Resource manager accessing wrong hw_interface

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I am trying to setup a separate hw_interface for the gripper and robot however after launch I get error message from the resource_manager on components not accepting new command resource combinations.

Is there a way to have both controllers up and running at the same time with each controller having different number of joints to command and control interfaces?

The errors I am getting:

[ros2_control_node-3] [ERROR] [1652677000.851280800] [resource_manager]: Component 'INOBOTGripper' did not accept new command resource combination:
[ros2_control_node-3]  Start interfaces:
[ros2_control_node-3] [
[ros2_control_node-3]   link_1_joint/position
[ros2_control_node-3]   link_2_joint/position
[ros2_control_node-3]   link_3_joint/position
[ros2_control_node-3]   link_4_joint/position
[ros2_control_node-3]   link_5_joint/position
[ros2_control_node-3]   link_6_joint/position
[ros2_control_node-3] ]
[ros2_control_node-3] Stop interfaces:
[ros2_control_node-3] [
[ros2_control_node-3] ]
[ros2_control_node-3]
[ros2_control_node-3] [ERROR] [1652677000.851357300] [controller_manager]: Could not switch controllers since prepare command mode switch was rejected.
[ros2_control_node-3] [INFO] [1652677000.851627600] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner.py-6] [INFO] [1652677000.853083100] [spawner_arm_joint_trajectory_controller]: Failed to start controller
[ERROR] [spawner.py-6]: process has died [pid 32327, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py arm_joint_trajectory_controller --controller-manager /controller_manager --ros-args'].
[ros2_control_node-3] [INFO] [1652677001.244891200] [controller_manager]: Configuring controller 'gripper_controller'
[ros2_control_node-3] [INFO] [1652677001.246297200] [gripper_controller]: configure successful
[spawner.py-7] [INFO] [1652677001.246709200] [spawner_joint_state_broadcaster]: Configured and started joint_state_broadcaster
[ros2_control_node-3] [ERROR] [1652677001.252742000] [resource_manager]: Component 'INOBOTModularSystem' did not accept new command resource combination:
[ros2_control_node-3]  Start interfaces:
[ros2_control_node-3] [
[ros2_control_node-3]   right_finger_joint/position
[ros2_control_node-3] ]
[ros2_control_node-3] Stop interfaces:
[ros2_control_node-3] [
[ros2_control_node-3] ]
[ros2_control_node-3]
[ros2_control_node-3] [ERROR] [1652677001.252929900] [controller_manager]: Could not switch controllers since prepare command mode switch was rejected.
[spawner.py-5] [INFO] [1652677001.256148300] [spawner_gripper_controller]: Failed to start controller
[INFO] [spawner.py-7]: process has finished cleanly [pid 32329]
[ERROR] [spawner.py-5]: process has died [pid 32325, exit code 1, cmd '/opt/ros/foxy/lib/con

The content of my config files and urdf is as follows:

ros2_controllers.yaml

controller_manager:
  ros__parameters:
    update_rate: 10  # Hz
    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster
    arm_joint_trajectory_controller:
      type: joint_trajectory_controller/JointTrajectoryController
    gripper_controller:
      type: forward_command_controller/ForwardCommandController

arm_joint_trajectory_controller:
  ros__parameters:
    command_interfaces:
      - position
    state_interfaces:
      - position
    joints:
      - link_1_joint
      - link_2_joint
      - link_3_joint
      - link_4_joint
      - link_5_joint
      - link_6_joint
    state_publish_rate: 10.0
    action_monitor_rate: 10.0
    allow_partial_joints_goal: false
    open_loop_control: true
    allow_integration_in_goal_trajectories: true
    constraints:
      stopped_velocity_tolerance: 0.01
      goal_time: 0.0

gripper_controller:
  ros__parameters:
    joints:
      - right_finger_joint
    interface_name: position

ros2_control tag in urdf files:

in <robot name="robot_arm">:

 <ros2_control name="INOBOTModularSystem" type="system">
        <hardware>
          <plugin>inobot_control_hardware/INOBOTSystemMultiInterfaceHardware</plugin>
          <param name="example_param_hw_start_duration_sec">0.0</param>
          <param name="example_param_hw_stop_duration_sec">3.0</param>
          <param name="example_param_hw_slowdown">0</param>
        </hardware>
        <joint name="link_1_joint">
          <command_interface name="position">
            <param name="min"> -100 </param>
            <param name="max"> 100 </param>
          </command_interface>
          <command_interface name="velocity">
            <param name="min">-1</param>
            <param name="max">1</param>
          </command_interface>
          <command_interface name="acceleration">
            <param name="min">-1</param>
            <param name="max">1</param>
          </command_interface>
          <state_interface name="position" />  
          <state_interface name="velocity"/>
          <state_interface name="acceleration"/>
        </joint>

   ...

      <joint name="link_6_joint">
        <command_interface name="position">
          <param name="min"> -100 </param>
          <param name="max"> 100 </param>
        </command_interface>
        <command_interface name="velocity">
          <param name="min">-1</param>
          <param name="max">1</param>
        </command_interface>
        <command_interface name="acceleration">
          <param name="min">-1</param>
          <param ...