Dear Joel;
I have just analyzed the example you offered.
But it can not help my problem, because in the XML file(Puma560 Simulator.xml)
it is clear to see that there is no link heavier than 1kgs.
You can also recognize that by opening this XML file in InternetExplorer.
After opening the file, search "mass" by Ctrl+F combination.
The motor in simulator can handle these masses easily.
But; in our robot, AcromeOne, links are approximately 7-10kgs!
Please check out the XML files which I have attached with my first post.
The motor in simulators, can not move the links heavier than 2kg.
But I need it, because If the masses can not be defined in the simulator correctly, there is no meaning to simulate the robot system.
If I still could not clearly define the what the problem is, I will record a video for it.
Thank you for your interest.
Dinçer Saygılı
Acrome Robotics
Istanbul Technical University
ARI-3 SciencePark