[ODE] Help with LCP internal error

[Joe Ante]

> 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.

Are you able to share the code that does this? Ive had big trouble finding a
good metrics for contact reduction last time.

Joachim Ante