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The articulated figure is jumpy and energy seems to enter the system.Make sure there are no contact points fighting with joint like constraints. When for instance three bodies are connected with two universal joints, and the bodies are relatively close to each other. The outer two bodies might be considered in contact. The figure will be pulled apart at the contact points while the universal joints try to keep the bodies together. Jumpy behaviour is often the result. Disabling self collision on the whole figure or on certain bodies can fix the problem.