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There are a lot of mechanisms in Gazebo to debug models. Try a few of these:

  1. Start gazebo paused using the -u command line argument. This will allow you to see the model before physics kicks-in.

  2. Visualize joints, collision shapes, mass, etc. Use these visualizations to make sure that everything is in the correct place.

  3. Make small changes to your model file, and reload it into Gazebo until you get your model the way you want it.