Self balancing bot

[reinhardtdh7-arch]

I made a the body using basic shapes in webots and it isnt working

[reinhardtdh7-arch]

For joining 2 parts i used hinge joint with damping constant set to 1000 preventing rotation , so i am not sure physics is working properly and i do not know how to join other 2 objects , I tried creating nesting solids, but doing so says physics is complicated for this , for now whatever I made ,regardless of the pid values i have set , the robot just falls in one direction