I'm simulating a quadruped robot that is similar to the Ghost Minitaur in the sense that it has a kite-shaped leg design. The problem is that the equality constraints I used for many of the leg pieces have weird behavior: when I command the legs to a target position, the equality constraints fail. In Mujoco, I modeled each piece of the leg as a thin capsule. Since the controller commands the leg angle and extension instead of joint angles, I added a hinge actuator and slide actuator to a transparent capsule that goes from the leg hip to the foot. This description will make a lot more sense in the photos. Any ideas how to fix the parameters for this model? Thanks!