I've been trying to do this as well i.e. making the human show some poses for a pose tracking demo. However, it doesn't seem to be working as expected. What I did was:

• Copy and open one of the existing .dae files (stand.dae for instance) in Blender.
• Delete the existing animations and make new ones.
• Re-export them to .dae using Blender's .dae exporter. (need to figure out the best settings for exporting)

When I do open them in gazebo, the animation do work but the transforms seem to be off leading to the them being stretched/deformed. There's probably something I'm missing here since I'm pretty new to rigging and animation in Blender.export

Would be great if someone could provide some pointers.

EDIT: I guess this has been asked before 21629

EDIT 2: I've tried the settings mentioned here but no luck. 6601