Create movable object for pick and place

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Hi community, I'm creating a pick and place operation with MoveIt and a Yumi. I have created the Xacro/URDF files for generate a base to the robot and the XACRO files also for the object to pick and place. I created a joint connection for the test tubes with the base (In order to have a TF with respect to the base and in order to pick and place them) of floating type. The issue is that when I'm launching the spawn urdf I haven't the test tubes and i have this error in Rviz

The error shown is: No transform from [test_tube_1_tube_link] to [world]

I haven't errors related to the test tubes in Rviz. And the errors are not happening if i'm using the joint type: fixed The xacro file where i'm importing the robot (with the base and the world) and the test tubes is this:

<?xml version="1.0"?>
<robot name="lab" xmlns:xacro="http://www.ros.org/wiki/xacro">

  <xacro:property name="base_height" value="1.0"/>
  <xacro:property name="tube_height" value="0.1030"/>
  <xacro:property name="x_tube" value="0.3"/>
  <xacro:property name="y_tube1" value="0"/>
  <xacro:property name="y_tube2" value="0.3"/>
  <xacro:property name="y_tube3" value="0.6"/>

  <!-- Include Yumi with table -->
  <xacro:include filename="$(find yumi_description)/urdf/yumi.urdf.xacro"/>

  <!-- Include test tubes -->
  <xacro:include filename="$(find YumiProjectThesis)/urdf/test_tube/test_tube.urdf.xacro"/>
  <xacro:test_tube_urdf prefix="test_tube_1_"/>
  <xacro:test_tube_urdf prefix="test_tube_2_"/>
  <xacro:test_tube_urdf prefix="test_tube_3_"/>

  <!-- Joint test_tubes -->
  <joint name="test_tube_1_joint" type="floating">
    <parent link="world"/>
    <child link="test_tube_1_tube_link"/>
    <origin xyz="${x_tube} ${y_tube1} ${(base_height+tube_height) / 2}"/>
  </joint>

  <joint name="test_tube_2_joint" type="floating">
    <parent link="base"/>
    <child link="test_tube_2_tube_link"/>
    <origin xyz="${x_tube} ${y_tube2} ${(base_height + tube_height)/2}"/>
  </joint>

  <joint name="test_tube_3_joint" type="floating">
    <parent link="base"/>
    <child link="test_tube_3_tube_link"/>
    <origin xyz="${x_tube} ${y_tube3} ${(base_height + tube_height)/2}"/>
  </joint>

</robot>