The track link pins and sprocket tooth must be initially engaged properly. Too much of initial penetration of the link pins into the sprocket tooth often results in a simulation failure. Therefore, the sprocket must be rotated by using object control so that the initial penetration between the link pin and sprocket remains to be small. If the sprocket is rotated after attaching the revolute joint between the sprocket and the chassis, the initial condition or motion expression must be modified accordingly.
Contacts of the track chain are defined between track links and only inside bodies of a track chain system.