A balance question

[Eagleton]

Thanks to your project, I duplicate a robot from your scene as a prefab.
But when none script used, the falling results seems to be different. In your scene, the robot falls stiffly, but in my scene, it falls softly and even the Calve.L collider embedded the Foot collider.
I can't find the reason

[sergioabreu-g]

Sorry, I don't understand what you mean. If you upload a video showing the difference between yours and mine I may be able to help you.

[Eagleton]

The video: https://user-images.githubusercontent.com/37317459/126633958-717a5842-0223-4911-b93d-edb7159f287e.mp4

I imitated you and wrote a balance script and attached it to the test object. The purpose is to achieve STABILIZER_JOINT balance mode, and it becomes that effect.

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class Balance : MonoBehaviour
{

[SerializeField]
public struct JointDriveConfig
{
    //The same as the Angular Drive
    [SerializeField] private float positionSpring;
    [SerializeField] private float positionDamper;
    [SerializeField] private float maximumForce;
    public float PositionSpring { get { return positionSpring; } set { positionSpring = value; } }
    public float PositionDamper { get { return positionDamper; } set { positionDamper = value; } }
    public float MaximumForce { get { return maximumForce; } set { maximumForce = value; } }

    public static explicit operator JointDrive(JointDriveConfig config)
    {
        return new JointDrive
        {
            positionSpring = config.positionSpring,
            positionDamper = config.positionDamper,
            maximumForce = config.maximumForce
        };
    }

    public static explicit operator JointDriveConfig(JointDrive jointDrive)
    {
        return new JointDriveConfig
        {
            positionSpring = jointDrive.positionSpring,
            positionDamper = jointDrive.positionDamper,
            maximumForce = jointDrive.maximumForce
        };
    }

    public readonly static JointDriveConfig ZERO = new JointDriveConfig { positionSpring = 0, positionDamper = 0, maximumForce = 0 };

    public static JointDriveConfig operator *(JointDriveConfig config, float multiplier)
    {
        return new JointDriveConfig
        {
            positionSpring = config.PositionSpring * multiplier,
            positionDamper = config.PositionDamper * multiplier,
            maximumForce = config.MaximumForce * multiplier
        };
    }

}

public Rigidbody torso;

private GameObject stabilizerGameobject;
private Rigidbody stabilizerRigidbody;
private ConfigurableJoint stabilizerJoint;
private Quaternion targetRotation = Quaternion.identity;

[SerializeField] private JointDriveConfig stabilizerJointDrive;

public JointDriveConfig StabilizerJointDirve
{
    get { return stabilizerJointDrive; }
    set
    {
        if (stabilizerJoint != null)
            stabilizerJoint.angularXDrive = stabilizerJoint.angularXDrive = (JointDrive)value;
    }
}

// Start is called before the first frame update
void Start()
{
    stabilizerGameobject = new GameObject("Stabilizer", typeof(Rigidbody), typeof(ConfigurableJoint));
    stabilizerGameobject.transform.parent = torso.transform.parent;
    stabilizerGameobject.transform.rotation = torso.rotation;

    stabilizerJoint = stabilizerGameobject.GetComponent<ConfigurableJoint>();
    stabilizerRigidbody = stabilizerGameobject.GetComponent<Rigidbody>();
    stabilizerRigidbody.isKinematic = true;

    stabilizerJoint.connectedBody = torso;

    //get balance?
    stabilizerJointDrive.PositionSpring = 1000f;
    stabilizerJointDrive.PositionDamper = 50f;
    stabilizerJointDrive.MaximumForce = 800f;
    stabilizerJoint.angularXDrive = stabilizerJoint.angularYZDrive = (JointDrive)stabilizerJointDrive;
}

}
I don't know why the legs show such status.