gistfile1.xml

<?xml verison="1.0"?>
<robot name="orbit" 
    xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
    xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
    xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">

  <link name="orbit_torso">
    <inertial>
        <!-- origin is relative -->
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <mass value="3.51"/>
        <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
      <!-- rotate PI/2 -->
      <geometry>
        <mesh filename="package://orbit_description/cad/orbit_torso.STL" />
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
      <!-- rotate PI/2 -->
      <geometry>
        <mesh filename="package://orbit_description/cad/orbit_torso.STL" />
      </geometry>
    </collision>
  </link>

  <link name="orbit_hip_left">
    <inertial>
        <!-- origin is relative -->
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <mass value="0.65"/>
        <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 1.570795" xyz="0 0 0"/>
      <!-- rotate PI/2 -->
      <geometry>
        <mesh filename="package://orbit_description/cad/orbit_hip_left.STL" />
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 1.570795" xyz="0 0 0"/>
      <!-- rotate PI/2 -->
      <geometry>
        <mesh filename="package://orbit_description/cad/orbit_hip_left.STL" />
      </geometry>
    </collision>
  </link>

  <link name="orbit_upperleg_left">
    <inertial>
        <!-- origin is relative -->
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <mass value="1.66"/>
        <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <!-- rotate PI/2 -->
      <geometry>
        <mesh filename="package://orbit_description/cad/orbit_upperleg_left.STL" />
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <!-- rotate PI/2 -->
      <geometry>
        <mesh filename="package://orbit_description/cad/orbit_upperleg_left.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="Left_hip_yaw" type="revolute">
    <parent link="orbit_torso"/>
    <child link="orbit_hip_left"/>
    <origin rpy="0 0 1.570795" xyz="0.09000 -0.02000 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="0" lower="-15.0" upper="15.0" velocity="0"/>
    <dynamics damping="0" friction="0"/>
  </joint>

  <joint name="Left_hip_pitch" type="revolute">
    <parent link="orbit_hip_left"/>
    <child link="orbit_upperleg_left"/>
    <origin rpy="0 0 0" xyz="0 0 -0.11010"/>
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-98.0" upper="30.0" velocity="0"/>
    <dynamics damping="0" friction="0"/>
  </joint>

  <gazebo reference="orbit_torso">
    <material>Gazebo/White</material>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>

  <gazebo reference="orbit_hip_left">
    <material>Gazebo/White</material>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>

  <gazebo reference="orbit_upperleg_left">
    <material>Gazebo/White</material>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>
  
</robot>