Error in test contact

In test contact, the numerical errors are below the threshold, but for some initialization. Looking at it, it seems that they are above the noise. I start digging into it. To reproduce the error, use the following initialization of x and u at line 274 of test_contacts.py

x[:3] = 0
x[3:7] = [1,0,0,0]
x[7:] = 0
u[:] = 0

I believe this is coming from the state cost, when there is a free flyer.