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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.

image description

You can see the behaviour here in this video:

I already tried to set the dampingFactor, minDepth and a few other parameters, but that didn't fix it:

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:

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