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How to make select parts of composite models static

In a composite model, is it possible to make one part of a model static while make other parts dynamic?

I'd like to position a platform in a static position a few meters in the air, while allowing actuators attached below it to move, simulating the platform being mounted to a ceiling. I tried making the platform model static, while making the actuator models dynamic, but Gazebo seems to interpret the entire model as static if even one part is static.