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Hello,

I'm using a PinJoint joint and I want that joint only move inside a range of angles. For example, between 0 and pi/2. I could see that it can set a range of angles inside the joint but it is not doing what I expected. In other words, when I applie a torque force, the body starts to rotate. Any idea how to solve it ?

Thanks

Ranges (locks and clamps) are only for inverse methods (IK, ID, SO) — they are not respected in Forward dynamics.

You will have to add a constraint or a force to the joint. The coordinate limit force may be exactly what you are after.