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Tower of Hanoi: Objects juping on collision

I am trying to build a "Tower of Hanoi" simulation in Gazebo.

For that I have a model with 3 pins and a few rings with different sizes.

If I place these rings on top of each other, they simply jump away after the fourth or so.

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You can see the behaviour here in this video:

https://youtu.be/vwuhcyKq3U8

I already tried to set the dampingFactor, minDepth and a few other parameters, but that didn't fix it: https://youtu.be/VhdT60QPgsI

image description

Also, the Inertia matrix is correct and the center of mass is also in the middle of the rings.

The whole source code to reproduce the problem is here:

https://github.com/Pro/gazebo_hanoi

How do I have to modify the URDF to successfully stack the rings?