Thank You for advice.

Now I understand " thread safe" rules. I have something wrong in code. I have moved "thread code" to onDrawFrame in GLSurfaceView.Renderer and unfortunatelly effect is the same.

Anyway I changed my mind and I dont' want to create and rotate dummy object, because i figured out that I can't add rigidbody as a child to dummy object.
So I'll try my rigidbody go forward with setLinearVelocity, and somehow turn left each 100ms (for example). But applyTorqueImpulse does not change rigidbody move direction.

try {

            playerDummyObj = Object3D.createDummyObj();

            AssetManager.AssetInputStream fis = (AssetManager.AssetInputStream) MainActivity.MA.getResources().openRawResource(
                    R.raw.terra);
            playerObj3d = Loader.loadASC(fis, SCALE*0.20F, true);
            playerObj3d.setTexture("cliff");

            AssetManager.AssetInputStream fisShield = (AssetManager.AssetInputStream) MainActivity.MA.getResources().openRawResource(
                    R.raw.terra);
            shieldBall = Loader.loadASC(fisShield, SCALE*0.20F, true);
            shieldBall.setTexture("cliff");


        } catch (Exception e) {
            e.printStackTrace();
        }

        MainActivity.WORLD.addObject(playerObj3d);
        MainActivity.WORLD.addObject(shieldBall);

        Transform shapeTransform = new Transform();
        shapeTransform.setIdentity();
        shapeTransform.origin.set(new Vector3f(0F, 0.5F, 0F));

        Transform shieldBallTransform = new Transform();
        shieldBallTransform.setIdentity();
        shieldBallTransform.origin.set(new Vector3f(0.5F, 0.5F, 0F));

        SphereShape shape = new SphereShape(1F);
        shape.setLocalScaling(new Vector3f(SCALE,SCALE,SCALE));

        SphereShape shieldBallShape = new SphereShape(1F);
        shieldBallShape.setLocalScaling(new Vector3f(SCALE,SCALE,SCALE));

        Vector3f localInertia = new Vector3f(0, 0, 0);
        Vector3f shieldLocalInertia = new Vector3f(0, 0, 0);

        shape.calculateLocalInertia(mass, localInertia);
        shieldBallShape.calculateLocalInertia(mass, shieldLocalInertia);

        JPCTBulletMotionState ms = new JPCTBulletMotionState(playerObj3d, shapeTransform);
        RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, ms, shape, localInertia);
        body = new RigidBody(rbInfo);
        Jbullet.dynamicWorld.addRigidBody(body);

        JPCTBulletMotionState msShield = new JPCTBulletMotionState(shieldBall, shieldBallTransform);
        RigidBodyConstructionInfo rbInfoShield = new RigidBodyConstructionInfo(mass, msShield, shieldBallShape, shieldLocalInertia);
        RigidBody shieldBody = new RigidBody(rbInfoShield);
        Jbullet.dynamicWorld.addRigidBody(shieldBody);

        playerDummyObj.translate(0F, 2F, 0F);
        shieldBall.addParent(playerDummyObj);

        new Thread(new Runnable() {
            @Override
            public void run() {

                while (true) {

//                   playerDummyObj.clearTranslation();
                    playerDummyObj.rotateAxis(playerDummyObj.getRotationMatrix().getYAxis(),-0.02f);

                    try {
                        Thread.sleep(200);
                    } catch (InterruptedException e) {
                        e.printStackTrace();
                    }
                }
            }
        }).start();

Hello, I have such a code and my problem is to get  shieldBall run around the invisible playerDummyObj with Y axis.

What I observe is:  nothing happens in a few seconds, then rapidly shieldBall rotates around itself and goes away in three directions at the same time very fast (it's like a photon )

Any idea how to make my shieldBall slowly run around playerDummyObj  like an earth around the sun?