So I imported the robot’s URDF to import the body of my robot. The spherical wheel could not be imported so I had to add one by hand with the same characteristics and also to create the joints by hand. The problem now, as can be seen in the video, is that when I start the simulation the robot “jumps” forwards instead of “dropping” normally. How can I fix this problem, and also the warnings from the console to progress into ROS2 development and RL.
video link: https://www.youtube.com/watch?v=cbAlqq6Zg5Q