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Robot doesn't fall straight


I'm trying to simulate the behavior of my humanoid robot. However, though all inertia are set correctly, my robot doesn't fall down straight and it can't stand still.

I have no idea what is going on.

How to fix this strange behavior and to make my robot fallen down straight?

I'm using gazebo 7.9.0 and ROS lunar.

my urdf is:

.launch file: