Without reading the mechisms documentations I would say that the problems
lay where hte collsions are detected.


collision { 0,2
            stiffness 20000
            damping 5000
            friction 0.8, 1.01}


Out of curiousity try messing around with the settings... eg...

collision { 0,2
            stiffness 20000
            damping 5000
            friction 1.01, 1.01}



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