Making Realistic Player Interaction in VR (Tutorial)

[CokeKuma]

You might want to try either modifying the center of mass (COM) of the sword to be at the grip point or dynamically setting it (modifying the COM offset to move it there) when gripping to that location. You get a lot more stable simulation and a correct pivot off of doing that. When the COM is offset from the grip the physics handle is fighting the weight from that offset at the same time as it is trying to move the body.

Also your videos are broken.

How do I dynamically change COM?

My problem is no matter how I set the center of mass offset off the hand, it still translates (not just rotates around its center) as I apply Angular Stiffness = 30,000 It looks like as if it is doing orbital motion around the controller when the user slightly rotates the controller.