No p gain specified for pid

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I have made custom urdf for 6 DOF robot, when I run it it shows this error

I have added ros control to this this is the YAML file

robot: #list of controllers joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 50

arm_controller:
  type: "position_controllers/JointTrajectoryController"
  joints:
    - base_link_link_1
    - link_1_link_2
    - link_2_link_3
    - link_3_link_4
    - link_4_link_5
    - link_5_link_6
  gains:
    base_link_link_1: {p: 100, i: 0.01, d: 1}
    link_1_link_2:    {p: 100, i: 0.01, d: 1}
    link_2_link_3:    {p: 100, i: 0.01, d: 1}
    link_3_link_4:    {p: 100, i: 0.01, d: 1}
    link_4_link_5:    {p: 100, i: 0.01, d: 1}
    link_5_link_6:    {p: 100, i: 0.01, d: 1}

  constraints:
    goal_time: 10.0                  # Override default

  state_publish_rate:  50            # Override default
  action_monitor_rate: 30            # Override default
  stop_trajectory_duration: 0        # Override default

gripper_controller:
  type: "effort_controllers/JointTrajectoryController"
  joints:
    - gripper_right_joint
    - gripper_left_joint
  gains:
    gripper_right_joint: {p: 100, i: 1, d: 10, i_clamp: 1.0}
    gripper_left_joint:  {p: 100, i: 1, d: 10, i_clamp: 1.0}
  constraints:
    goal_time: 3.0
    gripper_right_joint:
      goal: 0.02
    gripper_left_joint:
      goal: 0.02

i am used ros noetic