Accuracy issue with connect equality

Discussion in 'Simulation' started by rudinn, Nov 22, 2019.

  1. 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?