# When should you use the nylon shim? For most models of Dynamixel, the horns come with a white nylon shim, meant to go between the body of the servo and the horn. ### When NOT to use the shim #### When you care DO about precisely modeling the dynamics of the actuator It is difficult to determine the effects of the dry friction created by the shim during motion. All values for moment of inertia, damping coefficient, and stiffness coefficient of the various servos have been determined without the shim present. ### When to use the shim #### When you want to limit vibration in the actuated segment (such as when recording strain readings). #### When you DON'T care about precisely modeling the dynamics of the actuator. --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://wvu-neuromint.gitbook.io/neuromint-resources/technical-guides/dynamixels/when-should-you-use-the-nylon-shim.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.