Setting up a robot with initial torque [closed]

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I am trying to simulate a humaniod robot model. I have the model urdf file. I am trying to open it in gazebo. When i open a empty world and insert the model, it just falls. I am still learning the way a package is defined. I need to know what are the files I need to setup and how I should setup the package to able to achieve this. Can someone tell me how I should do this or the tutorials that i should use.

Thank You