Linear drives on articulation D6 joints are not supported - drive is ignored

Is it not possible to articulate a D6 joint and all its DOF?
I want to control a single D6 joint object, that can move freely within a space.

I get following messages when applying a articulation class the object with a D6 joint:

[Warning] [omni.physx.plugin] Linear drives on articulation D6 joints are not supported - drive is ignored. Joint: /World/D6cube/D6Joint.
[Warning] [omni.physx.plugin] Translation DOF is expected to be locked for D6 joint in articulation hierarchy, the resulting joint in articulation will have all translation DOF locked

dof_names =['D6Joint:0', 'D6Joint:1', 'D6Joint:2']

Is it only possible to articulate the rotations but not the translation?
What are the alternatives?

Hi,
yes unfortunately this is not supported in PhysX SDK, you would have to move the linear DOF into prismatic joints, you can check this thread, where exactly this issue was discussed and resolved:

Regards,
Ales

Thanks I’ll look into it

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