Use robot assembler mobile franka cause wiggle and rotate

I used robot aseembler to assemble the mir robot and franka robotic arm,I drag the base,when I drag the base, franka will rotate and shake. When navigating, the universal wheel below will also swing,I found someone who encountered the same problem, but solved it with code. I would like to ask if there is any other way to fix the base and pand0 node. Thanks.

this is the videos

2024-03-26 14-32-19 00_00_00-00_00_30

2024-03-22 14-59-11 00_00_00-00_00_30

These kind of undefined inertia errors may lead to this unexpected physics behavior - They happen because the bodies listed in the log don’t contain a mass API with inertia tensor defined neither a collision API that the physics engine can use to compute the mass properties.

Thanks a lot of your reply. I deleted these affected nodes, but franka still shakes and rotates, so I tried another way to use the transporter model and frank combination in Isaac Assert. This still happen, but using the transporter model and ur3 models will not appear, the two are fixed together.

this is transporter with franka
2024-03-27 11-18-42 00_00_00-00_00_30

this is transporter with ur3
2024-03-27 11-26-37 00_00_00-00_00_30

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Do you have the full error log so we can take a look?

Thanks again for your reply
this is the franka log info

this is the ur3 log info