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  1. haiger841213

    How can I constrain negative rotation? (not positive)

    I think you can attach a point-to-ground nonlinear spring to the node in UR1 direction. The stiffness of the spring may be as following: -1000000, -0.001 0, 0 0.001, 1000000 that is: the spring is very soft in the positive direction while very stiff in the negative direction

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