Mimic joints seem not to work correct on unlimited eREVOLUTE (not unwrapped) joints

[ilyal451]

I noticed that the unwrapped revolute joints are mimicked well when continuously rotating, while the wrapped ones tend to make jerky movements (like skipping phases).

One joint is motored, while the other has contacts.

I don't think I can move on with the unwrapped joints as they will gain in error through time if I understand correctly..