Here is a screenshot of my system.

These are my joints:

And these are my analysis objects:

The joint probe from body to ground must be taking all the force from gravity, because the other two joint probes are giving zero total force in X, Y, and Z. Why is this the case, and how can I make all three joints feel that force?


Also, even though I defined a friction coefficient for the joint, only the vertical force is present, and not the horizontal force that I expect from the frictional force. Why is this?