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# Revision history [back]

1. Set all the revolute joints to be fixed joint or add pid controller in each revolute joints.
2. Try to fix body in the air, for example , set a fixed joint between world and pelvis
1. Set all the revolute joints to be fixed jointjoints or add pid controller in each revolute joints.
2. .
1. Try to fix body in the air, for example , set a fixed joint between world and pelvis
1. Set all the revolute joints to be fixed joints or add pid controller in each revolute joints.
1. Try to fix body in the air, for example , set a fixed joint between worldworld link and pelvispelvis link
1. Set all the revolute joints to be fixed joints or add pid controller in each revolute joints.
.
1. Try to fix body in the air, for example , set a fixed joint between world link and pelvis link