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Flickering Contact Points

Hey Guys,

I am trying to simulate a robotic hand in gazebo 11. I am specifically trying to detect the contact between this hand and the external environment. My problem is that the contact points that are generated on the hand are flickering and I need them to be perfectly stable. I tried playing around with the collision parameters: kp, kd, min_depth, erp .... but with no avail. Any help will be appreciated. Thanks in advance!