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You can activate the gravity of each link in your robot in the SDF file and the self collide too, At the end of the inertial tags in each link you can put this code:


But if your model was made only with gazebo (no with ROS URDF) this may be not your real problem; you may have issues with the inertia of your robot, because, gazebo uses to activate gravity by itself in all the models, or you can have misplaced the center of mass in your links.