I have imported a .stl small cylinder model into my Gazebo world and made it dynamic so I can use the robot to pick it up. However on launch, the model spins around before coming to rest at an angle I haven't specified. If i set true, the model will sit flat but can't be moved. Has anyone experienced this and do they have a solution?

Edit: Setting the gravity tag of the model to 0 seems to fix this but brings up the issue of no gravity