Friction acts failure in Gazebo world

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I have a ball and cylinder both will fall on the ground, however, i find that they all keep rolling slowiy and stopped over 5 minutes later

this is my ground plane 's setting

<surface> <friction> <ode> <mu>Inf</mu> <mu2>100</mu2> <fdir1>1 0 0</fdir1> </ode> </friction> <bounce/> <contact> <ode> <min_depth>0.01</min_depth> <max_vel>0.0</max_vel> </ode> </contact> </surface> <max_contacts>10</max_contacts>