must be created by adding a Joint-derived node (depending on the constraint type requested) in the Scene Tree. A Joint is passive if its device is null (or at least not a Motor-derived node). Alternatively, it is also possible to make a Motor become passive during the simulation; this can be done like this:

wb_motor_set_motor_force(motor, 0.0);

The effect is similar to turning off the power of a real motor.