Can you let me know what is wrong with this URDF? [closed]

edit

I created the following robot in Gazebo and then converted it using py2sdf package to URDF. I am able to load the package in MoveIt! However, when I go the poses tab, I can see that only my arm1 is moving and others are not mobile. Any hints would be appreciated. I am a novice, so please pardon mistakes.

<?xml version="1.0" ?>
<robot name="gripper3">
  <joint name="gripper3__arm1_arm2_joint" type="revolute">
    <parent link="gripper3__arm1"/>
    <child link="gripper3__arm2"/>
    <origin rpy="0  0  0" xyz="0  0  1"/>
    <axis xyz="1  0  0"/>
    <limit effort="-1.0" lower="1.0" upper="1.0" velocity="-1.0"/>
  </joint>
  <joint name="gripper3__arm2_arm3_joint" type="revolute">
    <parent link="gripper3__arm2"/>
    <child link="gripper3__arm3"/>
    <origin rpy="0  0  0" xyz="0  0  1"/>
    <axis xyz="1  0  0"/>
    <limit effort="-1.0" lower="1.0" upper="1.0" velocity="-1.0"/>
  </joint>
  <joint name="gripper3__arm3_gripper_joint" type="revolute">
    <parent link="gripper3__arm3"/>
    <child link="gripper3__gripper_box"/>
    <origin rpy="0  0  0" xyz="0  0  1"/>
    <axis xyz="1  0  0"/>
    <limit effort="-1.0" lower="-1.79769" upper="1.79769" velocity="-1.0"/>
  </joint>
  <joint name="gripper3__base_arm1_joint" type="revolute">
    <parent link="gripper3__base"/>
    <child link="gripper3__arm1"/>
    <origin rpy="0  0  0" xyz="0   0   0.1"/>
    <axis xyz="1  0  0"/>
    <limit effort="-1.0" lower="-1.79769" upper="1.79769" velocity="-1.0"/>
  </joint>
  <joint name="gripper3__lgripper_joint" type="prismatic">
    <parent link="gripper3__gripper_box"/>
    <child link="gripper3__lgripper"/>
    <origin rpy="0  0  0" xyz="-0.2  0.2  0.1"/>
    <axis xyz="1  0  0"/>
    <limit effort="-1.0" lower="-1.79769" upper="1.79769" velocity="-1.0"/>
  </joint>
  <joint name="gripper3__rgripper_joint" type="prismatic">
    <parent link="gripper3__gripper_box"/>
    <child link="gripper3__rgripper"/>
    <origin rpy="0  0  0" xyz="0.2   0.2   0.15"/>
    <axis xyz="1  0  0"/>
    <limit effort="-1.0" lower="-1.79769" upper="1.79769" velocity="-1.0"/>
  </joint>
  <link name="gripper3__base">
    <inertial>
      <mass value="6"/>
      <origin rpy="0  0  0" xyz="0  0  0"/>
      <inertia ixx="0.68" ixy="0" ixz="0" iyy="0.68" iyz="0" izz="0.68"/>
    </inertial>
    <collision name="gripper3__collision">
      <origin rpy="0  0  0" xyz="0  0  0"/>
      <geometry>
        <box size="1 1 0.6"/>
      </geometry>
    </collision>
    <visual name="gripper3__visual">
      <origin rpy="0  0  0" xyz="0  0  0"/>
      <geometry>
        <box size="1 1 0.6"/>
      </geometry>
    </visual>
  </link>
  <link name="gripper3__arm1">
    <inertial>
      <mass value="0.1"/>
      <origin rpy="0  0  0" xyz="0   0   0.5"/>
      <inertia ixx="0.008583" ixy="0" ixz="0" iyy="0.008583" iyz="0" izz="0.0005"/>
    </inertial>
    <collision name="gripper3__collision">
      <origin rpy="0  0  0" xyz="0   0   0.5"/>
      <geometry>
        <cylinder length="1" radius="0.1"/>
      </geometry>
    </collision>
    <visual name="gripper3__visual">
      <origin rpy="0  0  0" xyz="0   0   0.5"/>
      <geometry>
        <cylinder length="1" radius="0.1"/>
      </geometry>
    </visual>
  </link>
  <link name="gripper3__arm2">
    <inertial>
      <mass value="0.1"/>
      <origin rpy="0  0  0" xyz="0   0   0.5"/>
      <inertia ixx="0.008583" ixy="0" ixz="0" iyy="0.008583" iyz="0" izz="0.0005"/>
    </inertial>
    <collision name ...