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@Jim Rothrock

The problem was solved using pid gains for Position Joint Controllers (Interfaces).

But I still believe that this should be fixed in a later version. When you specify a position joint controller, not having pid gains is exactly what you want (in some cases - in my case too, because I don't have access to the robot's motors specifications and the robot uses servo motors).

Anyway, thanks for the reply and I've finally solved my issue. :)