Problem with making a floating gripper in Gazebo

Hi, I am trying to make a floating gripper for gazebo that will be used for reinforced learning, so far I want it to move up and down and close its claws. Currently I have a problem with spawning it in gazebo simulation, because I think the urdf is not parsed correctly, because the gravity is turned off only for the first link. The code for gripper is attached below. I guess I kinda messed up with the dummy links, but I can't find any example like that.  00.50.5Gazebo/Orange00.50.5Gazebo/Orange00.50.5Gazebo/Orange00.50.5Gazebo/Red00.50.5Gazebo/Redtransmission_interface/SimpleTransmissionEffortJointInterfaceEffortJointInterface1transmission_interface/SimpleTransmissionEffortJointInterfaceEffortJointInterface1transmission_interface/SimpleTransmissionEffortJointInterfaceEffortJointInterface1