Hi, I am using the MPL anthro hand environment and am trying to emulate a stiff contact model for doing manipulation as shown here: http://www.mujoco.org/forum/index.php?threads/unexpected-contact-behaviour.3421/ Currently, occasional values from my touch sensors can be very big (on the order of 2e4) after changing solimp and solref parameters to avoid model clipping. Is this due to stronger constraint forces when geoms are in contact or some other issue? Thanks!