simtk.org

I've been trying to figure out how to include the Bushing Force in my models. I made a little test model, and when running inverse dynamics the Bushing appears to act as I would expect based on hand calculations, so I think it's in the model correctly. The problem is that Static Optimization fails to find a solution with the bushing included in the model. If I set the bushing stiffness to 0, mechanically equivalent to not having a bushing, it still fails, though it will solve just fine if I actually remove the bushing from the model. So this may be a silly question, but is there any way to run optimization with a bushing in the model?

Thanks,
Dennis