cup object does not trigger the gazebo ros bumper sensor?

edit

Hello ,

I have a problem with using a cup object to trigger the bumper contact sensor (gazebo ros bumper plugin) that integrated into a table object. My purpose is to to make the sensor publish its contact data whenever we place a cup on the table.

So when I place a cup on the table it doesnt publish any data even though both collisions are colliding. I tried to place a bowl object and it worked fine. But I need to use a cup instead of a bowl in my experiment. Any ideas what might be the problem with the cup object? btw I have changed the mass value of the cup and collision's position but no luck!

Thanks in advance