Hi, i think the Contact Sensor have incorrect result:

two position is same but force is different

Collision between[jointvelocitydemo::Rfoottoelink::Rfoottoecollision] and [groundplane::link::collision] 0 Position:0.170177 -0.0301507 -7.09042e-07 Normal:0 0 1 Depth:7.09042e-07 body1force: -24.1104 1.33614 3.12871 body2force: 0.0078125 8.26717e-168 4.66721e-62 body1torque: 0.197691 2.14738 0.606378 body2_torque: 2.44002e+188 2.20473e+214 6.84464e-145

1 Position:0.170177 -0.0301507 -7.09042e-07 Normal:0 0 1 Depth:7.09042e-07 body1force: 0 0 0 body2force: 1.23973e+224 2.164e-27 1.50056e-154 body1torque: 0 0 0 body2torque: 4.44659e-323 4.94659e-311 2.36414e-308

Does anyone know the reason? thanks