simulation of 3 link lower limb device in gazebo

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Hello All I'm totally new to ROS. I want simulate a 3 link lower limb assitive device in ROS and have 50 angles of hip/knee/ankles( these angle are are obtained from different time rates like T= 1,3,4.... sec ) to given as input. Intially i have created URDF file , and also started adding the Gazebo tag elements.

but after that I'm not sure of what to do next to simulate the entire device for 50 different angles. The final output should simulate the walking motion on the links

Could someone please help me out with next direction or any tutorials to be followed

note : The 3 link lower limb device could be considered as a 3 link robot manipultor