I'm trying to create a simple model of a body which will then be later controlled. However, I am running into trouble when I'm connecting both legs to the body.
What I have done is that I have built the model starting with the left foot, attached to the world frame, and then up to the torso. I ended up duplicating one of the legs and attached it again the the world frame and the torso, effectively closing the "loop". However, I get the following error message when trying to run the simulation.
'untitled/Right Leg/Hip/Revolute Joint' has a degenerate mass distribution on its follower side.
I have a feeling this has to do with the fact that both legs are attached to the torso and to the world frame.
If I let the legs dangle from the torso by attaching the torso to the world frame directly, then it works. But I need the legs to be attached to a "ground/floor"
What would be the correct way to model this so that I can later actuate the joints?