Why do Articulated Body Joints Drift

Questions & Answers
1

Hi there,

I am using Unity 2020.3.16f1

I am trying to use articulated bodies to setup a robotic manipulator in Unity space. I created the whole nested parent-child structure like you are supposed to, and am able to drive motion on all 4 joints. However, when i drive the motion of this one joint, the part doesn’t stick to its revolute joint, it just starts drifting away. I removed all the obstacles surrounding it to make sure it wasn’t a collision issue, but it still occurs.

Here is a screenshot of the current environment and articulation body setup: https://i.imgur.com/9wFl7Ud.png

Here is a screenshot of what happens when i press play and try to turn the joint left and right: https://i.imgur.com/7YnaL5p.png

I know my movement script must be okay due to the other 3 joints working just fine. Any help would be much appreciated. If you want to see the script as well I can supply it
This is occurring on just the second joint, join 3 and 4 that are connected to it still perform as intended while kind of just floating due to the drifted away arm.

2

Hey there, OP here. I found and resolved the issue now. Thank you for anyone that took the time to look over this.

The issue was upon moving things around I accidentally embedded two children that both had an articulation body and my movement script. Upon removing one of them, this issue was corrected.