diff --git a/.gitattributes b/.gitattributes
index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..ea33f5fa8ad2fe92393f2af46110dcd0e56d07e1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -58,3 +58,24 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+robot_models/pal_talos/assets/arm/arm_1.stl filter=lfs diff=lfs merge=lfs -text
+robot_models/pal_talos/assets/arm/arm_2.stl filter=lfs diff=lfs merge=lfs -text
+robot_models/pal_talos/assets/arm/arm_3.stl filter=lfs diff=lfs merge=lfs -text
+robot_models/pal_talos/assets/arm/arm_4.stl filter=lfs diff=lfs merge=lfs -text
+robot_models/pal_talos/assets/arm/arm_5.stl filter=lfs diff=lfs merge=lfs -text
+robot_models/pal_talos/assets/arm/arm_7.stl filter=lfs diff=lfs merge=lfs -text
+robot_models/pal_talos/assets/gripper/base_link.stl filter=lfs diff=lfs merge=lfs -text
+robot_models/pal_talos/assets/gripper/gripper_motor_double.stl filter=lfs diff=lfs merge=lfs -text
+robot_models/pal_talos/assets/gripper/gripper_motor_single.stl filter=lfs diff=lfs merge=lfs -text
+robot_models/pal_talos/assets/head/head_1.stl filter=lfs diff=lfs merge=lfs -text
+robot_models/pal_talos/assets/head/head_2_default.stl filter=lfs diff=lfs merge=lfs -text
+robot_models/pal_talos/assets/sensors/orbbec/orbbec.stl filter=lfs diff=lfs merge=lfs -text
+robot_models/pal_talos/assets/torso/base_link.stl filter=lfs diff=lfs merge=lfs -text
+robot_models/pal_talos/assets/torso/torso_1.stl filter=lfs diff=lfs merge=lfs -text
+robot_models/pal_talos/assets/torso/torso_2.stl filter=lfs diff=lfs merge=lfs -text
+robot_models/pal_talos/assets/v2/ankle_X_lo_res.stl filter=lfs diff=lfs merge=lfs -text
+robot_models/pal_talos/assets/v2/ankle_Y_lo_res.stl filter=lfs diff=lfs merge=lfs -text
+robot_models/pal_talos/assets/v2/hip_x_lo_res.stl filter=lfs diff=lfs merge=lfs -text
+robot_models/pal_talos/assets/v2/hip_y_lo_res.stl filter=lfs diff=lfs merge=lfs -text
+robot_models/pal_talos/assets/v2/hip_z_lo_res.stl filter=lfs diff=lfs merge=lfs -text
+robot_models/pal_talos/assets/v2/knee_lo_res.stl filter=lfs diff=lfs merge=lfs -text
diff --git a/robot_models/pal_talos/LICENSE b/robot_models/pal_talos/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..d9a10c0d8e868ebf8da0b3dc95bb0be634c34bfe
--- /dev/null
+++ b/robot_models/pal_talos/LICENSE
@@ -0,0 +1,176 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
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+   END OF TERMS AND CONDITIONS
diff --git a/robot_models/pal_talos/README.md b/robot_models/pal_talos/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..7a402ca2dec7656cc389bad285b55724c1063039
--- /dev/null
+++ b/robot_models/pal_talos/README.md
@@ -0,0 +1,32 @@
+## TALOS Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 2.2.2 or later.
+
+### Overview
+
+This package contains a simplified robot description (MJCF) of the [TALOS Robot](https://pal-robotics.com/robots/talos/) by [PAL Robotics](https://pal-robotics.com/). It is derived from the publicly available [URDF description](https://github.com/pal-robotics/talos_robot/tree/kinetic-devel/talos_description).
+
+<p float="left">
+  <img src="talos.png" width="400">
+</p>
+
+
+### URDF -> MJCF derivation step
+
+ 1. Converted the .DAE meshes to .STL format
+ 2. Added `<mujoco> <compiler meshdir="../meshes/" strippath="false" balanceinertia="true" autolimits="true" discardvisual="false"/> </mujoco>` to the URDF in order to preserve visual geometries and configure other [parameters](https://mujoco.readthedocs.io/en/stable/XMLreference.html#compiler).
+ 3. Removed `package://` shortcuts and fixed file paths to use assets only from the local `assets` folder.
+ 4. Used the MuJoCo compiler with `compile` command to convert the URDF file to MJCF format.
+ 5. Added a free joint `<joint name="reference" type="free"/>` to the base and fixed the body tree by adding `<body  name="base_link"  pos="0 0 0"></body>` around the base geom.
+ 6. Added `<inertial pos="-0.05709419 0.00153054 -0.0762521" mass="15.36284" fullinertia="0.20105075811 0.08411496729 0.2318908414 0.00023244734 0.0040167728 -0.00087206649"/> <geom type="mesh" class="visual" density="0" rgba="0.9 0.9 0.9 1" mesh="base_link"/>` base inertia that was not automatically converted.
+ 7. Added force, velocity and position controlled actuators.
+ 8. Added `home` keyframe.
+ 9. Added visuals improvements: plane, skybox and light.
+ 10. Added contact `<exclude>` to prevent unwanted collisions between some of the bodies.
+ 11. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
+
+
+### License
+
+This model is released under an [Apache-2.0 License](LICENSE).
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+    <mesh name="l_ankle_X_lo_res" file="v2/ankle_X_lo_res.stl"/>
+    <mesh name="l_ankle_X_collision" file="v2/ankle_X_collision.stl" scale="1 1 0.88"/>
+    <mesh name="r_hip_z_lo_res" file="v2/hip_z_lo_res.stl" scale="1 -1 1"/>
+    <mesh name="r_hip_z_collision" file="v2/hip_z_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_hip_x_lo_res" file="v2/hip_x_lo_res.stl" scale="1 -1 1"/>
+    <mesh name="r_hip_x_collision" file="v2/hip_x_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_hip_y_lo_res" file="v2/hip_y_lo_res.stl" scale="1 -1 1"/>
+    <mesh name="r_hip_y_collision" file="v2/hip_y_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_knee_lo_res" file="v2/knee_lo_res.stl" scale="1 -1 1"/>
+    <mesh name="r_knee_collision" file="v2/knee_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_ankle_Y_lo_res" file="v2/ankle_Y_lo_res.stl" scale="1 -1 1"/>
+    <mesh name="r_ankle_Y_collision" file="v2/ankle_Y_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_ankle_X_lo_res" file="v2/ankle_X_lo_res.stl" scale="1 -1 1"/>
+    <mesh name="r_ankle_X_collision" file="v2/ankle_X_collision.stl" scale="1 -1 0.88"/>
+  </asset>
+
+  <default>
+    <default class="talos">
+      <site rgba="1 0 0 1" size="0.01" group="5"/>
+      <joint frictionloss="1" damping="1"/>
+      <geom type="mesh" solref="0.001 1"/>
+      <default class="visual">
+        <geom group="2" contype="0" conaffinity="0" density="0"/>
+      </default>
+      <default class="collision">
+        <geom group="3"/>
+      </default>
+    </default>
+  </default>
+
+  <worldbody>
+    <body name="base_link" pos="0 0 1.1" childclass="talos">
+      <freejoint name="reference"/>
+      <inertial pos="-0.05709419 0.00153054 -0.0762521" mass="15.36284"
+        fullinertia="0.20105075811 0.08411496729 0.2318908414 0.00023244734 0.0040167728 -0.00087206649"/>
+      <geom class="visual" material="white" mesh="base_link"/>
+      <!-- <geom material="white" mesh="base_link_collision" class="collision"/> -->
+      <body name="torso_1_link" pos="0 0 0.0722">
+        <inertial pos="0.00078223 3.528e-05 -0.0178246" quat="0.703744 0.704233 0.0663452 -0.0663278" mass="2.29466"
+          diaginertia="0.00639091 0.00622386 0.00410256"/>
+        <joint name="torso_1_joint" axis="0 0 1" range="-1.25664 1.25664" frictionloss="2" actuatorfrcrange="-200 200"/>
+        <geom class="visual" material="white" mesh="torso_1"/>
+        <!-- <geom class="collision" material="white" mesh="torso_1"/> -->
+        <body name="torso_2_link">
+          <inertial pos="-0.0463 -0.000989647 0.145241" quat="0.704021 0.708473 0.0363665 -0.0331367" mass="16.984"
+            diaginertia="0.444971 0.320913 0.299991"/>
+          <joint name="torso_2_joint" axis="0 1 0" range="-0.226893 0.733038" frictionloss="2"
+            actuatorfrcrange="-200 200"/>
+          <geom class="visual" material="white" mesh="torso_2"/>
+          <geom material="white" mesh="torso_2_collision" class="collision"/>
+          <geom size="0.005 0.005 0.005" pos="0.04925 0 0.078" quat="0 1 1 0" type="box" class="visual" density="0"
+            material="black"/>
+          <body name="arm_left_1_link" pos="0 0.1575 0.232">
+            <inertial pos="-0.0002762 0.100602 0.0443742" quat="0.509187 0.520076 -0.492016 0.477671" mass="2.71457"
+              diaginertia="0.0135919 0.012374 0.00418528"/>
+            <joint name="arm_left_1_joint" axis="0 0 1" range="-1.5708 0.785398" actuatorfrcrange="-100 100"/>
+            <geom class="visual" mesh="l_arm_1" material="black"/>
+            <!-- <geom mesh="l_arm_1c" class="collision" material="black"/> -->
+            <body name="arm_left_2_link" pos="0.00493 0.1365 0.04673">
+              <inertial pos="0.0143883 0.00092938 -0.0868427" quat="0.981914 0.00964503 0.164999 0.0923476"
+                mass="2.42509" diaginertia="0.0140925 0.0138001 0.00368288"/>
+              <joint name="arm_left_2_joint" axis="1 0 0" range="0.00872665 2.87107" actuatorfrcrange="-100 100"/>
+              <geom class="visual" mesh="l_arm_2" material="black"/>
+              <!-- <geom mesh="l_arm_2c" class="collision" material="black"/> -->
+              <body name="arm_left_3_link">
+                <inertial pos="0.0136084 0.0124162 -0.2499" quat="0.991718 0.0691072 -0.105592 -0.0238848"
+                  mass="2.20874" diaginertia="0.00735601 0.00699198 0.0036592"/>
+                <joint name="arm_left_3_joint" axis="0 0 1" range="-2.42601 2.42601" actuatorfrcrange="-70 70"/>
+                <geom class="visual" mesh="l_arm_3" material="black"/>
+                <!-- <geom mesh="l_arm_3c" class="collision" material="black"/> -->
+                <body name="arm_left_4_link" pos="0.02 0 -0.2782">
+                  <inertial pos="-0.00810404 -0.0194433 -0.0332924" quat="0.428586 -0.11894 0.057285 0.893804"
+                    mass="0.815675" diaginertia="0.00326211 0.002924 0.00111543"/>
+                  <joint name="arm_left_4_joint" axis="0 1 0" range="-2.23402 -0.00349066" actuatorfrcrange="-70 70"/>
+                  <geom class="visual" mesh="l_arm_4" material="black"/>
+                  <!-- <geom mesh="l_arm_4c" class="collision" material="black"/> -->
+                </body>
+              </body>
+            </body>
+          </body>
+          <body name="arm_right_1_link" pos="0 -0.1575 0.232">
+            <inertial pos="-0.0002762 -0.100602 0.0443742" quat="0.520076 0.509187 -0.477671 0.492016" mass="2.71457"
+              diaginertia="0.0135919 0.012374 0.00418528"/>
+            <joint name="arm_right_1_joint" axis="0 0 1" range="-0.785398 1.5708" actuatorfrcrange="-100 100"/>
+            <geom class="visual" mesh="r_arm_1" material="black"/>
+            <!-- <geom mesh="r_arm_1c" class="collision" material="black"/> -->
+            <body name="arm_right_2_link" pos="0.00493 -0.1365 0.04673">
+              <inertial pos="0.0143883 -0.00092938 -0.0868427" quat="0.981914 -0.00964503 0.164999 -0.0923476"
+                mass="2.42509" diaginertia="0.0140925 0.0138001 0.00368288"/>
+              <joint name="arm_right_2_joint" axis="1 0 0" range="-2.87107 -0.00872665" actuatorfrcrange="-100 100"/>
+              <geom class="visual" mesh="r_arm_2" material="black"/>
+              <!-- <geom mesh="r_arm_2c" class="collision" material="black"/> -->
+              <body name="arm_right_3_link">
+                <inertial pos="0.0136084 -0.0124162 -0.2499" quat="0.991718 -0.0691072 -0.105592 0.0238848"
+                  mass="2.20874" diaginertia="0.00735601 0.00699198 0.0036592"/>
+                <joint name="arm_right_3_joint" axis="0 0 1" range="-2.42601 2.42601" actuatorfrcrange="-70 70"/>
+                <geom class="visual" mesh="r_arm_3" material="black"/>
+                <!-- <geom mesh="r_arm_3c" class="collision" material="black"/> -->
+                <body name="arm_right_4_link" pos="0.02 0 -0.2782">
+                  <inertial pos="-0.00810404 -0.0194433 -0.0332924" quat="0.428586 -0.11894 0.057285 0.893804"
+                    mass="0.815675" diaginertia="0.00326211 0.002924 0.00111543"/>
+                  <joint name="arm_right_4_joint" axis="0 1 0" range="-2.23402 -0.00349066" actuatorfrcrange="-70 70"/>
+                  <geom class="visual" mesh="r_arm_4" material="black"/>
+                  <!-- <geom mesh="r_arm_4c" class="collision" material="black"/> -->
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="leg_left_1_link" pos="-0.02 0.085 -0.27105">
+        <inertial pos="0.0847284 0.109974 0.017059" quat="0.522748 -0.852371 -0.00673577 0.012351" mass="2.23501"
+          diaginertia="0.0105013 0.0076913 0.00473271"/>
+        <joint name="leg_left_1_joint" axis="0 0 1" range="-0.349066 1.5708" actuatorfrcrange="-100 100"/>
+        <geom class="visual" mesh="l_hip_z_lo_res" material="black"/>
+        <!-- <geom mesh="l_hip_z_collision" class="collision" material="black"/> -->
+        <body name="leg_left_2_link">
+          <inertial pos="-0.00704703 0.0259266 0.00273385" quat="0.712294 0.701399 -0.00472331 -0.0255805"
+            mass="1.49095" diaginertia="0.00497732 0.00474343 0.00189918"/>
+          <joint name="leg_left_2_joint" axis="1 0 0" range="-0.5236 0.5236" actuatorfrcrange="-160 160"/>
+          <geom class="visual" mesh="l_hip_x_lo_res" material="black"/>
+          <!-- <geom mesh="l_hip_x_collision" class="collision" material="black"/> -->
+          <body name="leg_left_3_link">
+            <inertial pos="0.0058523 0.0636967 -0.183396" quat="0.995121 -0.0974306 -0.00559068 0.0145098"
+              mass="6.23987" diaginertia="0.153409 0.140791 0.0256712"/>
+            <joint name="leg_left_3_joint" axis="0 1 0" range="-2.095 0.7" actuatorfrcrange="-160 160"/>
+            <geom class="visual" mesh="l_hip_y_lo_res" material="black"/>
+            <!-- <geom mesh="l_hip_y_collision" class="collision" material="black"/> -->
+            <body name="leg_left_4_link" pos="0 0 -0.38">
+              <inertial pos="0.0131772 0.0291751 -0.115946" quat="0.999357 0.00773677 -0.0135107 0.0322952"
+                mass="3.75995" diaginertia="0.0429266 0.0359662 0.013621"/>
+              <joint name="leg_left_4_joint" axis="0 1 0" range="0 2.618" actuatorfrcrange="-400 400"/>
+              <geom class="visual" mesh="l_knee_lo_res" material="black"/>
+              <!-- <geom mesh="l_knee_collision" class="collision" material="black"/> -->
+              <body name="leg_left_5_link" pos="0 0 -0.325">
+                <inertial pos="-0.0140084 0.0418006 0.0382019" quat="0.94386 -0.249123 0.00319491 0.216924"
+                  mass="1.29096" diaginertia="0.0118206 0.010046 0.00352112"/>
+                <joint name="leg_left_5_joint" axis="0 1 0" range="-1.27 0.68" actuatorfrcrange="-160 160"/>
+                <geom class="visual" rgba="0.7 0.7 0.7 1" mesh="l_ankle_Y_lo_res"/>
+                <!-- <geom rgba="0.7 0.7 0.7 1" mesh="l_ankle_Y_collision" class="collision"/> -->
+                <body name="leg_left_6_link">
+                  <inertial pos="-0.0201699 -0.000510665 -0.0602836" quat="0.343485 0.610901 0.618186 0.3559"
+                    mass="1.61177" diaginertia="0.00773279 0.006503 0.00387932"/>
+                  <joint name="leg_left_6_joint" axis="1 0 0" range="-0.5236 0.5236" actuatorfrcrange="-100 100"/>
+                  <geom class="visual" rgba="0.7 0.7 0.7 1" mesh="l_ankle_X_lo_res"/>
+                  <geom class="collision" contype="6" type="box" size=".1 .06 .006" pos="-0.005 0 -.1"/>
+                  <site name="left_foot" pos="0 0 -0.1"/>
+                  <geom name="foot_left_1" pos=".095 0.06 -0.1" size=".005" type="sphere"/>
+                  <geom name="foot_left_2" pos=".095 -0.06 -0.1" size=".005" type="sphere"/>
+                  <geom name="foot_left_3" pos="-0.105 0.06 -0.1" size=".005" type="sphere"/>
+                  <geom name="foot_left_4" pos="-0.105 -0.06 -0.1" size=".005" type="sphere"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="leg_right_1_link" pos="-0.02 -0.085 -0.27105">
+        <inertial pos="0.0847284 -0.109974 0.017059" quat="0.522748 0.852371 -0.00673577 0.012351" mass="2.23501"
+          diaginertia="0.0105013 0.0076913 0.00473271"/>
+        <joint name="leg_right_1_joint" axis="0 0 1" range="-1.5708 0.349066" actuatorfrcrange="-100 100"/>
+        <geom class="visual" mesh="r_hip_z_lo_res" material="black"/>
+        <!-- <geom mesh="r_hip_z_collision" class="collision" material="black"/> -->
+        <body name="leg_right_2_link">
+          <inertial pos="-0.00704703 -0.0259266 0.00273385" quat="0.701399 0.712294 0.0255805 0.00472331" mass="1.49095"
+            diaginertia="0.00497732 0.00474343 0.00189918"/>
+          <joint name="leg_right_2_joint" axis="1 0 0" range="-0.5236 0.5236" actuatorfrcrange="-160 160"/>
+          <geom class="visual" mesh="r_hip_x_lo_res" material="black"/>
+          <!-- <geom mesh="r_hip_x_collision" class="collision" material="black"/> -->
+          <body name="leg_right_3_link">
+            <inertial pos="0.0058523 -0.0636967 -0.183396" quat="0.995121 0.0974306 -0.00559068 -0.0145098"
+              mass="6.23987" diaginertia="0.153409 0.140791 0.0256712"/>
+            <joint name="leg_right_3_joint" axis="0 1 0" range="-2.095 0.7" actuatorfrcrange="-160 160"/>
+            <geom class="visual" mesh="r_hip_y_lo_res" material="black"/>
+            <!-- <geom mesh="r_hip_y_collision" class="collision" material="black"/> -->
+            <body name="leg_right_4_link" pos="0 0 -0.38">
+              <inertial pos="0.0131772 -0.0291751 -0.115946" quat="0.999357 -0.00773677 -0.0135107 -0.0322952"
+                mass="3.75995" diaginertia="0.0429266 0.0359662 0.013621"/>
+              <joint name="leg_right_4_joint" axis="0 1 0" range="0 2.618" actuatorfrcrange="-400 400"/>
+              <geom class="visual" mesh="r_knee_lo_res" material="black"/>
+              <!-- <geom mesh="r_knee_collision" class="collision" material="black"/> -->
+              <body name="leg_right_5_link" pos="0 0 -0.325">
+                <inertial pos="-0.0140084 -0.0418006 0.0382019" quat="0.94386 0.249123 0.00319491 -0.216924"
+                  mass="1.29096" diaginertia="0.0118206 0.010046 0.00352112"/>
+                <joint name="leg_right_5_joint" axis="0 1 0" range="-1.27 0.68" actuatorfrcrange="-160 160"/>
+                <geom class="visual" rgba="0.7 0.7 0.7 1" mesh="r_ankle_Y_lo_res"/>
+                <!-- <geom rgba="0.7 0.7 0.7 1" mesh="r_ankle_Y_collision" class="collision"/> -->
+                <body name="leg_right_6_link">
+                  <inertial pos="-0.0201699 0.000510665 -0.0602836" quat="0.3559 0.618186 0.610901 0.343485"
+                    mass="1.61177" diaginertia="0.00773279 0.006503 0.00387932"/>
+                  <joint name="leg_right_6_joint" axis="1 0 0" range="-0.5236 0.5236" actuatorfrcrange="-100 100"/>
+                  <geom class="visual" rgba="0.7 0.7 0.7 1" mesh="r_ankle_X_lo_res"/>
+                  <geom class="collision" contype="6" type="box" size=".1 .06 .006" pos="-0.005 0 -.1"/>
+                  <site name="right_foot" pos="0 0 -0.1"/>
+                  <geom name="foot_right_1" pos=".095 0.06 -0.1" size=".005" type="sphere"/>
+                  <geom name="foot_right_2" pos=".095 -0.06 -0.1" size=".005" type="sphere"/>
+                  <geom name="foot_right_3" pos="-0.105 0.06 -0.1" size=".005" type="sphere"/>
+                  <geom name="foot_right_4" pos="-0.105 -0.06 -0.1" size=".005" type="sphere"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/robot_models/pal_talos/talos_arm_reduced.xml b/robot_models/pal_talos/talos_arm_reduced.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1a9a29d113e128a19d1493332247f9e12ddc1b86
--- /dev/null
+++ b/robot_models/pal_talos/talos_arm_reduced.xml
@@ -0,0 +1,331 @@
+<mujoco model="talos">
+  <compiler angle="radian" meshdir="assets" autolimits="true"/>
+
+  <option timestep="0.001" integrator="implicitfast"/>
+
+  <asset>
+    <material name="black" rgba="0.1 0.1 0.1 1"/>
+    <material name="orange" rgba="1 0.5 0 1"/>
+    <material name="white" rgba="0.9 0.9 0.9 1"/>
+
+    <mesh file="torso/torso_1.stl"/>
+    <mesh file="torso/torso_2.stl"/>
+    <mesh file="torso/torso_2_collision.stl"/>
+    <mesh file="torso/base_link.stl"/>
+    <mesh file="torso/base_link_collision.stl"/>
+    <mesh file="head/head_1.stl"/>
+    <mesh file="head/head_1_collision.stl"/>
+    <mesh file="head/head_2_default.stl"/>
+    <mesh file="head/head_2_default_collision.stl"/>
+    <mesh file="sensors/orbbec/orbbec.stl"/>
+    <mesh name="l_arm_1" file="arm/arm_1.stl"/>
+    <mesh name="l_arm_1c" file="arm/arm_1_collision.stl"/>
+    <mesh name="l_arm_2" file="arm/arm_2.stl"/>
+    <mesh name="l_arm_2c" file="arm/arm_2_collision.stl"/>
+    <mesh name="l_arm_3" file="arm/arm_3.stl"/>
+    <mesh name="l_arm_3c" file="arm/arm_3_collision.stl"/>
+    <mesh name="l_arm_4" file="arm/arm_4.stl"/>
+    <mesh name="l_arm_4c" file="arm/arm_4_collision.stl"/>
+    <mesh name="l_arm_5" file="arm/arm_5.stl"/>
+    <mesh name="l_arm_5c" file="arm/arm_5_collision.stl"/>
+    <mesh name="l_arm_6" file="arm/arm_6.stl"/>
+    <mesh name="l_arm_6c" file="arm/arm_6_collision.stl"/>
+    <mesh name="l_arm_7" file="arm/arm_7.stl"/>
+    <mesh name="l_arm_7c" file="arm/arm_7_collision.stl"/>
+    <mesh name="r_arm_1" file="arm/arm_1.stl" scale="1 -1 1"/>
+    <mesh name="r_arm_1c" file="arm/arm_1_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_arm_2" file="arm/arm_2.stl" scale="1 -1 1"/>
+    <mesh name="r_arm_2c" file="arm/arm_2_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_arm_3" file="arm/arm_3.stl" scale="1 -1 1"/>
+    <mesh name="r_arm_3c" file="arm/arm_3_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_arm_4" file="arm/arm_4.stl" scale="1 -1 1"/>
+    <mesh name="r_arm_4c" file="arm/arm_4_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_arm_5" file="arm/arm_5.stl" scale="1 -1 1"/>
+    <mesh name="r_arm_5c" file="arm/arm_5_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_arm_6" file="arm/arm_6.stl" scale="1 -1 1"/>
+    <mesh name="r_arm_6c" file="arm/arm_6_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_arm_7" file="arm/arm_7.stl" scale="1 -1 1"/>
+    <mesh name="r_arm_7c" file="arm/arm_7_collision.stl" scale="1 -1 1"/>
+    <mesh name="gripper_base_link" file="gripper/base_link.stl"/>
+    <mesh name="gripper_base_link_collision" file="gripper/base_link_collision.stl"/>
+    <mesh file="gripper/fingertip.stl"/>
+    <mesh file="gripper/fingertip_collision.stl"/>
+    <mesh file="gripper/gripper_motor_double.stl"/>
+    <mesh file="gripper/gripper_motor_double_collision.stl"/>
+    <mesh file="gripper/gripper_motor_single.stl"/>
+    <mesh file="gripper/gripper_motor_single_collision.stl"/>
+    <mesh file="gripper/inner_double.stl"/>
+    <mesh file="gripper/inner_double_collision.stl"/>
+    <mesh file="gripper/inner_single.stl"/>
+    <mesh file="gripper/inner_single_collision.stl"/>
+    <mesh name="l_hip_z_lo_res" file="v2/hip_z_lo_res.stl"/>
+    <mesh name="l_hip_z_collision" file="v2/hip_z_collision.stl"/>
+    <mesh name="l_hip_x_lo_res" file="v2/hip_x_lo_res.stl"/>
+    <mesh name="l_hip_x_collision" file="v2/hip_x_collision.stl"/>
+    <mesh name="l_hip_y_lo_res" file="v2/hip_y_lo_res.stl"/>
+    <mesh name="l_hip_y_collision" file="v2/hip_y_collision.stl"/>
+    <mesh name="l_knee_lo_res" file="v2/knee_lo_res.stl"/>
+    <mesh name="l_knee_collision" file="v2/knee_collision.stl"/>
+    <mesh name="l_ankle_Y_lo_res" file="v2/ankle_Y_lo_res.stl"/>
+    <mesh name="l_ankle_Y_collision" file="v2/ankle_Y_collision.stl"/>
+    <mesh name="l_ankle_X_lo_res" file="v2/ankle_X_lo_res.stl"/>
+    <mesh name="l_ankle_X_collision" file="v2/ankle_X_collision.stl" scale="1 1 0.88"/>
+    <mesh name="r_hip_z_lo_res" file="v2/hip_z_lo_res.stl" scale="1 -1 1"/>
+    <mesh name="r_hip_z_collision" file="v2/hip_z_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_hip_x_lo_res" file="v2/hip_x_lo_res.stl" scale="1 -1 1"/>
+    <mesh name="r_hip_x_collision" file="v2/hip_x_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_hip_y_lo_res" file="v2/hip_y_lo_res.stl" scale="1 -1 1"/>
+    <mesh name="r_hip_y_collision" file="v2/hip_y_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_knee_lo_res" file="v2/knee_lo_res.stl" scale="1 -1 1"/>
+    <mesh name="r_knee_collision" file="v2/knee_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_ankle_Y_lo_res" file="v2/ankle_Y_lo_res.stl" scale="1 -1 1"/>
+    <mesh name="r_ankle_Y_collision" file="v2/ankle_Y_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_ankle_X_lo_res" file="v2/ankle_X_lo_res.stl" scale="1 -1 1"/>
+    <mesh name="r_ankle_X_collision" file="v2/ankle_X_collision.stl" scale="1 -1 0.88"/>
+  </asset>
+
+  <default>
+    <default class="talos">
+      <site rgba="1 0 0 1" size="0.01" group="5"/>
+      <joint frictionloss="1" damping="1"/>
+      <geom type="mesh" solref="0.001 1"/>
+      <default class="visual">
+        <geom group="2" contype="0" conaffinity="0" density="0"/>
+      </default>
+      <default class="collision">
+        <geom group="3"/>
+      </default>
+    </default>
+  </default>
+
+  <worldbody>
+    <body name="base_link" pos="0 0 1.1" childclass="talos">
+      <freejoint name="reference"/>
+      <inertial pos="-0.05709419 0.00153054 -0.0762521" mass="15.36284"
+        fullinertia="0.20105075811 0.08411496729 0.2318908414 0.00023244734 0.0040167728 -0.00087206649"/>
+      <geom class="visual" material="white" mesh="base_link"/>
+      <!-- <geom material="white" mesh="base_link_collision" class="collision"/> -->
+      <body name="torso_1_link" pos="0 0 0.0722">
+        <inertial pos="0.00078223 3.528e-05 -0.0178246" quat="0.703744 0.704233 0.0663452 -0.0663278" mass="2.29466"
+          diaginertia="0.00639091 0.00622386 0.00410256"/>
+        <joint name="torso_1_joint" axis="0 0 1" range="-1.25664 1.25664" frictionloss="2" actuatorfrcrange="-200 200"/>
+        <geom class="visual" material="white" mesh="torso_1"/>
+        <!-- <geom class="collision" material="white" mesh="torso_1"/> -->
+        <body name="torso_2_link">
+          <inertial pos="-0.0463 -0.000989647 0.145241" quat="0.704021 0.708473 0.0363665 -0.0331367" mass="16.984"
+            diaginertia="0.444971 0.320913 0.299991"/>
+          <joint name="torso_2_joint" axis="0 1 0" range="-0.226893 0.733038" frictionloss="2"
+            actuatorfrcrange="-200 200"/>
+          <geom class="visual" material="white" mesh="torso_2"/>
+          <geom size="0.005 0.005 0.005" pos="0.04925 0 0.078" quat="0 1 1 0" type="box" class="visual" density="0"
+            material="black"/>
+          <!-- <body name="head_1_link" pos="0 0 0.316">
+            <inertial pos="-0.00157211 -0.00157919 0.0217577" quat="0.679576 0.71147 -0.126684 0.126246" mass="0.73746"
+              diaginertia="0.0022809 0.00202202 0.00110971"/> -->
+            <geom class="visual" mesh="head_1" material="black"/>
+            <!-- <body name="head_2_link">
+              <site name="head" pos="0 0 0.2"/>
+              <inertial pos="0.0108233 0.000630364 0.142045" quat="0.584927 -0.0294601 -0.0201927 0.810299"
+                mass="1.46795" diaginertia="0.0110721 0.0109715 0.00581517"/> -->
+              <geom class="visual" material="white" mesh="head_2_default"/>
+              <geom pos="0.0621 0.0375 0.1832" class="visual" mesh="orbbec" material="black"/>
+            <!-- </body> -->
+          <!-- </body> -->
+          <body name="arm_left_1_link" pos="0 0.1575 0.232">
+            <inertial pos="-0.0002762 0.100602 0.0443742" quat="0.509187 0.520076 -0.492016 0.477671" mass="2.71457"
+              diaginertia="0.0135919 0.012374 0.00418528"/>
+            <joint name="arm_left_1_joint" axis="0 0 1" range="-1.5708 0.785398" actuatorfrcrange="-100 100"/>
+            <geom class="visual" mesh="l_arm_1" material="black"/>
+            <!-- <geom mesh="l_arm_1c" class="collision" material="black"/> -->
+            <body name="arm_left_2_link" pos="0.00493 0.1365 0.04673">
+              <inertial pos="0.0143883 0.00092938 -0.0868427" quat="0.981914 0.00964503 0.164999 0.0923476"
+                mass="2.42509" diaginertia="0.0140925 0.0138001 0.00368288"/>
+              <joint name="arm_left_2_joint" axis="1 0 0" range="0.00872665 2.87107" actuatorfrcrange="-100 100"/>
+              <geom class="visual" mesh="l_arm_2" material="black"/>
+              <!-- <geom mesh="l_arm_2c" class="collision" material="black"/> -->
+              <body name="arm_left_3_link">
+                <inertial pos="0.0136084 0.0124162 -0.2499" quat="0.991718 0.0691072 -0.105592 -0.0238848"
+                  mass="2.20874" diaginertia="0.00735601 0.00699198 0.0036592"/>
+                <joint name="arm_left_3_joint" axis="0 0 1" range="-2.42601 2.42601" actuatorfrcrange="-70 70"/>
+                <geom class="visual" mesh="l_arm_3" material="black"/>
+                <!-- <geom mesh="l_arm_3c" class="collision" material="black"/> -->
+                <body name="arm_left_4_link" pos="0.02 0 -0.2782">
+                  <inertial pos="-0.00810404 -0.0194433 -0.0332924" quat="0.428586 -0.11894 0.057285 0.893804"
+                    mass="0.815675" diaginertia="0.00326211 0.002924 0.00111543"/>
+                  <joint name="arm_left_4_joint" axis="0 1 0" range="-2.23402 -0.00349066" actuatorfrcrange="-70 70"/>
+                  <geom class="visual" mesh="l_arm_4" material="black"/>
+                  <!-- <geom mesh="l_arm_4c" class="collision" material="black"/> -->
+                  <!-- <body name="arm_left_5_link" pos="-0.02 0 -0.2643"> -->
+                    <!-- <inertial pos="-6e-05 0.003262 0.079625" quat="0.711712 -0.019748 0.0131536 0.70207" mass="1.87792"
+                      diaginertia="0.004373 0.003495 0.002278"/> -->
+                    <geom class="visual" material="white" mesh="l_arm_5"/>
+                    <!-- <body name="arm_left_6_link"> -->
+                      <!-- <inertial pos="2.1e-05 -0.001965 -0.000591" quat="0.0104356 0.706678 0.0122672 0.707352" -->
+                        <!-- mass="0.40931" diaginertia="0.000154 0.000141 0.000107"/> -->
+                      <geom class="visual" material="white" mesh="l_arm_6"/>
+                      <!-- <body name="arm_left_7_link">
+                        <inertial pos="0.00215393 0.00361697 -0.0837948" quat="0.966304 0.0192407 0.0500561 -0.251755"
+                          mass="1.04198" diaginertia="0.00273016 0.00272405 0.0010495"/> -->
+                        <geom class="visual" mesh="l_arm_7" material="black"/>
+                        <geom size="0.0225 0.00785" pos="0 0 -0.051" quat="-1 0 0 -1" type="cylinder" class="visual"
+                          material="white"/>
+                        <geom size="0.025 0.004875" pos="0 0 -0.063725" type="cylinder" class="visual" material="black"/>
+                        <geom pos="0 0 -0.092475" class="visual" mesh="gripper_base_link" material="black"/>
+                      <!-- </body> -->
+                    <!-- </body> -->
+                  <!-- </body> -->
+                </body>
+              </body>
+            </body>
+          </body>
+          <body name="arm_right_1_link" pos="0 -0.1575 0.232">
+            <inertial pos="-0.0002762 -0.100602 0.0443742" quat="0.520076 0.509187 -0.477671 0.492016" mass="2.71457"
+              diaginertia="0.0135919 0.012374 0.00418528"/>
+            <joint name="arm_right_1_joint" axis="0 0 1" range="-0.785398 1.5708" actuatorfrcrange="-100 100"/>
+            <geom class="visual" mesh="r_arm_1" material="black"/>
+            <!-- <geom mesh="r_arm_1c" class="collision" material="black"/> -->
+            <body name="arm_right_2_link" pos="0.00493 -0.1365 0.04673">
+              <inertial pos="0.0143883 -0.00092938 -0.0868427" quat="0.981914 -0.00964503 0.164999 -0.0923476"
+                mass="2.42509" diaginertia="0.0140925 0.0138001 0.00368288"/>
+              <joint name="arm_right_2_joint" axis="1 0 0" range="-2.87107 -0.00872665" actuatorfrcrange="-100 100"/>
+              <geom class="visual" mesh="r_arm_2" material="black"/>
+              <!-- <geom mesh="r_arm_2c" class="collision" material="black"/> -->
+              <body name="arm_right_3_link">
+                <inertial pos="0.0136084 -0.0124162 -0.2499" quat="0.991718 -0.0691072 -0.105592 0.0238848"
+                  mass="2.20874" diaginertia="0.00735601 0.00699198 0.0036592"/>
+                <joint name="arm_right_3_joint" axis="0 0 1" range="-2.42601 2.42601" actuatorfrcrange="-70 70"/>
+                <geom class="visual" mesh="r_arm_3" material="black"/>
+                <!-- <geom mesh="r_arm_3c" class="collision" material="black"/> -->
+                <body name="arm_right_4_link" pos="0.02 0 -0.2782">
+                  <inertial pos="-0.00810404 -0.0194433 -0.0332924" quat="0.428586 -0.11894 0.057285 0.893804"
+                    mass="0.815675" diaginertia="0.00326211 0.002924 0.00111543"/>
+                  <joint name="arm_right_4_joint" axis="0 1 0" range="-2.23402 -0.00349066" actuatorfrcrange="-70 70"/>
+                  <geom class="visual" mesh="r_arm_4" material="black"/>
+                  <!-- <geom mesh="r_arm_4c" class="collision" material="black"/> -->
+                  <!-- <body name="arm_right_5_link" pos="-0.02 0 -0.2643">
+                    <inertial pos="-6e-05 -0.003262 0.079625" quat="0.70207 0.0131536 -0.019748 0.711712" mass="1.87792"
+                      diaginertia="0.004373 0.003495 0.002278"/> -->
+                    
+                    <geom class="visual" material="white" mesh="r_arm_5"/>
+                    <!-- <body name="arm_right_6_link">
+                      <inertial pos="2.1e-05 0.001965 -0.000591" quat="-0.0104356 0.706678 -0.0122672 0.707352"
+                        mass="0.40931" diaginertia="0.000154 0.000141 0.000107"/>
+                       -->
+                      <geom class="visual" material="white" mesh="r_arm_6"/>
+                      <!-- <body name="arm_right_7_link">
+                        <inertial pos="0.0023011 -0.00361697 -0.0837948" quat="0.927123 -0.0149278 0.0465372 0.371557"
+                          mass="1.04198" diaginertia="0.00273231 0.00271796 0.00105208"/>
+                         -->
+                        <geom class="visual" mesh="r_arm_7" material="black"/>
+                        <geom size="0.0225 0.00785" pos="0 0 -0.051" quat="1 0 0 -1" type="cylinder" class="visual"
+                          material="white"/>
+                        <geom size="0.025 0.004875" pos="0 0 -0.063725" quat="0 0 0 -1" type="cylinder" class="visual"
+                          material="black"/>
+                        <geom pos="0 0 -0.092475" quat="0 0 0 -1" class="visual" mesh="gripper_base_link"
+                          material="black"/>
+                      <!-- </body> -->
+                    <!-- </body> -->
+                  <!-- </body> -->
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="leg_left_1_link" pos="-0.02 0.085 -0.27105">
+        <inertial pos="0.0847284 0.109974 0.017059" quat="0.522748 -0.852371 -0.00673577 0.012351" mass="2.23501"
+          diaginertia="0.0105013 0.0076913 0.00473271"/>
+        <joint name="leg_left_1_joint" axis="0 0 1" range="-0.349066 1.5708" actuatorfrcrange="-100 100"/>
+        <geom class="visual" mesh="l_hip_z_lo_res" material="black"/>
+        <!-- <geom mesh="l_hip_z_collision" class="collision" material="black"/> -->
+        <body name="leg_left_2_link">
+          <inertial pos="-0.00704703 0.0259266 0.00273385" quat="0.712294 0.701399 -0.00472331 -0.0255805"
+            mass="1.49095" diaginertia="0.00497732 0.00474343 0.00189918"/>
+          <joint name="leg_left_2_joint" axis="1 0 0" range="-0.5236 0.5236" actuatorfrcrange="-160 160"/>
+          <geom class="visual" mesh="l_hip_x_lo_res" material="black"/>
+          <!-- <geom mesh="l_hip_x_collision" class="collision" material="black"/> -->
+          <body name="leg_left_3_link">
+            <inertial pos="0.0058523 0.0636967 -0.183396" quat="0.995121 -0.0974306 -0.00559068 0.0145098"
+              mass="6.23987" diaginertia="0.153409 0.140791 0.0256712"/>
+            <joint name="leg_left_3_joint" axis="0 1 0" range="-2.095 0.7" actuatorfrcrange="-160 160"/>
+            <geom class="visual" mesh="l_hip_y_lo_res" material="black"/>
+            <!-- <geom mesh="l_hip_y_collision" class="collision" material="black"/> -->
+            <body name="leg_left_4_link" pos="0 0 -0.38">
+              <inertial pos="0.0131772 0.0291751 -0.115946" quat="0.999357 0.00773677 -0.0135107 0.0322952"
+                mass="3.75995" diaginertia="0.0429266 0.0359662 0.013621"/>
+              <joint name="leg_left_4_joint" axis="0 1 0" range="0 2.618" actuatorfrcrange="-400 400"/>
+              <geom class="visual" mesh="l_knee_lo_res" material="black"/>
+              <!-- <geom mesh="l_knee_collision" class="collision" material="black"/> -->
+              <body name="leg_left_5_link" pos="0 0 -0.325">
+                <inertial pos="-0.0140084 0.0418006 0.0382019" quat="0.94386 -0.249123 0.00319491 0.216924"
+                  mass="1.29096" diaginertia="0.0118206 0.010046 0.00352112"/>
+                <joint name="leg_left_5_joint" axis="0 1 0" range="-1.27 0.68" actuatorfrcrange="-160 160"/>
+                <geom class="visual" rgba="0.7 0.7 0.7 1" mesh="l_ankle_Y_lo_res"/>
+                <!-- <geom rgba="0.7 0.7 0.7 1" mesh="l_ankle_Y_collision" class="collision"/> -->
+                <body name="leg_left_6_link">
+                  <inertial pos="-0.0201699 -0.000510665 -0.0602836" quat="0.343485 0.610901 0.618186 0.3559"
+                    mass="1.61177" diaginertia="0.00773279 0.006503 0.00387932"/>
+                  <joint name="leg_left_6_joint" axis="1 0 0" range="-0.5236 0.5236" actuatorfrcrange="-100 100"/>
+                  <geom class="visual" rgba="0.7 0.7 0.7 1" mesh="l_ankle_X_lo_res"/>
+                  <geom class="collision" contype="6" type="box" size=".1 .06 .006" pos="-0.005 0 -.1"/>
+                  <site name="left_foot" pos="0 0 -0.1"/>
+                  <geom name="foot_left_1" pos=".095 0.06 -0.1" size=".005" type="sphere"/>
+                  <geom name="foot_left_2" pos=".095 -0.06 -0.1" size=".005" type="sphere"/>
+                  <geom name="foot_left_3" pos="-0.105 0.06 -0.1" size=".005" type="sphere"/>
+                  <geom name="foot_left_4" pos="-0.105 -0.06 -0.1" size=".005" type="sphere"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="leg_right_1_link" pos="-0.02 -0.085 -0.27105">
+        <inertial pos="0.0847284 -0.109974 0.017059" quat="0.522748 0.852371 -0.00673577 0.012351" mass="2.23501"
+          diaginertia="0.0105013 0.0076913 0.00473271"/>
+        <joint name="leg_right_1_joint" axis="0 0 1" range="-1.5708 0.349066" actuatorfrcrange="-100 100"/>
+        <geom class="visual" mesh="r_hip_z_lo_res" material="black"/>
+        <!-- <geom mesh="r_hip_z_collision" class="collision" material="black"/> -->
+        <body name="leg_right_2_link">
+          <inertial pos="-0.00704703 -0.0259266 0.00273385" quat="0.701399 0.712294 0.0255805 0.00472331" mass="1.49095"
+            diaginertia="0.00497732 0.00474343 0.00189918"/>
+          <joint name="leg_right_2_joint" axis="1 0 0" range="-0.5236 0.5236" actuatorfrcrange="-160 160"/>
+          <geom class="visual" mesh="r_hip_x_lo_res" material="black"/>
+          <!-- <geom mesh="r_hip_x_collision" class="collision" material="black"/> -->
+          <body name="leg_right_3_link">
+            <inertial pos="0.0058523 -0.0636967 -0.183396" quat="0.995121 0.0974306 -0.00559068 -0.0145098"
+              mass="6.23987" diaginertia="0.153409 0.140791 0.0256712"/>
+            <joint name="leg_right_3_joint" axis="0 1 0" range="-2.095 0.7" actuatorfrcrange="-160 160"/>
+            <geom class="visual" mesh="r_hip_y_lo_res" material="black"/>
+            <!-- <geom mesh="r_hip_y_collision" class="collision" material="black"/> -->
+            <body name="leg_right_4_link" pos="0 0 -0.38">
+              <inertial pos="0.0131772 -0.0291751 -0.115946" quat="0.999357 -0.00773677 -0.0135107 -0.0322952"
+                mass="3.75995" diaginertia="0.0429266 0.0359662 0.013621"/>
+              <joint name="leg_right_4_joint" axis="0 1 0" range="0 2.618" actuatorfrcrange="-400 400"/>
+              <geom class="visual" mesh="r_knee_lo_res" material="black"/>
+              <!-- <geom mesh="r_knee_collision" class="collision" material="black"/> -->
+              <body name="leg_right_5_link" pos="0 0 -0.325">
+                <inertial pos="-0.0140084 -0.0418006 0.0382019" quat="0.94386 0.249123 0.00319491 -0.216924"
+                  mass="1.29096" diaginertia="0.0118206 0.010046 0.00352112"/>
+                <joint name="leg_right_5_joint" axis="0 1 0" range="-1.27 0.68" actuatorfrcrange="-160 160"/>
+                <geom class="visual" rgba="0.7 0.7 0.7 1" mesh="r_ankle_Y_lo_res"/>
+                <!-- <geom rgba="0.7 0.7 0.7 1" mesh="r_ankle_Y_collision" class="collision"/> -->
+                <body name="leg_right_6_link">
+                  <inertial pos="-0.0201699 0.000510665 -0.0602836" quat="0.3559 0.618186 0.610901 0.343485"
+                    mass="1.61177" diaginertia="0.00773279 0.006503 0.00387932"/>
+                  <joint name="leg_right_6_joint" axis="1 0 0" range="-0.5236 0.5236" actuatorfrcrange="-100 100"/>
+                  <geom class="visual" rgba="0.7 0.7 0.7 1" mesh="r_ankle_X_lo_res"/>
+                  <geom class="collision" contype="6" type="box" size=".1 .06 .006" pos="-0.005 0 -.1"/>
+                  <site name="right_foot" pos="0 0 -0.1"/>
+                  <geom name="foot_right_1" pos=".095 0.06 -0.1" size=".005" type="sphere"/>
+                  <geom name="foot_right_2" pos=".095 -0.06 -0.1" size=".005" type="sphere"/>
+                  <geom name="foot_right_3" pos="-0.105 0.06 -0.1" size=".005" type="sphere"/>
+                  <geom name="foot_right_4" pos="-0.105 -0.06 -0.1" size=".005" type="sphere"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/robot_models/pal_talos/talos_full.xml b/robot_models/pal_talos/talos_full.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bf8650c41730a678390a54b3bb2199fb15fa3fc7
--- /dev/null
+++ b/robot_models/pal_talos/talos_full.xml
@@ -0,0 +1,331 @@
+<mujoco model="talos">
+  <compiler angle="radian" meshdir="assets" autolimits="true"/>
+
+  <option timestep="0.001" integrator="implicitfast"/>
+
+  <asset>
+    <material name="black" rgba="0.1 0.1 0.1 1"/>
+    <material name="orange" rgba="1 0.5 0 1"/>
+    <material name="white" rgba="0.9 0.9 0.9 1"/>
+
+    <mesh file="torso/torso_1.stl"/>
+    <mesh file="torso/torso_2.stl"/>
+    <mesh file="torso/torso_2_collision.stl"/>
+    <mesh file="torso/base_link.stl"/>
+    <mesh file="torso/base_link_collision.stl"/>
+    <mesh file="head/head_1.stl"/>
+    <mesh file="head/head_1_collision.stl"/>
+    <mesh file="head/head_2_default.stl"/>
+    <mesh file="head/head_2_default_collision.stl"/>
+    <mesh file="sensors/orbbec/orbbec.stl"/>
+    <mesh name="l_arm_1" file="arm/arm_1.stl"/>
+    <mesh name="l_arm_1c" file="arm/arm_1_collision.stl"/>
+    <mesh name="l_arm_2" file="arm/arm_2.stl"/>
+    <mesh name="l_arm_2c" file="arm/arm_2_collision.stl"/>
+    <mesh name="l_arm_3" file="arm/arm_3.stl"/>
+    <mesh name="l_arm_3c" file="arm/arm_3_collision.stl"/>
+    <mesh name="l_arm_4" file="arm/arm_4.stl"/>
+    <mesh name="l_arm_4c" file="arm/arm_4_collision.stl"/>
+    <mesh name="l_arm_5" file="arm/arm_5.stl"/>
+    <mesh name="l_arm_5c" file="arm/arm_5_collision.stl"/>
+    <mesh name="l_arm_6" file="arm/arm_6.stl"/>
+    <mesh name="l_arm_6c" file="arm/arm_6_collision.stl"/>
+    <mesh name="l_arm_7" file="arm/arm_7.stl"/>
+    <mesh name="l_arm_7c" file="arm/arm_7_collision.stl"/>
+    <mesh name="r_arm_1" file="arm/arm_1.stl" scale="1 -1 1"/>
+    <mesh name="r_arm_1c" file="arm/arm_1_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_arm_2" file="arm/arm_2.stl" scale="1 -1 1"/>
+    <mesh name="r_arm_2c" file="arm/arm_2_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_arm_3" file="arm/arm_3.stl" scale="1 -1 1"/>
+    <mesh name="r_arm_3c" file="arm/arm_3_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_arm_4" file="arm/arm_4.stl" scale="1 -1 1"/>
+    <mesh name="r_arm_4c" file="arm/arm_4_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_arm_5" file="arm/arm_5.stl" scale="1 -1 1"/>
+    <mesh name="r_arm_5c" file="arm/arm_5_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_arm_6" file="arm/arm_6.stl" scale="1 -1 1"/>
+    <mesh name="r_arm_6c" file="arm/arm_6_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_arm_7" file="arm/arm_7.stl" scale="1 -1 1"/>
+    <mesh name="r_arm_7c" file="arm/arm_7_collision.stl" scale="1 -1 1"/>
+    <mesh name="gripper_base_link" file="gripper/base_link.stl"/>
+    <mesh name="gripper_base_link_collision" file="gripper/base_link_collision.stl"/>
+    <mesh file="gripper/fingertip.stl"/>
+    <mesh file="gripper/fingertip_collision.stl"/>
+    <mesh file="gripper/gripper_motor_double.stl"/>
+    <mesh file="gripper/gripper_motor_double_collision.stl"/>
+    <mesh file="gripper/gripper_motor_single.stl"/>
+    <mesh file="gripper/gripper_motor_single_collision.stl"/>
+    <mesh file="gripper/inner_double.stl"/>
+    <mesh file="gripper/inner_double_collision.stl"/>
+    <mesh file="gripper/inner_single.stl"/>
+    <mesh file="gripper/inner_single_collision.stl"/>
+    <mesh name="l_hip_z_lo_res" file="v2/hip_z_lo_res.stl"/>
+    <mesh name="l_hip_z_collision" file="v2/hip_z_collision.stl"/>
+    <mesh name="l_hip_x_lo_res" file="v2/hip_x_lo_res.stl"/>
+    <mesh name="l_hip_x_collision" file="v2/hip_x_collision.stl"/>
+    <mesh name="l_hip_y_lo_res" file="v2/hip_y_lo_res.stl"/>
+    <mesh name="l_hip_y_collision" file="v2/hip_y_collision.stl"/>
+    <mesh name="l_knee_lo_res" file="v2/knee_lo_res.stl"/>
+    <mesh name="l_knee_collision" file="v2/knee_collision.stl"/>
+    <mesh name="l_ankle_Y_lo_res" file="v2/ankle_Y_lo_res.stl"/>
+    <mesh name="l_ankle_Y_collision" file="v2/ankle_Y_collision.stl"/>
+    <mesh name="l_ankle_X_lo_res" file="v2/ankle_X_lo_res.stl"/>
+    <mesh name="l_ankle_X_collision" file="v2/ankle_X_collision.stl" scale="1 1 0.88"/>
+    <mesh name="r_hip_z_lo_res" file="v2/hip_z_lo_res.stl" scale="1 -1 1"/>
+    <mesh name="r_hip_z_collision" file="v2/hip_z_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_hip_x_lo_res" file="v2/hip_x_lo_res.stl" scale="1 -1 1"/>
+    <mesh name="r_hip_x_collision" file="v2/hip_x_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_hip_y_lo_res" file="v2/hip_y_lo_res.stl" scale="1 -1 1"/>
+    <mesh name="r_hip_y_collision" file="v2/hip_y_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_knee_lo_res" file="v2/knee_lo_res.stl" scale="1 -1 1"/>
+    <mesh name="r_knee_collision" file="v2/knee_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_ankle_Y_lo_res" file="v2/ankle_Y_lo_res.stl" scale="1 -1 1"/>
+    <mesh name="r_ankle_Y_collision" file="v2/ankle_Y_collision.stl" scale="1 -1 1"/>
+    <mesh name="r_ankle_X_lo_res" file="v2/ankle_X_lo_res.stl" scale="1 -1 1"/>
+    <mesh name="r_ankle_X_collision" file="v2/ankle_X_collision.stl" scale="1 -1 0.88"/>
+  </asset>
+
+  <default>
+    <default class="talos">
+      <site rgba="1 0 0 1" size="0.01" group="5"/>
+      <joint frictionloss="1" damping="1"/>
+      <geom type="mesh" solref="0.001 1"/>
+      <default class="visual">
+        <geom group="2" contype="0" conaffinity="0" density="0"/>
+      </default>
+      <default class="collision">
+        <geom group="3"/>
+      </default>
+    </default>
+  </default>
+
+  <worldbody>
+    <body name="base_link" pos="0 0 1.1" childclass="talos">
+      <freejoint name="reference"/>
+      <inertial pos="-0.05709419 0.00153054 -0.0762521" mass="15.36284"
+        fullinertia="0.20105075811 0.08411496729 0.2318908414 0.00023244734 0.0040167728 -0.00087206649"/>
+      <geom class="visual" material="white" mesh="base_link"/>
+      <!-- <geom material="white" mesh="base_link_collision" class="collision"/> -->
+      <body name="torso_1_link" pos="0 0 0.0722">
+        <inertial pos="0.00078223 3.528e-05 -0.0178246" quat="0.703744 0.704233 0.0663452 -0.0663278" mass="2.29466"
+          diaginertia="0.00639091 0.00622386 0.00410256"/>
+        <joint name="torso_1_joint" axis="0 0 1" range="-1.25664 1.25664" frictionloss="2" actuatorfrcrange="-200 200"/>
+        <geom class="visual" material="white" mesh="torso_1"/>
+        <!-- <geom class="collision" material="white" mesh="torso_1"/> -->
+        <body name="torso_2_link">
+          <inertial pos="-0.0463 -0.000989647 0.145241" quat="0.704021 0.708473 0.0363665 -0.0331367" mass="16.984"
+            diaginertia="0.444971 0.320913 0.299991"/>
+          <joint name="torso_2_joint" axis="0 1 0" range="-0.226893 0.733038" frictionloss="2"
+            actuatorfrcrange="-200 200"/>
+          <geom class="visual" material="white" mesh="torso_2"/>
+          <geom size="0.005 0.005 0.005" pos="0.04925 0 0.078" quat="0 1 1 0" type="box" class="visual" density="0"
+            material="black"/>
+          <body name="head_1_link" pos="0 0 0.316">
+            <inertial pos="-0.00157211 -0.00157919 0.0217577" quat="0.679576 0.71147 -0.126684 0.126246" mass="0.73746"
+              diaginertia="0.0022809 0.00202202 0.00110971"/>
+            <geom class="visual" mesh="head_1" material="black"/>
+            <body name="head_2_link">
+              <site name="head" pos="0 0 0.2"/>
+              <inertial pos="0.0108233 0.000630364 0.142045" quat="0.584927 -0.0294601 -0.0201927 0.810299"
+                mass="1.46795" diaginertia="0.0110721 0.0109715 0.00581517"/>
+              <geom class="visual" material="white" mesh="head_2_default"/>
+              <geom pos="0.0621 0.0375 0.1832" class="visual" mesh="orbbec" material="black"/>
+            </body>
+          </body>
+          <body name="arm_left_1_link" pos="0 0.1575 0.232">
+            <inertial pos="-0.0002762 0.100602 0.0443742" quat="0.509187 0.520076 -0.492016 0.477671" mass="2.71457"
+              diaginertia="0.0135919 0.012374 0.00418528"/>
+            <joint name="arm_left_1_joint" axis="0 0 1" range="-1.5708 0.785398" actuatorfrcrange="-100 100"/>
+            <geom class="visual" mesh="l_arm_1" material="black"/>
+            <!-- <geom mesh="l_arm_1c" class="collision" material="black"/> -->
+            <body name="arm_left_2_link" pos="0.00493 0.1365 0.04673">
+              <inertial pos="0.0143883 0.00092938 -0.0868427" quat="0.981914 0.00964503 0.164999 0.0923476"
+                mass="2.42509" diaginertia="0.0140925 0.0138001 0.00368288"/>
+              <joint name="arm_left_2_joint" axis="1 0 0" range="0.00872665 2.87107" actuatorfrcrange="-100 100"/>
+              <geom class="visual" mesh="l_arm_2" material="black"/>
+              <!-- <geom mesh="l_arm_2c" class="collision" material="black"/> -->
+              <body name="arm_left_3_link">
+                <inertial pos="0.0136084 0.0124162 -0.2499" quat="0.991718 0.0691072 -0.105592 -0.0238848"
+                  mass="2.20874" diaginertia="0.00735601 0.00699198 0.0036592"/>
+                <joint name="arm_left_3_joint" axis="0 0 1" range="-2.42601 2.42601" actuatorfrcrange="-70 70"/>
+                <geom class="visual" mesh="l_arm_3" material="black"/>
+                <!-- <geom mesh="l_arm_3c" class="collision" material="black"/> -->
+                <body name="arm_left_4_link" pos="0.02 0 -0.2782">
+                  <inertial pos="-0.00810404 -0.0194433 -0.0332924" quat="0.428586 -0.11894 0.057285 0.893804"
+                    mass="0.815675" diaginertia="0.00326211 0.002924 0.00111543"/>
+                  <joint name="arm_left_4_joint" axis="0 1 0" range="-2.23402 -0.00349066" actuatorfrcrange="-70 70"/>
+                  <geom class="visual" mesh="l_arm_4" material="black"/>
+                  <!-- <geom mesh="l_arm_4c" class="collision" material="black"/> -->
+                  <body name="arm_left_5_link" pos="-0.02 0 -0.2643">
+                    <inertial pos="-6e-05 0.003262 0.079625" quat="0.711712 -0.019748 0.0131536 0.70207" mass="1.87792"
+                      diaginertia="0.004373 0.003495 0.002278"/>
+                    <geom class="visual" material="white" mesh="l_arm_5"/>
+                    <body name="arm_left_6_link">
+                      <inertial pos="2.1e-05 -0.001965 -0.000591" quat="0.0104356 0.706678 0.0122672 0.707352"
+                        mass="0.40931" diaginertia="0.000154 0.000141 0.000107"/>
+                      <geom class="visual" material="white" mesh="l_arm_6"/>
+                      <body name="arm_left_7_link">
+                        <inertial pos="0.00215393 0.00361697 -0.0837948" quat="0.966304 0.0192407 0.0500561 -0.251755"
+                          mass="1.04198" diaginertia="0.00273016 0.00272405 0.0010495"/>
+                        <geom class="visual" mesh="l_arm_7" material="black"/>
+                        <geom size="0.0225 0.00785" pos="0 0 -0.051" quat="-1 0 0 -1" type="cylinder" class="visual"
+                          material="white"/>
+                        <geom size="0.025 0.004875" pos="0 0 -0.063725" type="cylinder" class="visual" material="black"/>
+                        <geom pos="0 0 -0.092475" class="visual" mesh="gripper_base_link" material="black"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+          <body name="arm_right_1_link" pos="0 -0.1575 0.232">
+            <inertial pos="-0.0002762 -0.100602 0.0443742" quat="0.520076 0.509187 -0.477671 0.492016" mass="2.71457"
+              diaginertia="0.0135919 0.012374 0.00418528"/>
+            <joint name="arm_right_1_joint" axis="0 0 1" range="-0.785398 1.5708" actuatorfrcrange="-100 100"/>
+            <geom class="visual" mesh="r_arm_1" material="black"/>
+            <!-- <geom mesh="r_arm_1c" class="collision" material="black"/> -->
+            <body name="arm_right_2_link" pos="0.00493 -0.1365 0.04673">
+              <inertial pos="0.0143883 -0.00092938 -0.0868427" quat="0.981914 -0.00964503 0.164999 -0.0923476"
+                mass="2.42509" diaginertia="0.0140925 0.0138001 0.00368288"/>
+              <joint name="arm_right_2_joint" axis="1 0 0" range="-2.87107 -0.00872665" actuatorfrcrange="-100 100"/>
+              <geom class="visual" mesh="r_arm_2" material="black"/>
+              <!-- <geom mesh="r_arm_2c" class="collision" material="black"/> -->
+              <body name="arm_right_3_link">
+                <inertial pos="0.0136084 -0.0124162 -0.2499" quat="0.991718 -0.0691072 -0.105592 0.0238848"
+                  mass="2.20874" diaginertia="0.00735601 0.00699198 0.0036592"/>
+                <joint name="arm_right_3_joint" axis="0 0 1" range="-2.42601 2.42601" actuatorfrcrange="-70 70"/>
+                <geom class="visual" mesh="r_arm_3" material="black"/>
+                <!-- <geom mesh="r_arm_3c" class="collision" material="black"/> -->
+                <body name="arm_right_4_link" pos="0.02 0 -0.2782">
+                  <inertial pos="-0.00810404 -0.0194433 -0.0332924" quat="0.428586 -0.11894 0.057285 0.893804"
+                    mass="0.815675" diaginertia="0.00326211 0.002924 0.00111543"/>
+                  <joint name="arm_right_4_joint" axis="0 1 0" range="-2.23402 -0.00349066" actuatorfrcrange="-70 70"/>
+                  <geom class="visual" mesh="r_arm_4" material="black"/>
+                  <!-- <geom mesh="r_arm_4c" class="collision" material="black"/> -->
+                  <body name="arm_right_5_link" pos="-0.02 0 -0.2643">
+                    <inertial pos="-6e-05 -0.003262 0.079625" quat="0.70207 0.0131536 -0.019748 0.711712" mass="1.87792"
+                      diaginertia="0.004373 0.003495 0.002278"/>
+                    
+                    <geom class="visual" material="white" mesh="r_arm_5"/>
+                    <body name="arm_right_6_link">
+                      <inertial pos="2.1e-05 0.001965 -0.000591" quat="-0.0104356 0.706678 -0.0122672 0.707352"
+                        mass="0.40931" diaginertia="0.000154 0.000141 0.000107"/>
+                      
+                      <geom class="visual" material="white" mesh="r_arm_6"/>
+                      <body name="arm_right_7_link">
+                        <inertial pos="0.0023011 -0.00361697 -0.0837948" quat="0.927123 -0.0149278 0.0465372 0.371557"
+                          mass="1.04198" diaginertia="0.00273231 0.00271796 0.00105208"/>
+                        
+                        <geom class="visual" mesh="r_arm_7" material="black"/>
+                        <geom size="0.0225 0.00785" pos="0 0 -0.051" quat="1 0 0 -1" type="cylinder" class="visual"
+                          material="white"/>
+                        <geom size="0.025 0.004875" pos="0 0 -0.063725" quat="0 0 0 -1" type="cylinder" class="visual"
+                          material="black"/>
+                        <geom pos="0 0 -0.092475" quat="0 0 0 -1" class="visual" mesh="gripper_base_link"
+                          material="black"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="leg_left_1_link" pos="-0.02 0.085 -0.27105">
+        <inertial pos="0.0847284 0.109974 0.017059" quat="0.522748 -0.852371 -0.00673577 0.012351" mass="2.23501"
+          diaginertia="0.0105013 0.0076913 0.00473271"/>
+        <joint name="leg_left_1_joint" axis="0 0 1" range="-0.349066 1.5708" actuatorfrcrange="-100 100"/>
+        <geom class="visual" mesh="l_hip_z_lo_res" material="black"/>
+        <!-- <geom mesh="l_hip_z_collision" class="collision" material="black"/> -->
+        <body name="leg_left_2_link">
+          <inertial pos="-0.00704703 0.0259266 0.00273385" quat="0.712294 0.701399 -0.00472331 -0.0255805"
+            mass="1.49095" diaginertia="0.00497732 0.00474343 0.00189918"/>
+          <joint name="leg_left_2_joint" axis="1 0 0" range="-0.5236 0.5236" actuatorfrcrange="-160 160"/>
+          <geom class="visual" mesh="l_hip_x_lo_res" material="black"/>
+          <!-- <geom mesh="l_hip_x_collision" class="collision" material="black"/> -->
+          <body name="leg_left_3_link">
+            <inertial pos="0.0058523 0.0636967 -0.183396" quat="0.995121 -0.0974306 -0.00559068 0.0145098"
+              mass="6.23987" diaginertia="0.153409 0.140791 0.0256712"/>
+            <joint name="leg_left_3_joint" axis="0 1 0" range="-2.095 0.7" actuatorfrcrange="-160 160"/>
+            <geom class="visual" mesh="l_hip_y_lo_res" material="black"/>
+            <!-- <geom mesh="l_hip_y_collision" class="collision" material="black"/> -->
+            <body name="leg_left_4_link" pos="0 0 -0.38">
+              <inertial pos="0.0131772 0.0291751 -0.115946" quat="0.999357 0.00773677 -0.0135107 0.0322952"
+                mass="3.75995" diaginertia="0.0429266 0.0359662 0.013621"/>
+              <joint name="leg_left_4_joint" axis="0 1 0" range="0 2.618" actuatorfrcrange="-400 400"/>
+              <geom class="visual" mesh="l_knee_lo_res" material="black"/>
+              <!-- <geom mesh="l_knee_collision" class="collision" material="black"/> -->
+              <body name="leg_left_5_link" pos="0 0 -0.325">
+                <inertial pos="-0.0140084 0.0418006 0.0382019" quat="0.94386 -0.249123 0.00319491 0.216924"
+                  mass="1.29096" diaginertia="0.0118206 0.010046 0.00352112"/>
+                <joint name="leg_left_5_joint" axis="0 1 0" range="-1.27 0.68" actuatorfrcrange="-160 160"/>
+                <geom class="visual" rgba="0.7 0.7 0.7 1" mesh="l_ankle_Y_lo_res"/>
+                <!-- <geom rgba="0.7 0.7 0.7 1" mesh="l_ankle_Y_collision" class="collision"/> -->
+                <body name="leg_left_6_link">
+                  <inertial pos="-0.0201699 -0.000510665 -0.0602836" quat="0.343485 0.610901 0.618186 0.3559"
+                    mass="1.61177" diaginertia="0.00773279 0.006503 0.00387932"/>
+                  <joint name="leg_left_6_joint" axis="1 0 0" range="-0.5236 0.5236" actuatorfrcrange="-100 100"/>
+                  <geom class="visual" rgba="0.7 0.7 0.7 1" mesh="l_ankle_X_lo_res"/>
+                  <geom class="collision" contype="6" type="box" size=".1 .06 .006" pos="-0.005 0 -.1"/>
+                  <site name="left_foot" pos="0 0 -0.1"/>
+                  <geom name="foot_left_1" pos=".095 0.06 -0.1" size=".005" type="sphere"/>
+                  <geom name="foot_left_2" pos=".095 -0.06 -0.1" size=".005" type="sphere"/>
+                  <geom name="foot_left_3" pos="-0.105 0.06 -0.1" size=".005" type="sphere"/>
+                  <geom name="foot_left_4" pos="-0.105 -0.06 -0.1" size=".005" type="sphere"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="leg_right_1_link" pos="-0.02 -0.085 -0.27105">
+        <inertial pos="0.0847284 -0.109974 0.017059" quat="0.522748 0.852371 -0.00673577 0.012351" mass="2.23501"
+          diaginertia="0.0105013 0.0076913 0.00473271"/>
+        <joint name="leg_right_1_joint" axis="0 0 1" range="-1.5708 0.349066" actuatorfrcrange="-100 100"/>
+        <geom class="visual" mesh="r_hip_z_lo_res" material="black"/>
+        <!-- <geom mesh="r_hip_z_collision" class="collision" material="black"/> -->
+        <body name="leg_right_2_link">
+          <inertial pos="-0.00704703 -0.0259266 0.00273385" quat="0.701399 0.712294 0.0255805 0.00472331" mass="1.49095"
+            diaginertia="0.00497732 0.00474343 0.00189918"/>
+          <joint name="leg_right_2_joint" axis="1 0 0" range="-0.5236 0.5236" actuatorfrcrange="-160 160"/>
+          <geom class="visual" mesh="r_hip_x_lo_res" material="black"/>
+          <!-- <geom mesh="r_hip_x_collision" class="collision" material="black"/> -->
+          <body name="leg_right_3_link">
+            <inertial pos="0.0058523 -0.0636967 -0.183396" quat="0.995121 0.0974306 -0.00559068 -0.0145098"
+              mass="6.23987" diaginertia="0.153409 0.140791 0.0256712"/>
+            <joint name="leg_right_3_joint" axis="0 1 0" range="-2.095 0.7" actuatorfrcrange="-160 160"/>
+            <geom class="visual" mesh="r_hip_y_lo_res" material="black"/>
+            <!-- <geom mesh="r_hip_y_collision" class="collision" material="black"/> -->
+            <body name="leg_right_4_link" pos="0 0 -0.38">
+              <inertial pos="0.0131772 -0.0291751 -0.115946" quat="0.999357 -0.00773677 -0.0135107 -0.0322952"
+                mass="3.75995" diaginertia="0.0429266 0.0359662 0.013621"/>
+              <joint name="leg_right_4_joint" axis="0 1 0" range="0 2.618" actuatorfrcrange="-400 400"/>
+              <geom class="visual" mesh="r_knee_lo_res" material="black"/>
+              <!-- <geom mesh="r_knee_collision" class="collision" material="black"/> -->
+              <body name="leg_right_5_link" pos="0 0 -0.325">
+                <inertial pos="-0.0140084 -0.0418006 0.0382019" quat="0.94386 0.249123 0.00319491 -0.216924"
+                  mass="1.29096" diaginertia="0.0118206 0.010046 0.00352112"/>
+                <joint name="leg_right_5_joint" axis="0 1 0" range="-1.27 0.68" actuatorfrcrange="-160 160"/>
+                <geom class="visual" rgba="0.7 0.7 0.7 1" mesh="r_ankle_Y_lo_res"/>
+                <!-- <geom rgba="0.7 0.7 0.7 1" mesh="r_ankle_Y_collision" class="collision"/> -->
+                <body name="leg_right_6_link">
+                  <inertial pos="-0.0201699 0.000510665 -0.0602836" quat="0.3559 0.618186 0.610901 0.343485"
+                    mass="1.61177" diaginertia="0.00773279 0.006503 0.00387932"/>
+                  <joint name="leg_right_6_joint" axis="1 0 0" range="-0.5236 0.5236" actuatorfrcrange="-100 100"/>
+                  <geom class="visual" rgba="0.7 0.7 0.7 1" mesh="r_ankle_X_lo_res"/>
+                  <geom class="collision" contype="6" type="box" size=".1 .06 .006" pos="-0.005 0 -.1"/>
+                  <site name="right_foot" pos="0 0 -0.1"/>
+                  <geom name="foot_right_1" pos=".095 0.06 -0.1" size=".005" type="sphere"/>
+                  <geom name="foot_right_2" pos=".095 -0.06 -0.1" size=".005" type="sphere"/>
+                  <geom name="foot_right_3" pos="-0.105 0.06 -0.1" size=".005" type="sphere"/>
+                  <geom name="foot_right_4" pos="-0.105 -0.06 -0.1" size=".005" type="sphere"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/robot_models/pal_talos/talos_motor.xml b/robot_models/pal_talos/talos_motor.xml
new file mode 100644
index 0000000000000000000000000000000000000000..969e3df81cac42828a6275937c2cbce59810e6d7
--- /dev/null
+++ b/robot_models/pal_talos/talos_motor.xml
@@ -0,0 +1,33 @@
+<mujoco model="talos">
+  <include file="talos_full.xml"/>
+
+  <actuator>
+    <motor name="torso_1_joint_torque" joint="torso_1_joint" ctrlrange="-200 200"/>
+    <motor name="torso_2_joint_torque" joint="torso_2_joint" ctrlrange="-200 200"/>
+    <motor name="arm_left_1_joint_torque" joint="arm_left_1_joint" ctrlrange="-100 100"/>
+    <motor name="arm_left_2_joint_torque" joint="arm_left_2_joint" ctrlrange="-100 100"/>
+    <motor name="arm_left_3_joint_torque" joint="arm_left_3_joint" ctrlrange="-70 70"/>
+    <motor name="arm_left_4_joint_torque" joint="arm_left_4_joint" ctrlrange="-70 70"/>
+    <motor name="arm_right_1_joint_torque" joint="arm_right_1_joint" ctrlrange="-100 100"/>
+    <motor name="arm_right_2_joint_torque" joint="arm_right_2_joint" ctrlrange="-100 100"/>
+    <motor name="arm_right_3_joint_torque" joint="arm_right_3_joint" ctrlrange="-70 70"/>
+    <motor name="arm_right_4_joint_torque" joint="arm_right_4_joint" ctrlrange="-70 70"/>
+    <motor name="leg_left_1_joint_torque" joint="leg_left_1_joint" ctrlrange="-100 100"/>
+    <motor name="leg_left_2_joint_torque" joint="leg_left_2_joint" ctrlrange="-160 160"/>
+    <motor name="leg_left_3_joint_torque" joint="leg_left_3_joint" ctrlrange="-160 160"/>
+    <motor name="leg_left_4_joint_torque" joint="leg_left_4_joint" ctrlrange="-400 400"/>
+    <motor name="leg_left_5_joint_torque" joint="leg_left_5_joint" ctrlrange="-160 160"/>
+    <motor name="leg_left_6_joint_torque" joint="leg_left_6_joint" ctrlrange="-100 100"/>
+    <motor name="leg_right_1_joint_torque" joint="leg_right_1_joint" ctrlrange="-100 100"/>
+    <motor name="leg_right_2_joint_torque" joint="leg_right_2_joint" ctrlrange="-160 160"/>
+    <motor name="leg_right_3_joint_torque" joint="leg_right_3_joint" ctrlrange="-160 160"/>
+    <motor name="leg_right_4_joint_torque" joint="leg_right_4_joint" ctrlrange="-400 400"/>
+    <motor name="leg_right_5_joint_torque" joint="leg_right_5_joint" ctrlrange="-160 160"/>
+    <motor name="leg_right_6_joint_torque" joint="leg_right_6_joint" ctrlrange="-100 100"/>
+  </actuator>
+
+  <keyframe>
+    <key
+      qpos="0 0 1.08 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"/>
+  </keyframe>
+</mujoco>
diff --git a/robot_models/pal_talos/talos_motor_arm_reduced.xml b/robot_models/pal_talos/talos_motor_arm_reduced.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6745562dcfdbbcc653848cb3b583a3804b11d910
--- /dev/null
+++ b/robot_models/pal_talos/talos_motor_arm_reduced.xml
@@ -0,0 +1,33 @@
+<mujoco model="talos">
+  <include file="talos_arm_reduced.xml"/>
+
+  <actuator>
+    <motor name="torso_1_joint_torque" joint="torso_1_joint" ctrlrange="-200 200"/>
+    <motor name="torso_2_joint_torque" joint="torso_2_joint" ctrlrange="-200 200"/>
+    <motor name="arm_left_1_joint_torque" joint="arm_left_1_joint" ctrlrange="-100 100"/>
+    <motor name="arm_left_2_joint_torque" joint="arm_left_2_joint" ctrlrange="-100 100"/>
+    <motor name="arm_left_3_joint_torque" joint="arm_left_3_joint" ctrlrange="-70 70"/>
+    <motor name="arm_left_4_joint_torque" joint="arm_left_4_joint" ctrlrange="-70 70"/>
+    <motor name="arm_right_1_joint_torque" joint="arm_right_1_joint" ctrlrange="-100 100"/>
+    <motor name="arm_right_2_joint_torque" joint="arm_right_2_joint" ctrlrange="-100 100"/>
+    <motor name="arm_right_3_joint_torque" joint="arm_right_3_joint" ctrlrange="-70 70"/>
+    <motor name="arm_right_4_joint_torque" joint="arm_right_4_joint" ctrlrange="-70 70"/>
+    <motor name="leg_left_1_joint_torque" joint="leg_left_1_joint" ctrlrange="-100 100"/>
+    <motor name="leg_left_2_joint_torque" joint="leg_left_2_joint" ctrlrange="-160 160"/>
+    <motor name="leg_left_3_joint_torque" joint="leg_left_3_joint" ctrlrange="-160 160"/>
+    <motor name="leg_left_4_joint_torque" joint="leg_left_4_joint" ctrlrange="-400 400"/>
+    <motor name="leg_left_5_joint_torque" joint="leg_left_5_joint" ctrlrange="-160 160"/>
+    <motor name="leg_left_6_joint_torque" joint="leg_left_6_joint" ctrlrange="-100 100"/>
+    <motor name="leg_right_1_joint_torque" joint="leg_right_1_joint" ctrlrange="-100 100"/>
+    <motor name="leg_right_2_joint_torque" joint="leg_right_2_joint" ctrlrange="-160 160"/>
+    <motor name="leg_right_3_joint_torque" joint="leg_right_3_joint" ctrlrange="-160 160"/>
+    <motor name="leg_right_4_joint_torque" joint="leg_right_4_joint" ctrlrange="-400 400"/>
+    <motor name="leg_right_5_joint_torque" joint="leg_right_5_joint" ctrlrange="-160 160"/>
+    <motor name="leg_right_6_joint_torque" joint="leg_right_6_joint" ctrlrange="-100 100"/>
+  </actuator>
+
+  <keyframe>
+    <key
+      qpos="0 0 1.08 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"/>
+  </keyframe>
+</mujoco>
diff --git a/robot_models/pal_talos/talos_position.xml b/robot_models/pal_talos/talos_position.xml
new file mode 100644
index 0000000000000000000000000000000000000000..825aaf74bbfefa02adaf7fa39a9b0d51bbe70938
--- /dev/null
+++ b/robot_models/pal_talos/talos_position.xml
@@ -0,0 +1,80 @@
+<mujoco model="talos">
+  <include file="talos.xml"/>
+
+  <default>
+    <default class="position">
+      <position dampratio="1"/>
+    </default>
+  </default>
+
+  <actuator>
+    <position class="position" name="torso_1_joint_position" joint="torso_1_joint" kp="2000"
+      ctrlrange="-1.2566370614359172 1.2566370614359172"/>
+    <position class="position" name="torso_2_joint_position" joint="torso_2_joint" kp="500"
+      ctrlrange="-0.22689280275926285 0.7330382858376184"/>
+    <position class="position" name="head_1_joint_position" joint="head_1_joint" kp="200"
+      ctrlrange="-0.20943951023931956 0.7853981633974483"/>
+    <position class="position" name="head_2_joint_position" joint="head_2_joint" kp="1000"
+      ctrlrange="-1.3089969389957472 1.3089969389957472"/>
+    <position class="position" name="arm_left_1_joint_position" joint="arm_left_1_joint" kp="100"
+      ctrlrange="-1.5707963267948966 0.7853981633974483"/>
+    <position class="position" name="arm_left_2_joint_position" joint="arm_left_2_joint" kp="100"
+      ctrlrange="0.008726646259971648 2.871066619530672"/>
+    <position class="position" name="arm_left_3_joint_position" joint="arm_left_3_joint" kp="100"
+      ctrlrange="-2.426007660272118 2.426007660272118"/>
+    <position class="position" name="arm_left_4_joint_position" joint="arm_left_4_joint" kp="100"
+      ctrlrange="-2.234021442552742 -0.003490658503988659"/>
+    <position class="position" name="arm_left_5_joint_position" joint="arm_left_5_joint" kp="100"
+      ctrlrange="-2.5132741228718345 2.5132741228718345"/>
+    <position class="position" name="arm_left_6_joint_position" joint="arm_left_6_joint" kp="100"
+      ctrlrange="-1.3700834628155487 1.3700834628155487"/>
+    <position class="position" name="arm_left_7_joint_position" joint="arm_left_7_joint" kp="100"
+      ctrlrange="-0.6806784082777885 0.6806784082777885"/>
+    <position class="position" name="gripper_left_joint_position" joint="gripper_left_joint" kp="1000"
+      ctrlrange="-0.9599310885968813 0.0" forcerange="-10 10"/>
+    <position class="position" name="arm_right_1_joint_position" joint="arm_right_1_joint" kp="100"
+      ctrlrange="-0.7853981633974483 1.5707963267948966"/>
+    <position class="position" name="arm_right_2_joint_position" joint="arm_right_2_joint" kp="100"
+      ctrlrange="-2.871066619530672 -0.008726646259971648"/>
+    <position class="position" name="arm_right_3_joint_position" joint="arm_right_3_joint" kp="100"
+      ctrlrange="-2.426007660272118 2.426007660272118"/>
+    <position class="position" name="arm_right_4_joint_position" joint="arm_right_4_joint" kp="100"
+      ctrlrange="-2.234021442552742 -0.003490658503988659"/>
+    <position class="position" name="arm_right_5_joint_position" joint="arm_right_5_joint" kp="100"
+      ctrlrange="-2.5132741228718345 2.5132741228718345"/>
+    <position class="position" name="arm_right_6_joint_position" joint="arm_right_6_joint" kp="100"
+      ctrlrange="-1.3700834628155487 1.3700834628155487"/>
+    <position class="position" name="arm_right_7_joint_position" joint="arm_right_7_joint" kp="100"
+      ctrlrange="-0.6806784082777885 0.6806784082777885"/>
+    <position class="position" name="gripper_right_joint_position" joint="gripper_right_joint" kp="1000"
+      ctrlrange="-0.9599310885968813 0.0" forcerange="-10 10"/>
+    <position class="position" name="leg_left_1_joint_position" joint="leg_left_1_joint" kp="1000"
+      ctrlrange="-0.3490658503988659 1.5707963267948966"/>
+    <position class="position" name="leg_left_2_joint_position" joint="leg_left_2_joint" kp="1000"
+      ctrlrange="-0.5236 0.5236"/>
+    <position class="position" name="leg_left_3_joint_position" joint="leg_left_3_joint" kp="1000"
+      ctrlrange="-2.095 0.7"/>
+    <position class="position" name="leg_left_4_joint_position" joint="leg_left_4_joint" kp="1000" ctrlrange="0 2.618"/>
+    <position class="position" name="leg_left_5_joint_position" joint="leg_left_5_joint" kp="10000"
+      ctrlrange="-1.27 0.68"/>
+    <position class="position" name="leg_left_6_joint_position" joint="leg_left_6_joint" kp="10000"
+      ctrlrange="-0.5236 0.5236"/>
+    <position class="position" name="leg_right_1_joint_position" joint="leg_right_1_joint" kp="1000"
+      ctrlrange="-1.5707963267948966 0.3490658503988659"/>
+    <position class="position" name="leg_right_2_joint_position" joint="leg_right_2_joint" kp="1000"
+      ctrlrange="-0.5236 0.5236"/>
+    <position class="position" name="leg_right_3_joint_position" joint="leg_right_3_joint" kp="1000"
+      ctrlrange="-2.095 0.7"/>
+    <position class="position" name="leg_right_4_joint_position" joint="leg_right_4_joint" kp="1000" ctrlrange="0 2.618"/>
+    <position class="position" name="leg_right_5_joint_position" joint="leg_right_5_joint" kp="10000"
+      ctrlrange="-1.27 0.68"/>
+    <position class="position" name="leg_right_6_joint_position" joint="leg_right_6_joint" kp="10000"
+      ctrlrange="-0.5236 0.5236"/>
+  </actuator>
+
+  <keyframe>
+    <key name="walk_pose"
+      qpos="0 0 1.025 0 0 0 0 0 0.15 0 0 0.3 0.4 -0.5 -1.5 0 0 0 0 -0.4 0 0 0 0 0 -0.3 -0.4 0.5 -1.5 0 0 0 0 -0.4 0 0 0 0 0 0 0 -0.4 0.8 -0.4 0 0 0 -0.4 0.8 -0.4 0"
+      ctrl="0 0.15 0 0 0.3 0.4 -0.5 -1.5 0 0 0 -0.4 -0.3 -0.4 0.5 -1.5 0 0 0 -0.4 0 0 -0.4 0.8 -0.4 0 0 0 -0.4 0.8 -0.4 0"/>
+  </keyframe>
+</mujoco>