We currently dont support the creation of new robots that use a counterweight cylinder as it require a more complicated kinematic. Is this a model we dont have in the library?
Personally I'd just delete it out the model, or perhaps fix it to axis 1 model if you really want it
Powermill robot does have stuff like counterbalance simulated, but the computational overheads are horrific, and rdk can do things in a fraction of the time, and I'd much prefer to have a fast simulation than eye candy graphics, that take 3 times longer