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initial version
6.967 body_1_f/t: 1.88961 -0.588002 2.94002 1.176 0.525202 -0.650803
6.967 body_1_f/t: -1.88961 -0.588002 2.94002 1.176 -0.525202 0.650803
6.968 body_1_f/t: 0.423902 1.37199 6.85998 -2.74398 3.21804 -0.474047
6.968 body_1_f/t: -0.423902 1.37199 6.85998 -2.74398 -3.21804 0.474047

Could you print 'contacts.contact(i).collision1()' string together with above? I am also just started to use Gazebo and contact sensor, but in my case, I've never seen cancelling things. I guess two opposite forces from two colliding objects printed out.