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The first video is showing my intention. The second video is showing my problem. I tried: lowering weight of sculpts, anti gravity, increased physics, groups within groups one way then the other, moveable vs not moveable (motors can't move not moveable), and max tightness (motors max strength can't move max tightness). I didn't try springiness assuming it won't work. The arm will be holding up the chassis from the wheel so the joints need to be able to take some punishment and still articulate the way I want. I want motors instead of keyframes so I can have infinite positions within the defined ranges and keep it smooth for player control and looks. I could have a crap ton of key frames but that would work more like a stepper motor than a smooth thing and would be an insane amount of work. Say every 5 degrees of rotation have another frame. Aiming wouldn't be great.For now I am planning on simple keyframes but I really could use a solution to my problem.
video 1: https://www.youtube.com/watch?v=i5bdnvlJFyM&t=3s
video 2: https://www.youtube.com/watch?v=jsA9uedvsxE&t=1s