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Hi, I encounter a similar problem and was able to solve it thanks to this answer :

https://answers.ros.org/question/258420/ball-joint-in-urdf/

It seems that gazebo ignore certain link depending on their inertia. In my case I have a virtual_link as advise there to create a 2DOF joint. In my try I try with a "dummy" inertia with all value to set to 0 but gazebo also ignore it so I put very low value to have my model work woth gazebo. To understand your exact problem your full urdf/xarco file would be needed.

Hope it helps.

Hi, I encounter a similar problem and was able to solve it thanks to this answer :

https://answers.ros.org/question/258420/ball-joint-in-urdf/

It seems that gazebo ignore certain link depending on their inertia. In my case I have a virtual_link as advise there to create a 2DOF joint. In my try I try with a "dummy" inertia with all value to set to 0 but gazebo also ignore it so I put very low value to have my model work woth gazebo. To understand your exact problem your full urdf/xarco file would be needed.

Hope it helps. helps.