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Hi, so I solved the issue with the collapsing model. It is still a little shaky but I hope that it will improve.

Things I did to solve the Problem:

Question 1: should I build the complete testbench in solid works and than use the urdf_exporter? By now I build the URDF link by link...

• I had the wrong world origin for the test bench. so I had to move up in z
• And I reduced fixed joints in the URDF: connecting Links in SolidWorks (SW) and than exported them as one single part. And I used the inertial, which were calculated by the urdf_exporter.

By now I only have issues with the controller to use moveit and gazebo!