Fusion 360 animation , contact sets

Why are you using a contact set and not joints? The common advice is to try to avoid contact sets since they are computationally expensive. Only use them in certain situations like proofing or fine tuning a contact.

If this is still relevant, can you share the design so it's easier to help?

I'm afraid joints created in the editor don't transfer to the Animation module. You have to animate the components again.