@Fc0001 , I've been working in robotics for three years now, and this particular issue is one of the most straightforward tasks I've encountered. Handling mesh parts and URDF files can be challenging, especially when exporting to ROS. Automatically generated URDF files from CAD software (like SolidWorks or others) often don't function correctly. I believe the issue lies in parameter values and coordinate references—CAD software references don't precisely align with the ROS ecosystem.
To address this, I've explored real-time debugging tools. While options like the VS Code URDF extension have had issues (they've raised this on their GitHub and seem to have fixed it in a pre-release version vscode-ros) I recommend using the Python URDF package for quick debugging and visualization of URDF files. Before starting, ensure your NumPy version is compatible, as URDFpy relies on the NetworkX Python library, which can encounter issues with certain versions of NumPy.
For more details, check out these resources: