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You need to specify the origin of the joint to be in the proper place relative to the parent link. For a rundown of how the origin tags work, check out this geeky guy's presentation on URDF (specifically the portion I linked to).

It may also help to use the joint_state_publisher and rviz to debug your model (as in the URDF tutorials. Using that approach is how I noticed that your legs did not rotate as I would expect them to.

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