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Hi, I had the same problem when attaching to a static model! Changing the model to

<static>false</static>

and instead applying a joint to the world (in the .sdf file) did the trick for me!

When doing this I experience oscillations between the attached models - I was able to remove this by applying damping to the (previously static) model:

  <velocity_decay>
    <linear>1</linear>
    <angular>1</angular>
  </velocity_decay>