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Piggybacking off @Raskkii's answer.

Some practical steps you can take to reduce/eliminate jitter:

  • Check that your inertia matrices are realistic.
  • Add damping to your links/joints.
  • Add a small mindDepth value (~0.001) to links.
  • Add a maxVel value.
  • If applicable, make sure joint motors/forces are realistic.

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