Kuka youBot arm in Gazebo: Arm slowly moves out of place over time

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Hi,

I am running a simulation in Gazebo with a Kuka youBot (Arm Only). I use the fixed link as "/base_link." When I spawn the youBot, everything works fine, and there is no arbitrary movement. Then I issue a joint trajectory command using either an action server or a publisher to the youBot, and it executes perfectly fine in both cases. However, as soon as the youBot reaches it's destination, suddenly it will start drifting (i.e. sliding on the ground, spinning slowly, or doing some other strange things). Is there some way to anchor the arm to the "ground" in Gazebo?

Thank you, -Adrian