FSM controller in practice, error in adding contact

[EthanZengg]

Sorry to disturb everyone, I encountered some difficulties while studying mc.

When I try to add contact between my robot's left and right feet and the ground , One of the contacts involves a significant amount of force and torque though i removed all the tasks and closed the minial collisions , which is puzzling because the data for both feet is the same.

Could you please provide suggestions on how to address this discrepancy?

https://github.com/jrl-umi3218/mc_rtc/assets/73087353/5f3ba561-885d-4e43-946b-9af98f9849eb