Im trying simulate my simple project with gazebo, i already calculate the inertial componen and i think its correct this is the picture of the inertial in gazebo

there is 8 part component, base and 4 arm, each arm have 2 part, and this the urdf, i simply the file for base and one arm, and i think the problem is the part close together, is this the problem? hope you can help me guys

this the xacro file here