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I also ran into similar issues (see this question about parameters for a skid steered robot). My impression is that fdir1 doesn't work correctly for many use cases. There has been a ODE fdir1 parameter broken issue on Bitbucket that has been marked resolved, but it appears that expected behavior when fdir1 is defined for both surfaces is not clear currently (see the create unit test for fdir1 issue). You could try not specifying fdir1 for your ground plane and see if that changes anything.