TALOS

PAL Robotics · licence LGPL-3.0 · source: github.com/stack-of-tasks/talos-data @ 77169405d

What you are looking at is RobotDescription.from_urdf(original).to_urdf_string(): the reference implementation's re-serialisation of the original file, not the original file itself.

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robot.urdf

<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content fd32e1085ffa03fa -->
<robot name="talos">
  <link name="torso_2_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/torso/torso_2.STL" />
      </geometry>
      <material name="LightGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/torso/torso_2_collision.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.04551 -0.00053 0.16386" rpy="0.0 0.0 0.0" />
      <mass value="17.55011" />
      <inertia ixx="0.373769" ixy="0.000639" ixz="0.012196" iyy="0.247902" iyz="7e-06" izz="0.281404" />
    </inertial>
  </link>
  <link name="torso_1_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/torso/torso_1.STL" />
      </geometry>
      <material name="LightGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/torso/torso_1.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00013 -1e-05 -0.01306" rpy="0.0 0.0 0.0" />
      <mass value="3.02433" />
      <inertia ixx="0.007594" ixy="1e-06" ixz="-4.8e-05" iyy="0.004292" iyz="-1e-06" izz="0.007497" />
    </inertial>
  </link>
  <joint name="torso_1_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0722" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="torso_1_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="78.0" velocity="5.4" lower="-1.308996939" upper="1.308996939" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="base_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/torso/base_link.STL" />
      </geometry>
      <material name="LightGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/torso/base_link_collision.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.08222 0.00838 -0.07261" rpy="0.0 0.0 0.0" />
      <mass value="13.5381" />
      <inertia ixx="0.06989" ixy="-0.000117" ixz="0.00023" iyy="0.039982" iyz="-0.001325" izz="0.082345" />
    </inertial>
  </link>
  <joint name="torso_2_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="torso_1_link" />
    <child link="torso_2_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="78.0" velocity="5.4" lower="-0.261799387799" upper="0.785398163397" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="imu_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.01 0.01 0.01" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="imu_joint" type="fixed">
    <origin xyz="0.04925 0.0 0.078" rpy="3.14159265359 0.0 1.57079632679" />
    <parent link="torso_2_link" />
    <child link="imu_link" />
  </joint>
  <link name="head_1_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/head/head_1.stl" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/head/head_1_collision.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0012 0.00145 0.02165" rpy="0.0 0.0 0.0" />
      <mass value="0.65988" />
      <inertia ixx="0.001221" ixy="-4e-06" ixz="7e-05" iyy="0.000924" iyz="-4.1e-05" izz="0.001033" />
    </inertial>
  </link>
  <joint name="head_1_joint" type="revolute">
    <origin xyz="0.0 0.0 0.316" rpy="0.0 0.0 0.0" />
    <parent link="torso_2_link" />
    <child link="head_1_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="8.0" velocity="1.0" lower="-0.261799387799" upper="0.785398163397" />
    <dynamics damping="0.5" friction="1.0" />
  </joint>
  <link name="head_2_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/head/head_2.stl" />
      </geometry>
      <material name="LightGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/head/head_2_collision.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.01036 -0.00037 0.13778" rpy="0.0 0.0 0.0" />
      <mass value="1.40353" />
      <inertia ixx="0.007225" ixy="-2.5e-05" ixz="0.000329" iyy="0.006873" iyz="4.4e-05" izz="0.004373" />
    </inertial>
  </link>
  <joint name="head_2_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="head_1_link" />
    <child link="head_2_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="4.0" velocity="1.0" lower="-1.308996939" upper="1.308996939" />
    <dynamics damping="0.5" friction="1.0" />
  </joint>
  <joint name="rgbd_joint" type="fixed">
    <origin xyz="0.066 0.0 0.1982" rpy="0.0 0.0 0.0" />
    <parent link="head_2_link" />
    <child link="rgbd_link" />
  </joint>
  <material name="DarkGrey">
    <color rgba="0.5 0.5 0.5 1.0" />
  </material>
  <link name="rgbd_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/sensors/orbbec/orbbec.STL" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="-0.01 0.0025 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.04 0.185 0.03" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="3e-05" ixy="0.0" ixz="0.0" iyy="3e-05" iyz="0.0" izz="2e-06" />
    </inertial>
  </link>
  <joint name="rgbd_optical_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
    <parent link="rgbd_link" />
    <child link="rgbd_optical_frame" />
  </joint>
  <link name="rgbd_optical_frame">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
    </inertial>
  </link>
  <joint name="rgbd_depth_joint" type="fixed">
    <origin xyz="0.0 0.03751 0.0" rpy="0.0 0.0 0.0" />
    <parent link="rgbd_link" />
    <child link="rgbd_depth_frame" />
  </joint>
  <link name="rgbd_depth_frame" />
  <joint name="rgbd_depth_optical_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
    <parent link="rgbd_depth_frame" />
    <child link="rgbd_depth_optical_frame" />
  </joint>
  <link name="rgbd_depth_optical_frame" />
  <joint name="rgbd_rgb_joint" type="fixed">
    <origin xyz="0.0 0.01251 0.0" rpy="0.0 0.0 0.0" />
    <parent link="rgbd_link" />
    <child link="rgbd_rgb_frame" />
  </joint>
  <link name="rgbd_rgb_frame" />
  <joint name="rgbd_rgb_optical_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
    <parent link="rgbd_rgb_frame" />
    <child link="rgbd_rgb_optical_frame" />
  </joint>
  <link name="rgbd_rgb_optical_frame" />
  <link name="arm_left_1_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_1.STL" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.01346 0.0913 0.04812" rpy="0.0 0.0 0.0" />
      <mass value="1.42896" />
      <inertia ixx="0.005551" ixy="-0.000731" ixz="8e-06" iyy="0.001673" iyz="-6e-05" izz="0.005822" />
    </inertial>
  </link>
  <joint name="arm_left_1_joint" type="revolute">
    <origin xyz="0.0 0.1575 0.232" rpy="0.0 0.0 0.0" />
    <parent link="torso_2_link" />
    <child link="arm_left_1_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="44.64" velocity="2.7" lower="-1.57079632679" upper="0.523598775598" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="arm_left_2_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_2.STL" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.02607 0.00049 -0.05209" rpy="0.0 0.0 0.0" />
      <mass value="1.67729" />
      <inertia ixx="0.007087" ixy="-1.4e-05" ixz="0.002142" iyy="0.007936" iyz="3e-05" izz="0.003788" />
    </inertial>
  </link>
  <joint name="arm_left_2_joint" type="revolute">
    <origin xyz="0.00493 0.1365 0.04673" rpy="0.0 0.0 0.0" />
    <parent link="arm_left_1_link" />
    <child link="arm_left_2_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="22.32" velocity="3.66" lower="0.0" upper="2.87979326579" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="arm_left_3_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_3.STL" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00841 0.01428 -0.22291" rpy="0.0 0.0 0.0" />
      <mass value="1.47029" />
      <inertia ixx="0.004332" ixy="0.000153" ixz="-0.000496" iyy="0.00434" iyz="-0.000609" izz="0.002543" />
    </inertial>
  </link>
  <joint name="arm_left_3_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="arm_left_2_link" />
    <child link="arm_left_3_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="17.86" velocity="4.58" lower="-2.44346095279" upper="2.44346095279" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="arm_left_4_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_4.STL" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00655 -0.02107 -0.02612" rpy="0.0 0.0 0.0" />
      <mass value="1.10216" />
      <inertia ixx="0.002217" ixy="-0.000101" ixz="0.000288" iyy="0.002418" iyz="-0.000393" izz="0.001115" />
    </inertial>
  </link>
  <joint name="arm_left_4_joint" type="revolute">
    <origin xyz="0.02 0.0 -0.273" rpy="0.0 0.0 0.0" />
    <parent link="arm_left_3_link" />
    <child link="arm_left_4_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="17.86" velocity="4.58" lower="-2.35619449019" upper="0.0" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="arm_left_5_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_5.STL" />
      </geometry>
      <material name="LightGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-6e-05 0.00326 0.07963" rpy="0.0 0.0 0.0" />
      <mass value="1.77792" />
      <inertia ixx="0.003495" ixy="-1.3e-05" ixz="-1e-05" iyy="0.004368" iyz="9.7e-05" izz="0.002283" />
    </inertial>
  </link>
  <joint name="arm_left_5_joint" type="revolute">
    <origin xyz="-0.02 0.0 -0.2643" rpy="0.0 0.0 0.0" />
    <parent link="arm_left_4_link" />
    <child link="arm_left_5_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="3.0" velocity="1.95" lower="-2.53072741539" upper="2.53072741539" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="arm_left_6_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_6.STL" />
      </geometry>
      <material name="LightGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="2e-05 -0.00197 -0.00059" rpy="0.0 0.0 0.0" />
      <mass value="0.30931" />
      <inertia ixx="0.000107" ixy="0.0" ixz="0.0" iyy="0.000141" iyz="-0.0" izz="0.000154" />
    </inertial>
  </link>
  <joint name="arm_left_6_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="arm_left_5_link" />
    <child link="arm_left_6_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="6.6" velocity="1.76" lower="-1.3962634016" upper="1.3962634016" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="arm_left_7_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_7.STL" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.007525 0.001378 -0.02463" rpy="0.0 0.0 0.0" />
      <mass value="0.308441" />
      <inertia ixx="0.000309" ixy="2e-06" ixz="-2e-06" iyy="0.000219" iyz="1.2e-05" izz="0.000176" />
    </inertial>
  </link>
  <joint name="arm_left_7_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="arm_left_6_link" />
    <child link="arm_left_7_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="6.6" velocity="1.76" lower="-0.698131700798" upper="0.698131700798" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="arm_right_1_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_1.STL" scale="1.0 -1.0 1.0" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1.0 -1.0 1.0" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.01346 -0.0913 0.04812" rpy="0.0 0.0 0.0" />
      <mass value="1.42896" />
      <inertia ixx="0.005551" ixy="-0.000731" ixz="8e-06" iyy="0.001673" iyz="-6e-05" izz="0.005822" />
    </inertial>
  </link>
  <joint name="arm_right_1_joint" type="revolute">
    <origin xyz="0.0 -0.1575 0.232" rpy="0.0 0.0 0.0" />
    <parent link="torso_2_link" />
    <child link="arm_right_1_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="44.64" velocity="2.7" lower="-0.523598775598" upper="1.57079632679" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="arm_right_2_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_2.STL" scale="1.0 -1.0 1.0" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1.0 -1.0 1.0" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.02607 0.00049 -0.05209" rpy="0.0 0.0 0.0" />
      <mass value="1.67729" />
      <inertia ixx="0.007087" ixy="-1.4e-05" ixz="0.002142" iyy="0.007936" iyz="3e-05" izz="0.003788" />
    </inertial>
  </link>
  <joint name="arm_right_2_joint" type="revolute">
    <origin xyz="0.00493 -0.1365 0.04673" rpy="0.0 0.0 0.0" />
    <parent link="arm_right_1_link" />
    <child link="arm_right_2_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="22.32" velocity="3.66" lower="-2.87979326579" upper="0.0" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="arm_right_3_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_3.STL" scale="1.0 -1.0 1.0" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1.0 -1.0 1.0" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00841 0.01428 -0.22291" rpy="0.0 0.0 0.0" />
      <mass value="1.47029" />
      <inertia ixx="0.004332" ixy="0.000153" ixz="-0.000496" iyy="0.00434" iyz="-0.000609" izz="0.002543" />
    </inertial>
  </link>
  <joint name="arm_right_3_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="arm_right_2_link" />
    <child link="arm_right_3_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="17.86" velocity="4.58" lower="-2.44346095279" upper="2.44346095279" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="arm_right_4_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_4.STL" scale="1.0 -1.0 1.0" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1.0 -1.0 1.0" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00655 -0.02107 -0.02612" rpy="0.0 0.0 0.0" />
      <mass value="1.10216" />
      <inertia ixx="0.002217" ixy="-0.000101" ixz="0.000288" iyy="0.002418" iyz="-0.000393" izz="0.001115" />
    </inertial>
  </link>
  <joint name="arm_right_4_joint" type="revolute">
    <origin xyz="0.02 0.0 -0.273" rpy="0.0 0.0 0.0" />
    <parent link="arm_right_3_link" />
    <child link="arm_right_4_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="17.86" velocity="4.58" lower="-2.35619449019" upper="0.0" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="arm_right_5_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_5.STL" scale="1.0 -1.0 1.0" />
      </geometry>
      <material name="LightGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1.0 -1.0 1.0" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-6e-05 0.00326 0.07963" rpy="0.0 0.0 0.0" />
      <mass value="1.77792" />
      <inertia ixx="0.003495" ixy="-1.3e-05" ixz="-1e-05" iyy="0.004368" iyz="9.7e-05" izz="0.002283" />
    </inertial>
  </link>
  <joint name="arm_right_5_joint" type="revolute">
    <origin xyz="-0.02 0.0 -0.2643" rpy="0.0 0.0 0.0" />
    <parent link="arm_right_4_link" />
    <child link="arm_right_5_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="3.0" velocity="1.95" lower="-2.53072741539" upper="2.53072741539" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="arm_right_6_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_6.STL" scale="1.0 -1.0 1.0" />
      </geometry>
      <material name="LightGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1.0 -1.0 1.0" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="2e-05 -0.00197 -0.00059" rpy="0.0 0.0 0.0" />
      <mass value="0.30931" />
      <inertia ixx="0.000107" ixy="0.0" ixz="0.0" iyy="0.000141" iyz="-0.0" izz="0.000154" />
    </inertial>
  </link>
  <joint name="arm_right_6_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="arm_right_5_link" />
    <child link="arm_right_6_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="6.6" velocity="1.76" lower="-1.3962634016" upper="1.3962634016" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="arm_right_7_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_7.STL" scale="1.0 -1.0 1.0" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1.0 -1.0 1.0" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.007525 0.001378 -0.02463" rpy="0.0 0.0 0.0" />
      <mass value="0.308441" />
      <inertia ixx="0.000309" ixy="2e-06" ixz="-2e-06" iyy="0.000219" iyz="1.2e-05" izz="0.000176" />
    </inertial>
  </link>
  <joint name="arm_right_7_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="arm_right_6_link" />
    <child link="arm_right_7_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="6.6" velocity="1.76" lower="-0.698131700798" upper="0.698131700798" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="wrist_right_ft_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.0157" radius="0.0225" />
      </geometry>
      <material name="LightGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.0157" radius="0.0225" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.1" />
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
    </inertial>
  </link>
  <joint name="wrist_right_ft_joint" type="fixed">
    <origin xyz="0.0 0.0 -0.051" rpy="0.0 0.0 -1.57079632679" />
    <parent link="arm_right_7_link" />
    <child link="wrist_right_ft_link" />
  </joint>
  <link name="wrist_right_ft_tool_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.00975" radius="0.025" />
      </geometry>
      <material name="FlatBlack" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.00975" radius="0.025" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.1" />
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
    </inertial>
  </link>
  <joint name="wrist_right_tool_joint" type="fixed">
    <origin xyz="0.0 0.0 -0.012725" rpy="0.0 0.0 -1.57079632679" />
    <parent link="wrist_right_ft_link" />
    <child link="wrist_right_ft_tool_link" />
  </joint>
  <link name="wrist_left_ft_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.0157" radius="0.0225" />
      </geometry>
      <material name="LightGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.0157" radius="0.0225" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.1" />
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
    </inertial>
  </link>
  <joint name="wrist_left_ft_joint" type="fixed">
    <origin xyz="0.0 0.0 -0.051" rpy="0.0 0.0 -4.71238898038" />
    <parent link="arm_left_7_link" />
    <child link="wrist_left_ft_link" />
  </joint>
  <link name="wrist_left_ft_tool_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.00975" radius="0.025" />
      </geometry>
      <material name="FlatBlack" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.00975" radius="0.025" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.1" />
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
    </inertial>
  </link>
  <joint name="wrist_left_tool_joint" type="fixed">
    <origin xyz="0.0 0.0 -0.012725" rpy="0.0 0.0 4.71238898038" />
    <parent link="wrist_left_ft_link" />
    <child link="wrist_left_ft_tool_link" />
  </joint>
  <link name="gripper_left_base_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/base_link.STL" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00534 0.00362 -0.02357" rpy="0.0 0.0 0.0" />
      <mass value="0.61585" />
      <inertia ixx="0.000472" ixy="-8e-06" ixz="3.5e-05" iyy="0.000521" iyz="0.0" izz="0.00069" />
    </inertial>
  </link>
  <joint name="gripper_left_base_link_joint" type="fixed">
    <origin xyz="0.0 0.0 -0.02875" rpy="0.0 0.0 0.0" />
    <parent link="wrist_left_ft_tool_link" />
    <child link="gripper_left_base_link" />
  </joint>
  <link name="gripper_left_motor_double_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" />
      </geometry>
      <material name="Orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0227 0.01781 -0.00977" rpy="0.0 0.0 0.0" />
      <mass value="0.16889" />
      <inertia ixx="0.001159" ixy="-7e-05" ixz="3.8e-05" iyy="0.001221" iyz="-5.3e-05" izz="0.001268" />
    </inertial>
  </link>
  <joint name="gripper_left_joint" type="revolute">
    <origin xyz="0.0 0.02025 -0.03" rpy="0.0 0.0 0.0" />
    <parent link="gripper_left_base_link" />
    <child link="gripper_left_motor_double_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="1.0" velocity="1.0" lower="-1.0471975512" upper="0.0" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="gripper_left_inner_double_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" />
      </geometry>
      <material name="Orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00056 0.03358 -0.01741" rpy="0.0 0.0 0.0" />
      <mass value="0.11922" />
      <inertia ixx="9.1e-05" ixy="1e-06" ixz="-1e-06" iyy="0.000156" iyz="-3.2e-05" izz="0.000126" />
    </inertial>
  </link>
  <joint name="gripper_left_inner_double_joint" type="revolute">
    <origin xyz="0.0 0.00525 -0.05598" rpy="0.0 0.0 0.0" />
    <parent link="gripper_left_base_link" />
    <child link="gripper_left_inner_double_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="100.0" velocity="1.0" lower="-1.0471975512" upper="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="gripper_left_fingertip_1_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0046 -0.00254" rpy="0.0 0.0 0.0" />
      <mass value="0.0263" />
      <inertia ixx="8e-06" ixy="0.0" ixz="0.0" iyy="9e-06" iyz="1e-06" izz="2e-06" />
    </inertial>
  </link>
  <joint name="gripper_left_fingertip_1_joint" type="revolute">
    <origin xyz="0.032 0.04589 -0.06553" rpy="0.0 0.0 0.0" />
    <parent link="gripper_left_inner_double_link" />
    <child link="gripper_left_fingertip_1_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="100.0" velocity="1.0" lower="0.0" upper="1.0471975512" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="gripper_left_fingertip_2_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0046 -0.00254" rpy="0.0 0.0 0.0" />
      <mass value="0.0263" />
      <inertia ixx="8e-06" ixy="0.0" ixz="0.0" iyy="9e-06" iyz="1e-06" izz="2e-06" />
    </inertial>
  </link>
  <joint name="gripper_left_fingertip_2_joint" type="revolute">
    <origin xyz="-0.032 0.04589 -0.06553" rpy="0.0 0.0 0.0" />
    <parent link="gripper_left_inner_double_link" />
    <child link="gripper_left_fingertip_2_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="100.0" velocity="1.0" lower="0.0" upper="1.0471975512" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="gripper_left_motor_single_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" />
      </geometry>
      <material name="Orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.02589 -0.01284 -0.0064" rpy="0.0 0.0 0.0" />
      <mass value="0.14765" />
      <inertia ixx="0.000115" ixy="5.2e-05" ixz="2.5e-05" iyy="0.000153" iyz="3.4e-05" izz="0.00019" />
    </inertial>
  </link>
  <joint name="gripper_left_motor_single_joint" type="revolute">
    <origin xyz="0.0 -0.02025 -0.03" rpy="0.0 0.0 0.0" />
    <parent link="gripper_left_base_link" />
    <child link="gripper_left_motor_single_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="100.0" velocity="1.0" lower="0.0" upper="1.0471975512" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="gripper_left_inner_single_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" />
      </geometry>
      <material name="Orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.03253 -0.01883" rpy="0.0 0.0 0.0" />
      <mass value="0.05356" />
      <inertia ixx="4.7e-05" ixy="-0.0" ixz="-0.0" iyy="3.5e-05" iyz="1.7e-05" izz="2.4e-05" />
    </inertial>
  </link>
  <joint name="gripper_left_inner_single_joint" type="revolute">
    <origin xyz="0.0 -0.00525 -0.05598" rpy="0.0 0.0 0.0" />
    <parent link="gripper_left_base_link" />
    <child link="gripper_left_inner_single_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="100.0" velocity="1.0" lower="0.0" upper="1.0471975512" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="gripper_left_fingertip_3_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0046 -0.00254" rpy="0.0 0.0 0.0" />
      <mass value="0.0263" />
      <inertia ixx="8e-06" ixy="0.0" ixz="0.0" iyy="9e-06" iyz="1e-06" izz="2e-06" />
    </inertial>
  </link>
  <joint name="gripper_left_fingertip_3_joint" type="revolute">
    <origin xyz="0.0 -0.04589 -0.06553" rpy="0.0 0.0 3.14159265359" />
    <parent link="gripper_left_inner_single_link" />
    <child link="gripper_left_fingertip_3_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="100.0" velocity="1.0" lower="0.0" upper="1.0471975512" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="gripper_right_base_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/base_link.STL" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00534 0.00362 -0.02357" rpy="0.0 0.0 0.0" />
      <mass value="0.61585" />
      <inertia ixx="0.000472" ixy="-8e-06" ixz="3.5e-05" iyy="0.000521" iyz="0.0" izz="0.00069" />
    </inertial>
  </link>
  <joint name="gripper_right_base_link_joint" type="fixed">
    <origin xyz="0.0 0.0 -0.02875" rpy="0.0 0.0 0.0" />
    <parent link="wrist_right_ft_tool_link" />
    <child link="gripper_right_base_link" />
  </joint>
  <link name="gripper_right_motor_double_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" />
      </geometry>
      <material name="Orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0227 0.01781 -0.00977" rpy="0.0 0.0 0.0" />
      <mass value="0.16889" />
      <inertia ixx="0.001159" ixy="-7e-05" ixz="3.8e-05" iyy="0.001221" iyz="-5.3e-05" izz="0.001268" />
    </inertial>
  </link>
  <joint name="gripper_right_joint" type="revolute">
    <origin xyz="0.0 0.02025 -0.03" rpy="0.0 0.0 0.0" />
    <parent link="gripper_right_base_link" />
    <child link="gripper_right_motor_double_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="1.0" velocity="1.0" lower="-1.0471975512" upper="0.0" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="gripper_right_inner_double_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" />
      </geometry>
      <material name="Orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00056 0.03358 -0.01741" rpy="0.0 0.0 0.0" />
      <mass value="0.11922" />
      <inertia ixx="9.1e-05" ixy="1e-06" ixz="-1e-06" iyy="0.000156" iyz="-3.2e-05" izz="0.000126" />
    </inertial>
  </link>
  <joint name="gripper_right_inner_double_joint" type="revolute">
    <origin xyz="0.0 0.00525 -0.05598" rpy="0.0 0.0 0.0" />
    <parent link="gripper_right_base_link" />
    <child link="gripper_right_inner_double_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="100.0" velocity="1.0" lower="-1.0471975512" upper="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="gripper_right_fingertip_1_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0046 -0.00254" rpy="0.0 0.0 0.0" />
      <mass value="0.0263" />
      <inertia ixx="8e-06" ixy="0.0" ixz="0.0" iyy="9e-06" iyz="1e-06" izz="2e-06" />
    </inertial>
  </link>
  <joint name="gripper_right_fingertip_1_joint" type="revolute">
    <origin xyz="0.032 0.04589 -0.06553" rpy="0.0 0.0 0.0" />
    <parent link="gripper_right_inner_double_link" />
    <child link="gripper_right_fingertip_1_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="100.0" velocity="1.0" lower="0.0" upper="1.0471975512" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="gripper_right_fingertip_2_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0046 -0.00254" rpy="0.0 0.0 0.0" />
      <mass value="0.0263" />
      <inertia ixx="8e-06" ixy="0.0" ixz="0.0" iyy="9e-06" iyz="1e-06" izz="2e-06" />
    </inertial>
  </link>
  <joint name="gripper_right_fingertip_2_joint" type="revolute">
    <origin xyz="-0.032 0.04589 -0.06553" rpy="0.0 0.0 0.0" />
    <parent link="gripper_right_inner_double_link" />
    <child link="gripper_right_fingertip_2_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="100.0" velocity="1.0" lower="0.0" upper="1.0471975512" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="gripper_right_motor_single_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" />
      </geometry>
      <material name="Orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.02589 -0.01284 -0.0064" rpy="0.0 0.0 0.0" />
      <mass value="0.14765" />
      <inertia ixx="0.000115" ixy="5.2e-05" ixz="2.5e-05" iyy="0.000153" iyz="3.4e-05" izz="0.00019" />
    </inertial>
  </link>
  <joint name="gripper_right_motor_single_joint" type="revolute">
    <origin xyz="0.0 -0.02025 -0.03" rpy="0.0 0.0 0.0" />
    <parent link="gripper_right_base_link" />
    <child link="gripper_right_motor_single_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="100.0" velocity="1.0" lower="0.0" upper="1.0471975512" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="gripper_right_inner_single_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" />
      </geometry>
      <material name="Orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.03253 -0.01883" rpy="0.0 0.0 0.0" />
      <mass value="0.05356" />
      <inertia ixx="4.7e-05" ixy="-0.0" ixz="-0.0" iyy="3.5e-05" iyz="1.7e-05" izz="2.4e-05" />
    </inertial>
  </link>
  <joint name="gripper_right_inner_single_joint" type="revolute">
    <origin xyz="0.0 -0.00525 -0.05598" rpy="0.0 0.0 0.0" />
    <parent link="gripper_right_base_link" />
    <child link="gripper_right_inner_single_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="100.0" velocity="1.0" lower="0.0" upper="1.0471975512" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="gripper_right_fingertip_3_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0046 -0.00254" rpy="0.0 0.0 0.0" />
      <mass value="0.0263" />
      <inertia ixx="8e-06" ixy="0.0" ixz="0.0" iyy="9e-06" iyz="1e-06" izz="2e-06" />
    </inertial>
  </link>
  <joint name="gripper_right_fingertip_3_joint" type="revolute">
    <origin xyz="0.0 -0.04589 -0.06553" rpy="0.0 0.0 3.14159265359" />
    <parent link="gripper_right_inner_single_link" />
    <child link="gripper_right_fingertip_3_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="100.0" velocity="1.0" lower="0.0" upper="1.0471975512" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="leg_left_1_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0232 -9e-05 0.04949" rpy="0.0 0.0 0.0" />
      <mass value="1.88569" />
      <inertia ixx="0.003848" ixy="3.2e-05" ixz="-0.000826" iyy="0.005994" iyz="7.8e-05" izz="0.003222" />
    </inertial>
  </link>
  <joint name="leg_left_1_joint" type="revolute">
    <origin xyz="-0.02 0.085 -0.27105" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="leg_left_1_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="100.0" velocity="3.87" lower="-0.349065850399" upper="1.57079632679" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="leg_left_2_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.01583 -0.00021 0.00619" rpy="0.0 0.0 0.0" />
      <mass value="2.37607" />
      <inertia ixx="0.003421" ixy="-0.000113" ixz="-0.000225" iyy="0.004024" iyz="-3.1e-05" izz="0.004164" />
    </inertial>
  </link>
  <joint name="leg_left_2_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="leg_left_1_link" />
    <child link="leg_left_2_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="160.0" velocity="5.8" lower="-0.5236" upper="0.5236" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="leg_left_3_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00658 0.06563 -0.17278" rpy="0.0 0.0 0.0" />
      <mass value="6.82734" />
      <inertia ixx="0.123906" ixy="-0.000412" ixz="-0.002059" iyy="0.108447" iyz="0.016725" izz="0.027812" />
    </inertial>
  </link>
  <joint name="leg_left_3_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="leg_left_2_link" />
    <child link="leg_left_3_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="160.0" velocity="5.8" lower="-2.095" upper="0.7" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="leg_left_4_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0152 0.02331 -0.12063" rpy="0.0 0.0 0.0" />
      <mass value="3.63668" />
      <inertia ixx="0.035315" ixy="2.9e-05" ixz="-0.000166" iyy="0.029336" iyz="-0.001305" izz="0.01174" />
    </inertial>
  </link>
  <joint name="leg_left_4_joint" type="revolute">
    <origin xyz="0.0 0.0 -0.38" rpy="0.0 0.0 0.0" />
    <parent link="leg_left_3_link" />
    <child link="leg_left_4_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="300.0" velocity="7.0" lower="0.0" upper="2.618" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="leg_left_5_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.01106 0.04708 0.05271" rpy="0.0 0.0 0.0" />
      <mass value="1.24433" />
      <inertia ixx="0.011487" ixy="-0.000686" ixz="-0.000526" iyy="0.009526" iyz="0.002633" izz="0.003908" />
    </inertial>
  </link>
  <joint name="leg_left_5_joint" type="revolute">
    <origin xyz="0.0 0.0 -0.325" rpy="0.0 0.0 0.0" />
    <parent link="leg_left_4_link" />
    <child link="leg_left_5_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="160.0" velocity="5.8" lower="-1.309" upper="0.768" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="leg_left_6_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.1" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.21 0.13 0.02" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.02087 -0.00019 -0.06059" rpy="0.0 0.0 0.0" />
      <mass value="1.59457" />
      <inertia ixx="0.003838" ixy="1.6e-05" ixz="-0.001041" iyy="0.006572" iyz="-1.7e-05" izz="0.005044" />
    </inertial>
  </link>
  <joint name="leg_left_6_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="leg_left_5_link" />
    <child link="leg_left_6_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="100.0" velocity="4.8" lower="-0.5236" upper="0.5236" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="left_sole_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="leg_left_sole_fix_joint" type="fixed">
    <origin xyz="0.0 0.0 -0.107" rpy="0.0 0.0 0.0" />
    <parent link="leg_left_6_link" />
    <child link="left_sole_link" />
  </joint>
  <link name="leg_right_1_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1.0 -1.0 1.0" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1.0 -1.0 1.0" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0232 -9e-05 0.04949" rpy="0.0 0.0 0.0" />
      <mass value="1.88569" />
      <inertia ixx="0.003848" ixy="3.2e-05" ixz="-0.000826" iyy="0.005994" iyz="7.8e-05" izz="0.003222" />
    </inertial>
  </link>
  <joint name="leg_right_1_joint" type="revolute">
    <origin xyz="-0.02 -0.085 -0.27105" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="leg_right_1_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="100.0" velocity="3.87" lower="-1.57079632679" upper="0.349065850399" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="leg_right_2_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1.0 -1.0 1.0" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1.0 -1.0 1.0" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.01583 -0.00021 0.00619" rpy="0.0 0.0 0.0" />
      <mass value="2.37607" />
      <inertia ixx="0.003421" ixy="-0.000113" ixz="-0.000225" iyy="0.004024" iyz="-3.1e-05" izz="0.004164" />
    </inertial>
  </link>
  <joint name="leg_right_2_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="leg_right_1_link" />
    <child link="leg_right_2_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="160.0" velocity="5.8" lower="-0.5236" upper="0.5236" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="leg_right_3_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1.0 -1.0 1.0" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1.0 -1.0 1.0" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00658 -0.06563 -0.17278" rpy="0.0 0.0 0.0" />
      <mass value="6.82734" />
      <inertia ixx="0.123906" ixy="0.000412" ixz="-0.002059" iyy="0.108447" iyz="-0.016725" izz="0.027812" />
    </inertial>
  </link>
  <joint name="leg_right_3_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="leg_right_2_link" />
    <child link="leg_right_3_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="160.0" velocity="5.8" lower="-2.095" upper="0.7" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="leg_right_4_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1.0 -1.0 1.0" />
      </geometry>
      <material name="DarkGrey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1.0 -1.0 1.0" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0152 -0.02331 -0.12063" rpy="0.0 0.0 0.0" />
      <mass value="3.63668" />
      <inertia ixx="0.035315" ixy="-2.9e-05" ixz="-0.000166" iyy="0.029336" iyz="0.001305" izz="0.01174" />
    </inertial>
  </link>
  <joint name="leg_right_4_joint" type="revolute">
    <origin xyz="0.0 0.0 -0.38" rpy="0.0 0.0 0.0" />
    <parent link="leg_right_3_link" />
    <child link="leg_right_4_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="300.0" velocity="7.0" lower="0.0" upper="2.618" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="leg_right_5_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1.0 -1.0 1.0" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1.0 -1.0 1.0" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.01106 -0.04708 0.05271" rpy="0.0 0.0 0.0" />
      <mass value="1.24433" />
      <inertia ixx="0.011487" ixy="0.000686" ixz="-0.000526" iyy="0.009526" iyz="-0.002633" izz="0.003908" />
    </inertial>
  </link>
  <joint name="leg_right_5_joint" type="revolute">
    <origin xyz="0.0 0.0 -0.325" rpy="0.0 0.0 0.0" />
    <parent link="leg_right_4_link" />
    <child link="leg_right_5_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="160.0" velocity="5.8" lower="-1.309" upper="0.768" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="leg_right_6_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1.0 -1.0 1.0" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.1" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.21 0.13 0.02" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.02087 -0.00019 -0.06059" rpy="0.0 0.0 0.0" />
      <mass value="1.59457" />
      <inertia ixx="0.003838" ixy="1.6e-05" ixz="-0.001041" iyy="0.006572" iyz="-1.7e-05" izz="0.005044" />
    </inertial>
  </link>
  <joint name="leg_right_6_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="leg_right_5_link" />
    <child link="leg_right_6_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="100.0" velocity="4.8" lower="-0.5236" upper="0.5236" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="right_sole_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="leg_right_sole_fix_joint" type="fixed">
    <origin xyz="0.0 0.0 -0.107" rpy="0.0 0.0 0.0" />
    <parent link="leg_right_6_link" />
    <child link="right_sole_link" />
  </joint>
  <material name="Blue">
    <color rgba="0.0 0.0 0.8 1.0" />
  </material>
  <material name="Green">
    <color rgba="0.0 0.8 0.0 1.0" />
  </material>
  <material name="Grey">
    <color rgba="0.7 0.7 0.7 1.0" />
  </material>
  <material name="LightGrey">
    <color rgba="0.9 0.9 0.9 1.0" />
  </material>
  <material name="Red">
    <color rgba="0.8 0.0 0.0 1.0" />
  </material>
  <material name="White">
    <color rgba="1.0 1.0 1.0 1.0" />
  </material>
  <material name="Orange">
    <color rgba="1.0 0.5 0.0 1.0" />
  </material>
</robot>

robot.xml

<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content fd32e1085ffa03fa -->
<mujoco model="talos">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="DarkGrey" rgba="0.5 0.5 0.5 1.0" />
    <material name="Blue" rgba="0.0 0.0 0.8 1.0" />
    <material name="Green" rgba="0.0 0.8 0.0 1.0" />
    <material name="Grey" rgba="0.7 0.7 0.7 1.0" />
    <material name="LightGrey" rgba="0.9 0.9 0.9 1.0" />
    <material name="Red" rgba="0.8 0.0 0.0 1.0" />
    <material name="White" rgba="1.0 1.0 1.0 1.0" />
    <material name="Orange" rgba="1.0 0.5 0.0 1.0" />
    <mesh name="torso_2" file="talos_data/meshes/torso/torso_2.STL" />
    <mesh name="torso_2_collision" file="talos_data/meshes/torso/torso_2_collision.STL" />
    <mesh name="torso_1" file="talos_data/meshes/torso/torso_1.STL" />
    <mesh name="torso_base_link" file="talos_data/meshes/torso/base_link.STL" />
    <mesh name="torso_base_link_collision" file="talos_data/meshes/torso/base_link_collision.STL" />
    <mesh name="head_1" file="talos_data/meshes/head/head_1.stl" />
    <mesh name="head_1_collision" file="talos_data/meshes/head/head_1_collision.stl" />
    <mesh name="head_2" file="talos_data/meshes/head/head_2.stl" />
    <mesh name="head_2_collision" file="talos_data/meshes/head/head_2_collision.stl" />
    <mesh name="orbbec" file="talos_data/meshes/sensors/orbbec/orbbec.STL" />
    <mesh name="arm_1" file="talos_data/meshes/arm/arm_1.STL" />
    <mesh name="arm_1_collision" file="talos_data/meshes/arm/arm_1_collision.STL" />
    <mesh name="arm_2" file="talos_data/meshes/arm/arm_2.STL" />
    <mesh name="arm_2_collision" file="talos_data/meshes/arm/arm_2_collision.STL" />
    <mesh name="arm_3" file="talos_data/meshes/arm/arm_3.STL" />
    <mesh name="arm_3_collision" file="talos_data/meshes/arm/arm_3_collision.STL" />
    <mesh name="arm_4" file="talos_data/meshes/arm/arm_4.STL" />
    <mesh name="arm_4_collision" file="talos_data/meshes/arm/arm_4_collision.STL" />
    <mesh name="arm_5" file="talos_data/meshes/arm/arm_5.STL" />
    <mesh name="arm_5_collision" file="talos_data/meshes/arm/arm_5_collision.STL" />
    <mesh name="arm_6" file="talos_data/meshes/arm/arm_6.STL" />
    <mesh name="arm_6_collision" file="talos_data/meshes/arm/arm_6_collision.STL" />
    <mesh name="arm_7" file="talos_data/meshes/arm/arm_7.STL" />
    <mesh name="arm_7_collision" file="talos_data/meshes/arm/arm_7_collision.STL" />
    <mesh name="arm_1_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_1.STL" scale="1.0 -1.0 1.0" />
    <mesh name="arm_1_collision_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_1_collision.STL" scale="1.0 -1.0 1.0" />
    <mesh name="arm_2_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_2.STL" scale="1.0 -1.0 1.0" />
    <mesh name="arm_2_collision_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_2_collision.STL" scale="1.0 -1.0 1.0" />
    <mesh name="arm_3_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_3.STL" scale="1.0 -1.0 1.0" />
    <mesh name="arm_3_collision_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_3_collision.STL" scale="1.0 -1.0 1.0" />
    <mesh name="arm_4_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_4.STL" scale="1.0 -1.0 1.0" />
    <mesh name="arm_4_collision_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_4_collision.STL" scale="1.0 -1.0 1.0" />
    <mesh name="arm_5_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_5.STL" scale="1.0 -1.0 1.0" />
    <mesh name="arm_5_collision_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_5_collision.STL" scale="1.0 -1.0 1.0" />
    <mesh name="arm_6_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_6.STL" scale="1.0 -1.0 1.0" />
    <mesh name="arm_6_collision_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_6_collision.STL" scale="1.0 -1.0 1.0" />
    <mesh name="arm_7_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_7.STL" scale="1.0 -1.0 1.0" />
    <mesh name="arm_7_collision_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_7_collision.STL" scale="1.0 -1.0 1.0" />
    <mesh name="gripper_base_link" file="talos_data/meshes/gripper/base_link.STL" />
    <mesh name="gripper_base_link_collision" file="talos_data/meshes/gripper/base_link_collision.STL" />
    <mesh name="gripper_motor_double" file="talos_data/meshes/gripper/gripper_motor_double.STL" />
    <mesh name="gripper_motor_double_collision" file="talos_data/meshes/gripper/gripper_motor_double_collision.STL" />
    <mesh name="inner_double" file="talos_data/meshes/gripper/inner_double.STL" />
    <mesh name="inner_double_collision" file="talos_data/meshes/gripper/inner_double_collision.STL" />
    <mesh name="fingertip" file="talos_data/meshes/gripper/fingertip.STL" />
    <mesh name="fingertip_collision" file="talos_data/meshes/gripper/fingertip_collision.STL" />
    <mesh name="gripper_motor_single" file="talos_data/meshes/gripper/gripper_motor_single.STL" />
    <mesh name="gripper_motor_single_collision" file="talos_data/meshes/gripper/gripper_motor_single_collision.STL" />
    <mesh name="inner_single" file="talos_data/meshes/gripper/inner_single.STL" />
    <mesh name="inner_single_collision" file="talos_data/meshes/gripper/inner_single_collision.STL" />
    <mesh name="hip_z_lo_res" file="talos_data/meshes/v2/hip_z_lo_res.stl" />
    <mesh name="hip_z_collision" file="talos_data/meshes/v2/hip_z_collision.stl" />
    <mesh name="hip_x_lo_res" file="talos_data/meshes/v2/hip_x_lo_res.stl" />
    <mesh name="hip_x_collision" file="talos_data/meshes/v2/hip_x_collision.stl" />
    <mesh name="hip_y_lo_res" file="talos_data/meshes/v2/hip_y_lo_res.stl" />
    <mesh name="hip_y_collision" file="talos_data/meshes/v2/hip_y_collision.stl" />
    <mesh name="knee_lo_res" file="talos_data/meshes/v2/knee_lo_res.stl" />
    <mesh name="knee_collision" file="talos_data/meshes/v2/knee_collision.stl" />
    <mesh name="ankle_Y_lo_res" file="talos_data/meshes/v2/ankle_Y_lo_res.stl" />
    <mesh name="ankle_Y_collision" file="talos_data/meshes/v2/ankle_Y_collision.stl" />
    <mesh name="ankle_X_lo_res" file="talos_data/meshes/v2/ankle_X_lo_res.stl" />
    <mesh name="hip_z_lo_res_1p0_n1p0_1p0" file="talos_data/meshes/v2/hip_z_lo_res.stl" scale="1.0 -1.0 1.0" />
    <mesh name="hip_z_collision_1p0_n1p0_1p0" file="talos_data/meshes/v2/hip_z_collision.stl" scale="1.0 -1.0 1.0" />
    <mesh name="hip_x_lo_res_1p0_n1p0_1p0" file="talos_data/meshes/v2/hip_x_lo_res.stl" scale="1.0 -1.0 1.0" />
    <mesh name="hip_x_collision_1p0_n1p0_1p0" file="talos_data/meshes/v2/hip_x_collision.stl" scale="1.0 -1.0 1.0" />
    <mesh name="hip_y_lo_res_1p0_n1p0_1p0" file="talos_data/meshes/v2/hip_y_lo_res.stl" scale="1.0 -1.0 1.0" />
    <mesh name="hip_y_collision_1p0_n1p0_1p0" file="talos_data/meshes/v2/hip_y_collision.stl" scale="1.0 -1.0 1.0" />
    <mesh name="knee_lo_res_1p0_n1p0_1p0" file="talos_data/meshes/v2/knee_lo_res.stl" scale="1.0 -1.0 1.0" />
    <mesh name="knee_collision_1p0_n1p0_1p0" file="talos_data/meshes/v2/knee_collision.stl" scale="1.0 -1.0 1.0" />
    <mesh name="ankle_Y_lo_res_1p0_n1p0_1p0" file="talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1.0 -1.0 1.0" />
    <mesh name="ankle_Y_collision_1p0_n1p0_1p0" file="talos_data/meshes/v2/ankle_Y_collision.stl" scale="1.0 -1.0 1.0" />
    <mesh name="ankle_X_lo_res_1p0_n1p0_1p0" file="talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1.0 -1.0 1.0" />
  </asset>
  <worldbody>
    <body name="base_link">
      <inertial pos="-0.08222 0.00838 -0.07261" mass="13.5381" fullinertia="0.06989 0.039982 0.082345 -0.000117 0.00023 -0.001325" />
      <geom name="base_link_vis_0" type="mesh" mesh="torso_base_link" contype="0" conaffinity="0" group="2" material="LightGrey" />
      <geom name="base_link_col_0" type="mesh" mesh="torso_base_link_collision" group="3" />
      <body name="torso_1_link" pos="0.0 0.0 0.0722">
        <joint name="torso_1_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.308996939 1.308996939" damping="1.0" frictionloss="1.0" />
        <inertial pos="0.00013 -1e-05 -0.01306" mass="3.02433" fullinertia="0.007594 0.004292 0.007497 1e-06 -4.8e-05 -1e-06" />
        <geom name="torso_1_link_vis_0" type="mesh" mesh="torso_1" contype="0" conaffinity="0" group="2" material="LightGrey" />
        <geom name="torso_1_link_col_0" type="mesh" mesh="torso_1" group="3" />
        <body name="torso_2_link">
          <joint name="torso_2_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.261799387799 0.785398163397" damping="1.0" frictionloss="1.0" />
          <inertial pos="-0.04551 -0.00053 0.16386" mass="17.55011" fullinertia="0.373769 0.247902 0.281404 0.000639 0.012196 7e-06" />
          <geom name="torso_2_link_vis_0" type="mesh" mesh="torso_2" contype="0" conaffinity="0" group="2" material="LightGrey" />
          <geom name="torso_2_link_col_0" type="mesh" mesh="torso_2_collision" group="3" />
          <body name="imu_link" pos="0.04925 0.0 0.078" quat="-7.312301077203117e-14 0.7071067811882787 0.7071067811848163 -7.312301077167311e-14">
            <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
            <geom name="imu_link_vis_0" type="box" size="0.005 0.005 0.005" contype="0" conaffinity="0" group="2" />
          </body>
          <body name="head_1_link" pos="0.0 0.0 0.316">
            <joint name="head_1_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.261799387799 0.785398163397" damping="0.5" frictionloss="1.0" />
            <inertial pos="0.0012 0.00145 0.02165" mass="0.65988" fullinertia="0.001221 0.000924 0.001033 -4e-06 7e-05 -4.1e-05" />
            <geom name="head_1_link_vis_0" type="mesh" mesh="head_1" contype="0" conaffinity="0" group="2" material="DarkGrey" />
            <geom name="head_1_link_col_0" type="mesh" mesh="head_1_collision" group="3" />
            <body name="head_2_link">
              <joint name="head_2_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.308996939 1.308996939" damping="0.5" frictionloss="1.0" />
              <inertial pos="-0.01036 -0.00037 0.13778" mass="1.40353" fullinertia="0.007225 0.006873 0.004373 -2.5e-05 0.000329 4.4e-05" />
              <geom name="head_2_link_vis_0" type="mesh" mesh="head_2" contype="0" conaffinity="0" group="2" material="LightGrey" />
              <geom name="head_2_link_col_0" type="mesh" mesh="head_2_collision" group="3" />
              <body name="rgbd_link" pos="0.066 0.0 0.1982">
                <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="3e-05 3e-05 2e-06 0.0 0.0 0.0" />
                <geom name="rgbd_link_vis_0" type="mesh" mesh="orbbec" contype="0" conaffinity="0" group="2" material="DarkGrey" />
                <geom name="rgbd_link_col_0" type="box" size="0.02 0.0925 0.015" pos="-0.01 0.0025 0.0" group="3" />
                <body name="rgbd_optical_frame" quat="0.5000000000024483 -0.5 0.4999999999975517 -0.5">
                  <inertial pos="0.0 0.0 0.0" mass="0.01" diaginertia="0 0 0" />
                </body>
                <body name="rgbd_depth_frame" pos="0.0 0.03751 0.0">
                  <body name="rgbd_depth_optical_frame" quat="0.5000000000024483 -0.5 0.4999999999975517 -0.5" />
                </body>
                <body name="rgbd_rgb_frame" pos="0.0 0.01251 0.0">
                  <body name="rgbd_rgb_optical_frame" quat="0.5000000000024483 -0.5 0.4999999999975517 -0.5" />
                </body>
              </body>
            </body>
          </body>
          <body name="arm_left_1_link" pos="0.0 0.1575 0.232">
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                              <body name="gripper_right_motor_single_link" pos="0.0 -0.02025 -0.03">
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                              <body name="gripper_right_inner_single_link" pos="0.0 -0.00525 -0.05598">
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                                <geom name="gripper_right_inner_single_link_vis_0" type="mesh" mesh="inner_single" contype="0" conaffinity="0" group="2" material="Orange" />
                                <geom name="gripper_right_inner_single_link_col_0" type="mesh" mesh="inner_single_collision" group="3" />
                                <body name="gripper_right_fingertip_3_link" pos="0.0 -0.04589 -0.06553" quat="-1.0341155355510722e-13 -0.0 0.0 1.0">
                                  <joint name="gripper_right_fingertip_3_joint" type="hinge" axis="1.0 0.0 0.0" range="0.0 1.0471975512" />
                                  <inertial pos="0.0 0.0046 -0.00254" mass="0.0263" fullinertia="8e-06 9e-06 2e-06 0.0 0.0 1e-06" />
                                  <geom name="gripper_right_fingertip_3_link_vis_0" type="mesh" mesh="fingertip" contype="0" conaffinity="0" group="2" material="DarkGrey" />
                                  <geom name="gripper_right_fingertip_3_link_col_0" type="mesh" mesh="fingertip_collision" group="3" />
                                </body>
                              </body>
                            </body>
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="leg_left_1_link" pos="-0.02 0.085 -0.27105">
        <joint name="leg_left_1_joint" type="hinge" axis="0.0 0.0 1.0" range="-0.349065850399 1.57079632679" />
        <inertial pos="0.0232 -9e-05 0.04949" mass="1.88569" fullinertia="0.003848 0.005994 0.003222 3.2e-05 -0.000826 7.8e-05" />
        <geom name="leg_left_1_link_vis_0" type="mesh" mesh="hip_z_lo_res" contype="0" conaffinity="0" group="2" material="DarkGrey" />
        <geom name="leg_left_1_link_col_0" type="mesh" mesh="hip_z_collision" group="3" />
        <body name="leg_left_2_link">
          <joint name="leg_left_2_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.5236 0.5236" />
          <inertial pos="0.01583 -0.00021 0.00619" mass="2.37607" fullinertia="0.003421 0.004024 0.004164 -0.000113 -0.000225 -3.1e-05" />
          <geom name="leg_left_2_link_vis_0" type="mesh" mesh="hip_x_lo_res" contype="0" conaffinity="0" group="2" material="DarkGrey" />
          <geom name="leg_left_2_link_col_0" type="mesh" mesh="hip_x_collision" group="3" />
          <body name="leg_left_3_link">
            <joint name="leg_left_3_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.095 0.7" />
            <inertial pos="0.00658 0.06563 -0.17278" mass="6.82734" fullinertia="0.123906 0.108447 0.027812 -0.000412 -0.002059 0.016725" />
            <geom name="leg_left_3_link_vis_0" type="mesh" mesh="hip_y_lo_res" contype="0" conaffinity="0" group="2" material="DarkGrey" />
            <geom name="leg_left_3_link_col_0" type="mesh" mesh="hip_y_collision" group="3" />
            <body name="leg_left_4_link" pos="0.0 0.0 -0.38">
              <joint name="leg_left_4_joint" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.618" />
              <inertial pos="0.0152 0.02331 -0.12063" mass="3.63668" fullinertia="0.035315 0.029336 0.01174 2.9e-05 -0.000166 -0.001305" />
              <geom name="leg_left_4_link_vis_0" type="mesh" mesh="knee_lo_res" contype="0" conaffinity="0" group="2" material="DarkGrey" />
              <geom name="leg_left_4_link_col_0" type="mesh" mesh="knee_collision" group="3" />
              <body name="leg_left_5_link" pos="0.0 0.0 -0.325">
                <joint name="leg_left_5_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.309 0.768" />
                <inertial pos="-0.01106 0.04708 0.05271" mass="1.24433" fullinertia="0.011487 0.009526 0.003908 -0.000686 -0.000526 0.002633" />
                <geom name="leg_left_5_link_vis_0" type="mesh" mesh="ankle_Y_lo_res" contype="0" conaffinity="0" group="2" material="Grey" />
                <geom name="leg_left_5_link_col_0" type="mesh" mesh="ankle_Y_collision" group="3" />
                <body name="leg_left_6_link">
                  <joint name="leg_left_6_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.5236 0.5236" />
                  <inertial pos="-0.02087 -0.00019 -0.06059" mass="1.59457" fullinertia="0.003838 0.006572 0.005044 1.6e-05 -0.001041 -1.7e-05" />
                  <geom name="leg_left_6_link_vis_0" type="mesh" mesh="ankle_X_lo_res" contype="0" conaffinity="0" group="2" material="Grey" />
                  <geom name="leg_left_6_link_col_0" type="box" size="0.105 0.065 0.01" pos="0.0 0.0 -0.1" group="3" />
                  <body name="left_sole_link" pos="0.0 0.0 -0.107">
                    <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.0001 0.0001 0.0001 0.0 0.0 0.0" />
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="leg_right_1_link" pos="-0.02 -0.085 -0.27105">
        <joint name="leg_right_1_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.57079632679 0.349065850399" />
        <inertial pos="0.0232 -9e-05 0.04949" mass="1.88569" fullinertia="0.003848 0.005994 0.003222 3.2e-05 -0.000826 7.8e-05" />
        <geom name="leg_right_1_link_vis_0" type="mesh" mesh="hip_z_lo_res_1p0_n1p0_1p0" contype="0" conaffinity="0" group="2" material="DarkGrey" />
        <geom name="leg_right_1_link_col_0" type="mesh" mesh="hip_z_collision_1p0_n1p0_1p0" group="3" />
        <body name="leg_right_2_link">
          <joint name="leg_right_2_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.5236 0.5236" />
          <inertial pos="0.01583 -0.00021 0.00619" mass="2.37607" fullinertia="0.003421 0.004024 0.004164 -0.000113 -0.000225 -3.1e-05" />
          <geom name="leg_right_2_link_vis_0" type="mesh" mesh="hip_x_lo_res_1p0_n1p0_1p0" contype="0" conaffinity="0" group="2" material="DarkGrey" />
          <geom name="leg_right_2_link_col_0" type="mesh" mesh="hip_x_collision_1p0_n1p0_1p0" group="3" />
          <body name="leg_right_3_link">
            <joint name="leg_right_3_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.095 0.7" />
            <inertial pos="0.00658 -0.06563 -0.17278" mass="6.82734" fullinertia="0.123906 0.108447 0.027812 0.000412 -0.002059 -0.016725" />
            <geom name="leg_right_3_link_vis_0" type="mesh" mesh="hip_y_lo_res_1p0_n1p0_1p0" contype="0" conaffinity="0" group="2" material="DarkGrey" />
            <geom name="leg_right_3_link_col_0" type="mesh" mesh="hip_y_collision_1p0_n1p0_1p0" group="3" />
            <body name="leg_right_4_link" pos="0.0 0.0 -0.38">
              <joint name="leg_right_4_joint" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.618" />
              <inertial pos="0.0152 -0.02331 -0.12063" mass="3.63668" fullinertia="0.035315 0.029336 0.01174 -2.9e-05 -0.000166 0.001305" />
              <geom name="leg_right_4_link_vis_0" type="mesh" mesh="knee_lo_res_1p0_n1p0_1p0" contype="0" conaffinity="0" group="2" material="DarkGrey" />
              <geom name="leg_right_4_link_col_0" type="mesh" mesh="knee_collision_1p0_n1p0_1p0" group="3" />
              <body name="leg_right_5_link" pos="0.0 0.0 -0.325">
                <joint name="leg_right_5_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.309 0.768" />
                <inertial pos="-0.01106 -0.04708 0.05271" mass="1.24433" fullinertia="0.011487 0.009526 0.003908 0.000686 -0.000526 -0.002633" />
                <geom name="leg_right_5_link_vis_0" type="mesh" mesh="ankle_Y_lo_res_1p0_n1p0_1p0" contype="0" conaffinity="0" group="2" material="Grey" />
                <geom name="leg_right_5_link_col_0" type="mesh" mesh="ankle_Y_collision_1p0_n1p0_1p0" group="3" />
                <body name="leg_right_6_link">
                  <joint name="leg_right_6_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.5236 0.5236" />
                  <inertial pos="-0.02087 -0.00019 -0.06059" mass="1.59457" fullinertia="0.003838 0.006572 0.005044 1.6e-05 -0.001041 -1.7e-05" />
                  <geom name="leg_right_6_link_vis_0" type="mesh" mesh="ankle_X_lo_res_1p0_n1p0_1p0" contype="0" conaffinity="0" group="2" material="Grey" />
                  <geom name="leg_right_6_link_col_0" type="box" size="0.105 0.065 0.01" pos="0.0 0.0 -0.1" group="3" />
                  <body name="right_sole_link" pos="0.0 0.0 -0.107">
                    <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.0001 0.0001 0.0001 0.0 0.0 0.0" />
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="torso_1_link" />
    <exclude body1="torso_1_link" body2="torso_2_link" />
    <exclude body1="torso_2_link" body2="imu_link" />
    <exclude body1="torso_2_link" body2="head_1_link" />
    <exclude body1="head_1_link" body2="head_2_link" />
    <exclude body1="head_2_link" body2="rgbd_link" />
    <exclude body1="rgbd_link" body2="rgbd_optical_frame" />
    <exclude body1="rgbd_link" body2="rgbd_depth_frame" />
    <exclude body1="rgbd_depth_frame" body2="rgbd_depth_optical_frame" />
    <exclude body1="rgbd_link" body2="rgbd_rgb_frame" />
    <exclude body1="rgbd_rgb_frame" body2="rgbd_rgb_optical_frame" />
    <exclude body1="torso_2_link" body2="arm_left_1_link" />
    <exclude body1="arm_left_1_link" body2="arm_left_2_link" />
    <exclude body1="arm_left_2_link" body2="arm_left_3_link" />
    <exclude body1="arm_left_3_link" body2="arm_left_4_link" />
    <exclude body1="arm_left_4_link" body2="arm_left_5_link" />
    <exclude body1="arm_left_5_link" body2="arm_left_6_link" />
    <exclude body1="arm_left_6_link" body2="arm_left_7_link" />
    <exclude body1="torso_2_link" body2="arm_right_1_link" />
    <exclude body1="arm_right_1_link" body2="arm_right_2_link" />
    <exclude body1="arm_right_2_link" body2="arm_right_3_link" />
    <exclude body1="arm_right_3_link" body2="arm_right_4_link" />
    <exclude body1="arm_right_4_link" body2="arm_right_5_link" />
    <exclude body1="arm_right_5_link" body2="arm_right_6_link" />
    <exclude body1="arm_right_6_link" body2="arm_right_7_link" />
    <exclude body1="arm_right_7_link" body2="wrist_right_ft_link" />
    <exclude body1="wrist_right_ft_link" body2="wrist_right_ft_tool_link" />
    <exclude body1="arm_left_7_link" body2="wrist_left_ft_link" />
    <exclude body1="wrist_left_ft_link" body2="wrist_left_ft_tool_link" />
    <exclude body1="wrist_left_ft_tool_link" body2="gripper_left_base_link" />
    <exclude body1="gripper_left_base_link" body2="gripper_left_motor_double_link" />
    <exclude body1="gripper_left_base_link" body2="gripper_left_inner_double_link" />
    <exclude body1="gripper_left_inner_double_link" body2="gripper_left_fingertip_1_link" />
    <exclude body1="gripper_left_inner_double_link" body2="gripper_left_fingertip_2_link" />
    <exclude body1="gripper_left_base_link" body2="gripper_left_motor_single_link" />
    <exclude body1="gripper_left_base_link" body2="gripper_left_inner_single_link" />
    <exclude body1="gripper_left_inner_single_link" body2="gripper_left_fingertip_3_link" />
    <exclude body1="wrist_right_ft_tool_link" body2="gripper_right_base_link" />
    <exclude body1="gripper_right_base_link" body2="gripper_right_motor_double_link" />
    <exclude body1="gripper_right_base_link" body2="gripper_right_inner_double_link" />
    <exclude body1="gripper_right_inner_double_link" body2="gripper_right_fingertip_1_link" />
    <exclude body1="gripper_right_inner_double_link" body2="gripper_right_fingertip_2_link" />
    <exclude body1="gripper_right_base_link" body2="gripper_right_motor_single_link" />
    <exclude body1="gripper_right_base_link" body2="gripper_right_inner_single_link" />
    <exclude body1="gripper_right_inner_single_link" body2="gripper_right_fingertip_3_link" />
    <exclude body1="base_link" body2="leg_left_1_link" />
    <exclude body1="leg_left_1_link" body2="leg_left_2_link" />
    <exclude body1="leg_left_2_link" body2="leg_left_3_link" />
    <exclude body1="leg_left_3_link" body2="leg_left_4_link" />
    <exclude body1="leg_left_4_link" body2="leg_left_5_link" />
    <exclude body1="leg_left_5_link" body2="leg_left_6_link" />
    <exclude body1="leg_left_6_link" body2="left_sole_link" />
    <exclude body1="base_link" body2="leg_right_1_link" />
    <exclude body1="leg_right_1_link" body2="leg_right_2_link" />
    <exclude body1="leg_right_2_link" body2="leg_right_3_link" />
    <exclude body1="leg_right_3_link" body2="leg_right_4_link" />
    <exclude body1="leg_right_4_link" body2="leg_right_5_link" />
    <exclude body1="leg_right_5_link" body2="leg_right_6_link" />
    <exclude body1="leg_right_6_link" body2="right_sole_link" />
  </contact>
</mujoco>

Import report

Counts

Links	60
Joints	59
Moving joints	44
Visuals	53
Collisions	52
Materials	8

Meshes

Formats: stl.
Asset size: 6.9 MB.

Dropped on import

Tag	Count	Why
`axis`	5	fixed joints carry no <axis>; URDF ignores it too
`dynamics`	2	fixed joints carry no <dynamics>; URDF ignores it too
`gazebo`	110	Gazebo simulator extensions are not part of the description
`material`	1	same name as an earlier material with a different colour; the earlier colour is used
`mimic`	12	joint coupling (mimic) is not representable yet; the joint imports as independent
`transmission`	28	ROS transmissions (actuator-to-joint wiring) have no RobotDescription field yet

Forward-kinematics check

Forward kinematics of 60 link frames at 20 random joint positions within limits, original URDF against robot.urdf, computed by pinocchio 3.8.0. Worst difference: 0.0e+00 m · 6.3e-16 rad.

MuJoCo

robot.xml did not compile in MuJoCo: Error: inertia must satisfy A + B >= C; use 'balanceinertia' to fix

Source & licence

Repository	https://github.com/stack-of-tasks/talos-data
Commit	`77169405d6a48a5d3f3f75eb014209f375ff23b6`
Original file	`urdf/talos_full.urdf`
Licence	LGPL-3.0 · the upstream LICENSE file
Files	robot.urdf · robot.xml

Meshes are copied verbatim from the repository at the pinned commit and keep their upstream licence.