Movement in joints

I have tried to recreate a robotic leg in Isaac Sim but I came across a slight problem. The joints on real leg are stiff, but in simulation revolute joint that is set to rotate around Z-axis keeps moving up and down on Z-axis too. Is there some setting to make joints stiffer? Or can i simulate with better precision?

You need to make your robot an articulation, which makes driven joints more stable

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