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It's kind of hard to tell without the plugins. I suggest you inspect your model to be sure all parameters are correct. For example, right clicking on the model and visualizing center of mass and inertia, I could see that you have a very heavy mass on a corner. (The visualizations available will depend on your version of Gazebo)

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Another way to find out why the movement is wrong is pausing the simulation then stepping through it slowly to see what's going on.