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We found the solution:

I made a mistake when I set the origin of the body's and wheel's inertial. I set it to the same offset as I set in the joints but the origin of the inertial is its joint. As it is for the visual and collision. Now I set the origin of each interial to xyz="0 0 0".

In addition we added the axis parameter to the finn's joints and set it to xyz="1 1 1" together with a modification of the joint-type to continuous.

Cheers, F4B1