Hello, I'm having accuracy issues when using connect equalities. My robot has closed kinematic chains on its legs implemented through equality constraints. It is floating in a zero-gravity environment and starts without any angular momentum. After moving its legs for a few seconds (and then stopping) it gains angular velocity, which shouldn't happen. It happens with both Newton and PGS solvers (although in different ways). This problem disappears if I remove the closed kinematic chain. Do you have any idea how I could solve this issue?