How can I make a revolute joint rotate continuously near the +-pi?

Hi. I want the joint to spin continuously at point ±pi using position control. But now, the controller can’t find the shortest route and turn the other way around by 2pi. (please see my video)

When I use IsaacGym, which supports the PhyX3 engine and hinge joint, There was no problem.

Here is my input example-> [3.1, 3.12, 3.14, -3.14, -3.12, -3.1] rad
this shows continuous rotation in the real world.

How can I make it rotate without any malfunctions?

added 1) The joint has no joint limits!
added 2) I checked If the joint got larger than 360 degree, the joint cannot rotate anymore.


Hi - Sorry for the delay in the response. Let us know if you still having this issue with the latest Isaac Sim 2022.2.1 release.