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thank you hsu for your answer.

i already tried this method way before i started this thread. the problem is that as soon as i load a plugin to the model to control the joints position (common::NumericAnimation, SetValue(double position)) the model begins slipping regardless how heavy or how high the mu's are set.

Of course if i do not load a controller to the model then the robot collapses on its own weight (without slipping).