passing step 1/3
Before solveContact
we have 0 penetrating nodes:

After solveContact
we have 0 penetrating nodes:

passing step 2/3
Before solveContact
we have 3 penetrating nodes:
node 4 with disp: -0.02 0
node 7 with disp: -0.02 0
node 16 with disp: -0.02 0

After solveContact
we have 0 penetrating nodes:

passing step 3/3
Before solveContact
we have 0 penetrating nodes:

After solveContact
we have 0 penetrating nodes: