Overlapping sdf model of kinova arm

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I had the urdf model of Kinova Arm from https://github.com/sahandrez/jaco_con... here. I developed a Gazebo Plugin to control the KInova Arm from the Plugin. For that I needed the sdf file of Kinova Jaco, so I converted the urdf file to sdf file using this command gz sdf -p /j2s7s300.urdf.urdf > /KinovaJaco.sdf. However I get an overlapped sdf file of the kinova Jaco. I am a newbie in this. Can someone help me getting a well configured SDF file of the Arm? Also, why is this overlapping problem occuring because when I launch the urdf file with ROS, it appears perfectly fine.

This is my sdf file

<?xml version="1.0"?> 
<sdf version='1.4'>
  <model name='KinovaJaco'>
    <static>true</static>
    <pose>0 0 0 0 0 0</pose>
    <link name='root'>
      <pose>0 0 0.0000 0.0000 0.00000 0.0000</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
       <!-- <mass>0.46784</mass> -->
        <inertia>
          <ixx>0.400</ixx>
          <ixy>0.5</ixy>
          <ixz>0.8</ixz>
          <iyy>0.4</iyy>
          <iyz>0.9</iyz>
          <izz>0.200</izz>
        </inertia>
    <mass>0.46784</mass>
      </inertial>
      <collision name='base_link'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://kinovaJaco/meshes/base.STL</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='root_fixed_joint_lump__Kinova_link_base_visual_1'>
        <pose>0 0.5 0.6 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://kinovaJaco/meshes/base.STL</uri>
          </mesh>
        </geometry>
      </visual>
    </link>

    <link name='Kinova_link_1'>
      <pose>0 0 0.15675 3.14159 -0 3.14159</pose>
      <inertial>
        <pose>0 -0.002 -0.0605 0 -0 0</pose>
        <mass>0.7477</mass>
        <inertia>
          <ixx>0.00152032</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00152032</iyy>
          <iyz>0</iyz>
          <izz>0.00059816</izz>
        </inertia>
      </inertial>
      <collision name='Kinova_link_1_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://kinovaJaco/meshes/shoulder.STL</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='Kinova_link_1_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://kinovaJaco/meshes/shoulder.STL</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='Kinova_link_1_visual_1'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://kinovaJaco/meshes/ring_big.STL</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='Kinova_joint_1' type='revolute'>
      <child>Kinova_link_1</child>
      <parent>root</parent>
      <axis>
        <xyz>-0 0 -1</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <damping>0.2</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='Kinova_link_2'>
      <pose>0 0.0016 0.2755 1.5708 0 -0</pose>
      <inertial>
        <pose>0 -0.103563 0 0 -0 0</pose>
        <mass>0.8447</mass>
        <inertia>
          <ixx>0.00247074</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.000380115</iyy>
          <iyz>0</iyz>
          <izz>0.00247074</izz>
        </inertia>
      </inertial>
      <collision name='Kinova_link_2_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://kinovaJaco/meshes ...