Setting joint positions / limit enforcement

[AndrewJSchoen]

I am attempting to use the joint functionality to simulate a robotic arm, given some joint state (which will be stored in zustand). I have gotten the joints to be present between two different cube bodies, but can't seem to update their current positions. This is what I am currently doing:

function Joint() {
  // didn't include getting the joint info and refs for brevity, but they're here

  const revoluteJoint = useRevoluteJoint(
    body1 || defaultRef1,
    body2 || defaultRef2,
    [
      jointInfo?.body1Anchor || [0, 0, 0],
      jointInfo?.body2Anchor || [0, 0, 0],
      jointInfo?.axis || [0, 1, 0],
      [jointInfo?.limit.lower || -1, jointInfo?.limit.upper || 1],
    ],
  );
  
  // Had to explicitly do this because they weren't enabled, despite providing them above
  useEffect(() => {
    if (revoluteJoint.current) {
      revoluteJoint.current.setLimits(
        jointInfo?.limit.lower || -1,
        jointInfo?.limit.upper || 1,
      );
    }
  }, [revoluteJoint]);

  useFrame(() => {
    if (revoluteJoint) {
      // Want to update the joint values (currently just according to a sine fn)
      // This currently doesn't seem to do anything
     revoluteJoint.current?.configureMotorPosition(
        Math.sin(new Date().getTime() / 2) / 2,
        10,
        0.1,
      );
    }
  });

  return null
}

Any ideas on how to accomplish this? Side note, any idea what might be happening with the limits?