Sensor started chaotically moving when the model is turning

edit

Hi everyone! I'm new in Gazebo and have encountered such a problem. I made a simple model with 2 joints and 3 rangefinders (by a ray sensor). After starting the simulation, everything is fine, but when I start to rotate the joints to set the required angle, the sensors begin to fall off and rotate randomly, as shown in the video. Sensors are attached to the model using a fixed joint. Has anyone encountered such a problem? The code of model's SDF file:

<?xml version='1.0'?>
<sdf version='1.6'>
  <model name="my_robot">
    <frame name="robot"></frame>

    <pose>0 0 0.5 0 0 0</pose>
    <include>
      <name>laser_1</name>
      <uri>model://VL6180</uri>
      <pose>0 0.0425 .003 3.14159 0 3.14159</pose>
    </include>

    <include>
      <name>laser_2</name>
      <uri>model://VL6180</uri>
      <pose >0.036806 -0.02125 .003 3.14159 0 1.0472</pose>
    </include>

    <include>
      <name>laser_3</name>
      <uri>model://VL6180</uri>
      <pose>-0.036806 -0.02125 .003 3.14159 0 -0.5236</pose>
    </include>  

    <link name='sole'>
      <pose>0 0 0 1.5708 0 0</pose>
      <visual name='sole_visual'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri> model://Robot_model/meshes/STL/Sole.stl </uri>
            <scale> .001 .001 .001 </scale>
          </mesh>
        </geometry>
      </visual>

      <collision name='sole_collision_box'>
        <pose> 0 .049 0   -1.5708 0 0 </pose>
        <geometry>
          <box>
            <size>.026 .016 .068</size>
          </box>
        </geometry>
      </collision>

      <collision name='sole_collision_cylinder'>
        <pose> 0 .0075 0   -1.5708 0 0 </pose>
        <geometry>
          <cylinder>
            <radius>.05</radius>
            <length>.015</length>
          </cylinder>
        </geometry>
      </collision>

      <inertial>
        <pose>0 .0128 0  0 0 0</pose>
        <mass>.370</mass>
        <inertia>
          <ixx>0.000270821</ixx>
          <ixy>0.00</ixy>
          <ixz>0.00</ixz>
          <iyy>0.000402393</iyy>
          <iyz>0.00000</iyz>
          <izz>0.000273382</izz>
        </inertia>
      </inertial>
    </link>

    <link name = 'cross'>
      <pose>0 0 0.0725 0 0 1.5708</pose>

      <visual name='cross_visual'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri> model://Robot_model/meshes/STL/Cross.stl </uri>
            <scale> .01 .01 .01 </scale>
          </mesh>
        </geometry>
      </visual>

      <collision name='cross_collision'>
        <pose> 0 0 .0025 0 0 0 </pose>
        <geometry>
          <box>
            <size>.022 .014 .005</size>
          </box>
        </geometry>
      </collision>
      <inertial>
        <pose>0 0 .0025  0 0 0</pose>
        <mass>0.006</mass>
        <inertia>
          <ixx>1.63e-07</ixx>
          <ixy>0.00</ixy>
          <ixz>0.00</ixz>
          <iyy>3.34e-07</iyy>
          <iyz>0.00000</iyz>
          <izz>4.75e-07</izz>
        </inertia>
      </inertial>
    </link>

    <link name = 'base'>
      <pose>0 -.017 .1 -1.5708 0 0</pose>
      <visual name='base_visual'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri> model://Robot_model/meshes/STL/Holder.stl </uri>
            <scale> .01 .01 .01 </scale>
          </mesh>
        </geometry>
      </visual>

      <collision name='base_collision'>
        <pose> 0 .0155 .017 0 0 0 </pose>
        <geometry>
          <box>
            <size>.012 .031 .034</size>
          </box>
        </geometry>
      </collision>
      <inertial>
        <pose>0 .011117 0.017  0 0 0</pose>
        <mass>0.015</mass>
        <inertia>
          <ixx>0.00000354</ixx>
          <ixy>0.00</ixy>
          <ixz>0.00</ixz>
          <iyy>0.000002528</iyy>
          <iyz>0.00000</iyz>
          <izz>0 ...