a)
Yes you can manually position and rotate a Rigid Body, but it's not recommended if you want the body to collide with other bodies properly.
I'm not sure if Tokamak keeps its linear and angular velocities after a move to a fixed position or if it calculates new velocities based on the previous and current position.
If it does the latter the body might shoot away like a comet unless you zero the velocities right after the move.
b)
Try setting a little higher angular damping on the cylinder.
Also try to increase the joint's iterations and set it's epsilonvalue to 0.0
Yes you can manually position and rotate a Rigid Body, but it's not recommended if you want the body to collide with other bodies properly.
I'm not sure if Tokamak keeps its linear and angular velocities after a move to a fixed position or if it calculates new velocities based on the previous and current position.
If it does the latter the body might shoot away like a comet unless you zero the velocities right after the move.
b)
Try setting a little higher angular damping on the cylinder.
Also try to increase the joint's iterations and set it's epsilonvalue to 0.0