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I solved this problem partially, changed it and put the same coordinate system for all links. Now the robot appears whole, but it still appears lying in RViz and Gazebo when I connect it to ROS using this code on URDF file

  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>/</robotNamespace>
    </plugin>
  </gazebo>

Without the code, the robot appears standing on Gazebo at least, sliding over simulation time...