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I'm not widely knowledgeable in this area, but was facing a similar issue: a gimbal I was modeling would rapidly oscillate when it reached a joint limit. No reasonable amount of force could return it to acceptable joint range.

Setting <contact_max_correcting_vel> to a small (1 digit) number fixed this issue. The default value of 100 seems to have been causing the behavior.

cheers

I'm not widely knowledgeable in this area, but I was facing a similar issue: a gimbal I was modeling would rapidly oscillate when it reached a joint limit. No reasonable amount of force could return it to acceptable joint range.

Setting <contact_max_correcting_vel> to a small (1 digit) number fixed this issue. The default value of 100 seems to have been causing the behavior.behavior. I'm not widely knowledgeable in this area, so I can't explain why this works, or presume if it will work for different models.

cheers

I was facing a similar issue: a gimbal I was modeling would rapidly oscillate when it reached a joint limit. No reasonable amount of force could return it to acceptable joint range.

Setting <contact_max_correcting_vel> to a small (1 digit) number fixed this issue. The default value of 100 seems to have been causing the behavior. I'm not widely knowledgeable in this area, so I can't explain why this works, or presume confidently predict if it will work for different models.

cheers

I was facing a similar issue: a gimbal I was modeling would rapidly oscillate when it reached a joint limit. No reasonable amount of force could return it to acceptable joint range.

Setting <contact_max_correcting_vel> to a small (1 digit) number number/ or 0 fixed this issue. The default value of 100 seems to have been causing the behavior. I'm not widely knowledgeable in this area, so I can't explain why this works, or confidently predict if it will work for different models.

cheers

I was I'm currently facing a similar issue: a gimbal I was i'm modeling would rapidly oscillate oscillates when it reached reaches a joint limit. No reasonable amount of force could return it to acceptable joint range.

Setting <contact_max_correcting_vel> to a small (1 digit) number/ or 0 fixed fixes this issue. The default value of 100 seems to have been causing the behavior. Unfortunately this also changes the entire system behavior so this may not be a viable solution.

I'm not widely knowledgeable in this area, so I can't explain why this solution works, or confidently predict if it will work for different models.

cheers

I'm currently facing a similar issue: a gimbal i'm modeling rapidly oscillates when it reaches a joint limit. No reasonable amount of force could return it to acceptable joint range.

Setting <contact_max_correcting_vel> to a small (1 digit) number/ or 0 fixes this issue. The default value of 100 seems to have been causing the behavior. Unfortunately this also changes the entire system behavior so this may not be a viable solution.

I'm not widely knowledgeable in this area, so I can't explain why this solution works, or confidently predict if it will work for different models.

cheers