Hi all! I am trying to create an arm with a 5 level hierarchy of configurable joints. The system should be affected by the gravity but should be barely noticable. I ended up using low mass and angularYZ drive/spring combined with the target rotation. Everything seems almost fine, except for the pushback when down the chain a joint gets a strong torque movement. I mean its accurate, and the one up joint is being affected by the force as it should be however I am looking for a solution to make that upper joint more stable. I tried Damp,Drag even extra damping from script, but the kick-back is still present. example: Joint1>>Joint2>>Joint3>>Joint4>>Joint5 Action on Joint4: Target rotation = 0,0,45 (angular drive spring 1000 damp 150) Joint3 gets a gigantick kick back. Is there any way to keep the joints more stable?