[ODE] Help with LCP internal error

[Jeffrey Smith]

Donny Viszneki (smirk at thebuicksix.com) wrote:
> I get the following error 4 times from ODE:
> 
> ODE Message 3: LCP internal error, s <= 0 (s=nan)

This means, roughly, that the LCP (linear complementarity problem)
solver has been presented with an insoluble problem, and has failed.
In my experience, the most common cause of these insoluble problems is
conflicting or redundant constraints (either joints or contacts).  I
suggest you manually weed through the contacts generated by ODE, and
remove duplicate or redundant contacts.  This will not only eliminate
most of these LCP problems, but also speed up your simulation.

Jeff