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Dear Stefan Thank you for your feedback.

You are right about the model not having a controller applied (not yet). That was a suspicion of why the robot could not maintain its standing position but I was not sure.

I used a "Webots mentality" when making my model; where in Webots all you have to do is set a certain amount of torque to the servos and the robot will remain standing against the pull of gravity. I thought I could do the same with Gazebo.

By the way I tried to use the DRC's Robot model.sdf script as template but Gazebo gave me errors. As you pointed out the script is a URDF model and I suspect this is the reason behind the errors. My robot model is "pure sdf" format.

I will try to apply the examples you have advised. Thank you very much for your help. have a great day