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Hi there,

try adding larger mass values to the base/wheels, and check if your inertia matrices are correct.

Right click -> Show inertia ? (Something like that.)

And make sure the pink box you get visualized it is aprox. the size of its corresponding link.

If that still doesn't work, try uploading a picture when visualizing the inertia. So we can get a better idea.

Cheers, Andrei