gazebo URDF collapsing - need tips for inertia (solved)

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Hi, I have a problem with gazebo spawning the links of my URDF model not correctly.

So figured out that it is still a problem with the inertia.

-I tried to fix it but could not make it stable. When adding link by link after the 5th part everything is collapsing. I removed the big table from the URDF, than there was a change but in the end it still collapses.

-I used the inertia calculated by Mashlab and I tried it with the inertia from SolidWorks, but there was no improvement. Using different masses for the links didnt change anything as well.

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...

Question 2: If I change the structure of the URDF in Gazebo but leave the old structure in MoveIt, would there be problems with the transformations ?

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 didnt go that way but: I reduced fixed Joints to zero (except base_link). Making assemblies in SolidWorks and using the inertia from the urdf_exporter made it nearly stable when spawning. The model is still a little shaky, I will keep working on that.

ROI3000