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The sensation of weightlessness, or zero gravity, happens when the effects of gravity are not felt. Technically speaking, gravity does exist everywhere in the universe because it is defined as the force that attracts two bodies to each other. But astronauts in space usually do not feel its effects
Weightlessness is complete or near complete absence of the sensation of weight.
They are weightless because there is no external contact force pushing or pulling upon their body. In each case, gravity is the only force acting upon their body.