Mimicing joints not working in moveit.

edit

I made a urdf for a new robotarm with a gripper. To controll the gripper i will use 2 joints mimicing a third. But when i bring the urdf in moveit setup assistant, define two groups (arm(with joints);gripper(with links)) and then when i want to add the poses this happens:

Also you'll see what happens after i generted the package and edit it again.

Video auf YT | or Dropboxlink

Why is this happening and hwo do i get my expected result?

My urdf:

<robot <a="" href="http://xmlns:xacro="http://wiki.ros.org/xacro%22" name="roboarm_002">xmlns:xacro="http://wiki.ros.org/xacro"></robot>

<!--xacro:include filename="$(find xxx)/urdf/xxx.gazbeo.urdf"/-->

<link name="world" />

<link name="link_base">
    <inertial>
        <origin rpy="1.57075 0 0" xyz="0 0 0"/>
        <mass value=".1"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
    </inertial>
    <visual>
        <origin xyz="0 0 0" rpy="1.57075 0 0" />
        <geometry>
            <mesh filename="package://roboarm_002/urdf/Base.obj" scale="1 1 1"/>
        </geometry>
        <material name="Cyan">
            <color rgba="0 1.0 1.0 1.0" />
        </material>
    </visual>
    <collision>
        <origin xyz="0 0 0" rpy="1.57075 0 0" />
        <geometry>
            <mesh filename="package://roboarm_002/urdf/Base.obj" scale="1 1 1"/>
        </geometry>
    </collision>
</link>

<joint name="world_fixed" type="fixed">
    <parent link="world" />
    <child link="link_base" />
</joint>

<!--joint name="world_fixed05" type="fixed">
    <parent link="world" />
    <child link="xyz" />
</joint>

<joint name="world_fixed2" type="fixed">
    <parent link="world" />
    <child link="xyz2" />
</joint>

<joint name="world_fixed3" type="fixed">
    <parent link="world" />
    <child link="xyz3" />
</joint>

<joint name="world_fixed4" type="fixed">
    <parent link="world" />
    <child link="xyz4" />
</joint>

<link name="xyz">
    <inertial>
        <origin rpy="1.57075 0 0" xyz="0 0 0"/>
        <mass value=".1"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
    </inertial>
    <visual>
        <origin xyz="0 0 0" rpy="1.57075 0 0" />
        <geometry>
            <mesh filename="package://roboarm_002/urdf/XYZ.obj" scale="1 1 1"/>
        </geometry>
        <material name="Cyan">
            <color rgba="0 1.0 1.0 1.0" />
        </material>
    </visual>
    <collision>
        <origin xyz="0 0 0" rpy="1.57075 0 0" />
        <geometry>
            <mesh filename="package://roboarm_002/urdf/XYZ.obj" scale="1 1 1"/>
        </geometry>
    </collision>
</link>

<link name="xyz2">
    <inertial>
        <origin rpy="1.57075 0 0" xyz="-1 0 0"/>
        <mass value=".1"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
    </inertial>
    <visual>
        <origin xyz="-1 0 0" rpy="1.57075 0 0" />
        <geometry>
            <mesh filename="package://roboarm_002/urdf/XYZ.obj" scale="1 1 1"/>
        </geometry>
        <material name="Cyan">
            <color rgba="0 ...