As the video, why and how to avoid?
Don’t use sphereical articulation joints. They are completely broken and unusable because of this very issue…
What should I use for instead?
Continuing here from other thread: I don’t use target mode as option for drives, as it uses highest stiffness and no damping, so I’d expect it to behave like in the video(if you set it to an unfulfillable target). Use other mode (probably called force?) and set reasonable stiffness and damping.
why are you using now addTorque method and not the drives as before? You should continue using the drives, but make sure you have plausible values for stiffness, damping, and force limit.
What’s the correct method to use? The docs doesn’t explain how to do it, so I can only figure it out by trial and error.
I had try AddForce replace of AddTorque, got same result.
you need to set the drive values via the API, for this better search for an example on Github how to do so, it’s quite complex. AddForce and AddTorque can also work, but this will probably fight against the drives and is harder to control, as you need to implement a PID yourself.
I’m using this for something similar to AI Reinforcement Learning, where Force/Torque is entirely output by a neural network, so I need the environment/physics to be stable without relying on manual algorithms to prevent joints from collapsing or flying apart.
ok, I cannot help you with this. There are robotics samples available on Github (from Unity), did you look at those? It should give you a good start.
OK, I will go to see that, thanks for your suggestions.