How to have better control of a gazebo animation

edit

Hello, I'm trying to animate some objects on gazebo. I have followed the animated box tutorial and using the same technique I animated my objects without much trouble. The problem is that setting just some keyframes doesn't give much control over the animation because the velocity of the movement is not constant and generally the models are not moving precisely how I'd want them to. Is there a way to have a more precise control of the animation?