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As debz said, 1e-6 kg m^2 should be fine for inertia values specified in doubles. In addition to the damping tip from debz, the instability also has to do with inertia ratio across joint constraints than the actual magnitude of the inertia. The instability can occur if the link is connected to another link with moment of inertia of 2+ orders of magnitude difference (for example moi in the same constrained direction that is >1e-4 or <1e-8 kg m^2). If this is the case, more inner iterations are needed if you are using the default solver.