Dear all, I have the below URDF file.

This is a description for a inverse pendelum robot which I want to train in a simulation with AI. When I load this file with pybullet for the training, it falls down through the ground and won't stop falling.

Has anybody an idea what could be wrong with the URDF file?

If there are missing some important information please let me know.

Thanks a lot for your help guys?

<?xml version="1.0" ?>
<robot name="Cartpole">

  <joint name="Rotation" type="continuous">
    <parent link="Cart"/>
    <child link="Shaft"/>
    <origin rpy="0  0  0" xyz="0.0215  0.247   0.0435"/>
    <axis xyz="1  0  0"/>
    <limit effort="0.0" lower="0.0" upper="0.0" velocity="0.0"/>
  </joint>

  <joint name="Cart_joint" type="prismatic">
    <parent link="Base"/>
    <child link="Cart"/>
    <origin rpy="0  0  0" xyz="-0.04147 -0.31058  0.22851"/>
    <axis xyz="0 -1  0"/>
    <limit effort="0.0" lower="-0.23555" upper="0.23555" velocity="0.0"/>
  </joint>

  <joint name="Pole_Shaft" type="fixed">
    <parent link="Shaft"/>
    <child link="Pole"/>
    <origin rpy="0  0  0" xyz="0.0193  0      0.007"/>
    <axis xyz="0  0  0"/>
    <limit effort="0" lower="0" upper="0" velocity="0"/>
  </joint>

  <link name="Cart">
    <inertial>
      <mass value="0.4494280957660571"/>
      <origin rpy="0  0  0" xyz="0  0  0"/>
      <inertia ixx="0.034344216689805106" ixy="-0.0013555840592494157" ixz="0.005746023053830929" iyy="0.033575305370647346" iyz="0.007655119926892856" izz="0.0029338994617400297"/>
    </inertial>
    <collision name="Cart_collision">
      <origin rpy="0  0  0" xyz="-0.00606  0.24716  0.03996"/>
      <geometry>
        <mesh filename="package:///home/agent-pipeline/cad-assets/urdf_cadassets/meshes/CAD/Cart.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <visual name="Cart_visual">
      <origin rpy="0  0  0" xyz="-0.00606  0.24716  0.03996"/>
      <geometry>
        <mesh filename="package:///home/agent-pipeline/cad-assets/urdf_cadassets/meshes/CAD/Cart.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
  </link>

  <link name="Shaft">
    <inertial>
      <mass value="0.024209988665072436"/>
      <origin rpy="0  0  0" xyz="0  0  0"/>
      <inertia ixx="0.00188987952436807" ixy="-1.1706804306416182e-05" ixz="5.008066577766269e-05" iyy="0.0017943029340322224" iyz="0.0004187314228447953" izz="0.00010090272031144335"/>
    </inertial>
    <collision name="Shaft_collision">
      <origin rpy="0  0  0" xyz="0.01237  0       0"/>
      <geometry>
        <mesh filename="package:///home/agent-pipeline/cad-assets/urdf_cadassets/meshes/CAD/Shaft.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <visual name="Shaft_visual">
      <origin rpy="0  0  0" xyz="0.01237  0       0"/>
      <geometry>
        <mesh filename="package:///home/agent-pipeline/cad-assets/urdf_cadassets/meshes/CAD/Shaft.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
  </link>

  <link name="Pole">
    <inertial>
      <mass value="0.01797430178868597"/>
      <origin rpy="0  0  0" xyz="0  0  0"/>
      <inertia ixx="0.0008366739796019355" ixy="-7.689518680322801e-07" ixz="2.477907732299824e-06" iyy="0.0007640110742674137" iyz="0.0002341786839091567" izz="7.299569596665657e-05"/>
    </inertial>
    <collision name="Pole_collision">
      <origin rpy="0  0  0" xyz="0       0      -0.07411"/>
      <geometry>
        <mesh filename="package:///home/agent-pipeline/cad-assets/urdf_cadassets/meshes/CAD/Pole.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <visual name="Pole_visual">
      <origin rpy="0  0  0" xyz="0       0      -0.07411"/>
      <geometry>
        <mesh filename="package:///home/agent-pipeline/cad-assets/urdf_cadassets/meshes/CAD/Pole.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
  </link>

  <link name="Base">
    <inertial>
      <mass value="2.5459113603106216"/>
      <origin rpy="0  0  0" xyz="0  0  0"/>
      <inertia ixx="0.5882136684497374" ixy="-0.02906460593367471" ixz="0.0501787117673072" iyy="0.14479915583911276" iyz="0.07620661469781886" izz="0.5291431708702397"/>
    </inertial>
    <collision name="Base_collision">
      <origin rpy="0  0  0" xyz="-0.10471 -0.14784  0.19902"/>
      <geometry>
        <mesh filename="package:///home/agent-pipeline/cad-assets/urdf_cadassets/meshes/CAD/Base.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <visual name="Base_visual">
      <origin rpy="0  0  0" xyz="-0.10471 -0.14784  0.19902"/>
      <geometry>
        <mesh filename="package:///home/agent-pipeline/cad-assets/urdf_cadassets/meshes/CAD/Base.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
  </link>

</robot>