Newton iteration 0: r (abs) = 0.000e+00 (tol = 1.000e-10) r (rel) = -nan (tol = 1.000e-09) Newton solver finished in 0 iterations and 0 linear solver iterations

[nate]

I don’t have time to check myself but consider the tips here: Default absolute tolerance and relative tolerance - #4 by nate

Also for the system to be solvable you may need to ensure both bodies are initially in contact.