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Part of the robot wheel is under the ground

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I have a robot which has 4 wheels. When I put the robot in gazebo, even though I already set the collision of my wheel, I still find that part of the wheel is under the ground and it is shaking all the time.Here is the image: ![image description](/upfiles/14690253624064111.png) and the visualization of collision and contact: ![image description](/upfiles/14690368434684807.png) Does anybody have any idea?

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