Model 'bouncing' off the ground in Gazebo

[joaocandre]

I understand this repository is quite old and likely not actively maintained anymore, but I'm experiencing a strange issue when simulating the DARwIn-OP in Gazebo:

darwin_gazebo-2022-08-30_00.45.54.webm

Are the link/body masses and inertia matrices accurately set in the URDF model? This behavior is definitely not experienced in the real robot, it's too heavy for that.