I’ve been testing out Issac Gym for a bit. One thing I’ve noticed in a few projects is rotational motion tends to accelerate. I created a project with a T-Handle rigid body, change the asset_option.angular_damping=0, and set an initial rotation rate. It seems that energy is being added to the system and I’m unsure what the source may be. This behavior doesn’t occur in Isaac sim though.
I made a rod connected at one end to a 3 axis spherical joint and the object tends to accelerate until the simulation breaks down when acted upon by only a gravity force.