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@nordegren, if you think that problem is the controller, could you post your code? I am not sure if animations take into account the physics engine.

@nordegren, if you think that problem is the controller, could you post your code? I am not sure if animations take into account the physics engine.


@nordegren I am new in gazebo, but here [http://gazebosim.org/wiki/Tutorials/1.3/intermediate/animate_pose] says that animation engine doesn't take into account physics engine. So I don't know if your animation plugin do the black magic and your model slips.