Strange behaviour (sliding without reason)

[Gregwar]

Hello,

Here is a strange example:
https://www.youtube.com/watch?v=jtXR9TKTbtI

Do you have any idea what can cause this?

Why is my body sliding on the ground? The ground is a box and the robot collisions are pure shapes (as shown in the video).
How is it possible? Is there parameters I can tune to avoid this?

Note that torque is injected directly using applyTorque

[Xammond]

It kinda looks expected, but I'm just seeing solid shapes which will effectively weigh the same as the base. Perhaps tune the mass of the base, or even constrain it to the ground. Also has me thinking about playing with gyro effect!

[Basroil]

That just looks like a case of m1v1==m2v2 with near zero friction. Basically, if you put your robot on a air hockey table it would do the same thing. Try increasing the ground and body friction components if they don't match physical results, and if the components are already high consider smaller time steps.