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You should create a model for that...

You should have a llok at the buiild a robot tutorial series:

http://gazebosim.org/tutorials?cat=build_robot

If you just want to visualize it this might be the tutorial that answers your question:

http://gazebosim.org/tutorials?tut=import_mesh&cat=build_robot

It contains a simple World file that you can use...

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