diff --git a/README.md b/README.md
index eca7afb0..4c02d78c 100644
--- a/README.md
+++ b/README.md
@@ -226,6 +226,7 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md).
 | Robotis OP3 | Robotis | 20 | [Apache-2.0](robotis_op3/LICENSE) |✖️|
 | Unitree G1 | Unitree Robotics | 37 | [BSD-3-Clause](unitree_g1/LICENSE) |✖️|
 | Unitree H1 | Unitree Robotics | 19 | [BSD-3-Clause](unitree_h1/LICENSE) |✖️|
+| TALOS | PAL Robotics | 32 | [Apache-2.0](pal_talos/LICENSE) |✖️|
 
 **Quadrupeds.**
 
diff --git a/assets/pal_talos.png b/assets/pal_talos.png
new file mode 100644
index 00000000..309efcae
Binary files /dev/null and b/assets/pal_talos.png differ
diff --git a/pal_talos/LICENSE b/pal_talos/LICENSE
new file mode 100644
index 00000000..d9a10c0d
--- /dev/null
+++ b/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.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
diff --git a/pal_talos/README.md b/pal_talos/README.md
new file mode 100644
index 00000000..3936628c
--- /dev/null
+++ b/pal_talos/README.md
@@ -0,0 +1,32 @@
+## TALOS Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 2.2.2 or later.
+
+### Overiew
+
+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 publicy 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 steps
+
+ 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).
diff --git a/pal_talos/assets/arm/arm_1.stl b/pal_talos/assets/arm/arm_1.stl
new file mode 100644
index 00000000..cefd0c80
Binary files /dev/null and b/pal_talos/assets/arm/arm_1.stl differ
diff --git a/pal_talos/assets/arm/arm_1_collision.stl b/pal_talos/assets/arm/arm_1_collision.stl
new file mode 100644
index 00000000..dfc4f0ca
Binary files /dev/null and b/pal_talos/assets/arm/arm_1_collision.stl differ
diff --git a/pal_talos/assets/arm/arm_2.stl b/pal_talos/assets/arm/arm_2.stl
new file mode 100644
index 00000000..5fae3cd5
Binary files /dev/null and b/pal_talos/assets/arm/arm_2.stl differ
diff --git a/pal_talos/assets/arm/arm_2_collision.stl b/pal_talos/assets/arm/arm_2_collision.stl
new file mode 100644
index 00000000..5e25baab
Binary files /dev/null and b/pal_talos/assets/arm/arm_2_collision.stl differ
diff --git a/pal_talos/assets/arm/arm_3.stl b/pal_talos/assets/arm/arm_3.stl
new file mode 100644
index 00000000..a820970c
Binary files /dev/null and b/pal_talos/assets/arm/arm_3.stl differ
diff --git a/pal_talos/assets/arm/arm_3_collision.stl b/pal_talos/assets/arm/arm_3_collision.stl
new file mode 100644
index 00000000..e979eca3
Binary files /dev/null and b/pal_talos/assets/arm/arm_3_collision.stl differ
diff --git a/pal_talos/assets/arm/arm_4.stl b/pal_talos/assets/arm/arm_4.stl
new file mode 100644
index 00000000..3cda3f75
Binary files /dev/null and b/pal_talos/assets/arm/arm_4.stl differ
diff --git a/pal_talos/assets/arm/arm_4_collision.stl b/pal_talos/assets/arm/arm_4_collision.stl
new file mode 100644
index 00000000..ed30028a
Binary files /dev/null and b/pal_talos/assets/arm/arm_4_collision.stl differ
diff --git a/pal_talos/assets/arm/arm_5.stl b/pal_talos/assets/arm/arm_5.stl
new file mode 100644
index 00000000..a592f22c
Binary files /dev/null and b/pal_talos/assets/arm/arm_5.stl differ
diff --git a/pal_talos/assets/arm/arm_5_collision.stl b/pal_talos/assets/arm/arm_5_collision.stl
new file mode 100644
index 00000000..0b64df3b
Binary files /dev/null and b/pal_talos/assets/arm/arm_5_collision.stl differ
diff --git a/pal_talos/assets/arm/arm_6.stl b/pal_talos/assets/arm/arm_6.stl
new file mode 100644
index 00000000..43ea7b8c
Binary files /dev/null and b/pal_talos/assets/arm/arm_6.stl differ
diff --git a/pal_talos/assets/arm/arm_6_collision.stl b/pal_talos/assets/arm/arm_6_collision.stl
new file mode 100644
index 00000000..6a992dde
Binary files /dev/null and b/pal_talos/assets/arm/arm_6_collision.stl differ
diff --git a/pal_talos/assets/arm/arm_7.stl b/pal_talos/assets/arm/arm_7.stl
new file mode 100644
index 00000000..7007580f
Binary files /dev/null and b/pal_talos/assets/arm/arm_7.stl differ
diff --git a/pal_talos/assets/arm/arm_7_collision.stl b/pal_talos/assets/arm/arm_7_collision.stl
new file mode 100644
index 00000000..5ecbddec
Binary files /dev/null and b/pal_talos/assets/arm/arm_7_collision.stl differ
diff --git a/pal_talos/assets/gripper/base_link.stl b/pal_talos/assets/gripper/base_link.stl
new file mode 100644
index 00000000..1a966f0e
Binary files /dev/null and b/pal_talos/assets/gripper/base_link.stl differ
diff --git a/pal_talos/assets/gripper/base_link_collision.stl b/pal_talos/assets/gripper/base_link_collision.stl
new file mode 100644
index 00000000..84b58eea
Binary files /dev/null and b/pal_talos/assets/gripper/base_link_collision.stl differ
diff --git a/pal_talos/assets/gripper/fingertip.stl b/pal_talos/assets/gripper/fingertip.stl
new file mode 100644
index 00000000..a2117817
Binary files /dev/null and b/pal_talos/assets/gripper/fingertip.stl differ
diff --git a/pal_talos/assets/gripper/fingertip_collision.stl b/pal_talos/assets/gripper/fingertip_collision.stl
new file mode 100644
index 00000000..dc3ae554
Binary files /dev/null and b/pal_talos/assets/gripper/fingertip_collision.stl differ
diff --git a/pal_talos/assets/gripper/gripper_motor_double.stl b/pal_talos/assets/gripper/gripper_motor_double.stl
new file mode 100644
index 00000000..a3725950
Binary files /dev/null and b/pal_talos/assets/gripper/gripper_motor_double.stl differ
diff --git a/pal_talos/assets/gripper/gripper_motor_double_collision.stl b/pal_talos/assets/gripper/gripper_motor_double_collision.stl
new file mode 100644
index 00000000..e9454c0a
Binary files /dev/null and b/pal_talos/assets/gripper/gripper_motor_double_collision.stl differ
diff --git a/pal_talos/assets/gripper/gripper_motor_single.stl b/pal_talos/assets/gripper/gripper_motor_single.stl
new file mode 100644
index 00000000..c1393101
Binary files /dev/null and b/pal_talos/assets/gripper/gripper_motor_single.stl differ
diff --git a/pal_talos/assets/gripper/gripper_motor_single_collision.stl b/pal_talos/assets/gripper/gripper_motor_single_collision.stl
new file mode 100644
index 00000000..680023b3
Binary files /dev/null and b/pal_talos/assets/gripper/gripper_motor_single_collision.stl differ
diff --git a/pal_talos/assets/gripper/gripper_simple_collision.stl b/pal_talos/assets/gripper/gripper_simple_collision.stl
new file mode 100644
index 00000000..a51b5379
Binary files /dev/null and b/pal_talos/assets/gripper/gripper_simple_collision.stl differ
diff --git a/pal_talos/assets/gripper/inner_double.stl b/pal_talos/assets/gripper/inner_double.stl
new file mode 100644
index 00000000..6193f7df
Binary files /dev/null and b/pal_talos/assets/gripper/inner_double.stl differ
diff --git a/pal_talos/assets/gripper/inner_double_collision.stl b/pal_talos/assets/gripper/inner_double_collision.stl
new file mode 100644
index 00000000..99f78f31
Binary files /dev/null and b/pal_talos/assets/gripper/inner_double_collision.stl differ
diff --git a/pal_talos/assets/gripper/inner_single.stl b/pal_talos/assets/gripper/inner_single.stl
new file mode 100644
index 00000000..70f1fba9
Binary files /dev/null and b/pal_talos/assets/gripper/inner_single.stl differ
diff --git a/pal_talos/assets/gripper/inner_single_collision.stl b/pal_talos/assets/gripper/inner_single_collision.stl
new file mode 100644
index 00000000..e356477b
Binary files /dev/null and b/pal_talos/assets/gripper/inner_single_collision.stl differ
diff --git a/pal_talos/assets/head/head_1.stl b/pal_talos/assets/head/head_1.stl
new file mode 100644
index 00000000..6dd2c9dd
Binary files /dev/null and b/pal_talos/assets/head/head_1.stl differ
diff --git a/pal_talos/assets/head/head_1_collision.stl b/pal_talos/assets/head/head_1_collision.stl
new file mode 100644
index 00000000..b4b431e0
Binary files /dev/null and b/pal_talos/assets/head/head_1_collision.stl differ
diff --git a/pal_talos/assets/head/head_2_default.stl b/pal_talos/assets/head/head_2_default.stl
new file mode 100644
index 00000000..37a82c0a
Binary files /dev/null and b/pal_talos/assets/head/head_2_default.stl differ
diff --git a/pal_talos/assets/head/head_2_default_collision.stl b/pal_talos/assets/head/head_2_default_collision.stl
new file mode 100644
index 00000000..0c9e9d02
Binary files /dev/null and b/pal_talos/assets/head/head_2_default_collision.stl differ
diff --git a/pal_talos/assets/sensors/orbbec/orbbec.stl b/pal_talos/assets/sensors/orbbec/orbbec.stl
new file mode 100644
index 00000000..af64fe9b
Binary files /dev/null and b/pal_talos/assets/sensors/orbbec/orbbec.stl differ
diff --git a/pal_talos/assets/torso/base_link.stl b/pal_talos/assets/torso/base_link.stl
new file mode 100644
index 00000000..38e248ce
Binary files /dev/null and b/pal_talos/assets/torso/base_link.stl differ
diff --git a/pal_talos/assets/torso/base_link_collision.stl b/pal_talos/assets/torso/base_link_collision.stl
new file mode 100644
index 00000000..c5004ceb
Binary files /dev/null and b/pal_talos/assets/torso/base_link_collision.stl differ
diff --git a/pal_talos/assets/torso/torso_1.stl b/pal_talos/assets/torso/torso_1.stl
new file mode 100644
index 00000000..f7418ca2
Binary files /dev/null and b/pal_talos/assets/torso/torso_1.stl differ
diff --git a/pal_talos/assets/torso/torso_2.stl b/pal_talos/assets/torso/torso_2.stl
new file mode 100644
index 00000000..ec8b51a6
Binary files /dev/null and b/pal_talos/assets/torso/torso_2.stl differ
diff --git a/pal_talos/assets/torso/torso_2_collision.stl b/pal_talos/assets/torso/torso_2_collision.stl
new file mode 100644
index 00000000..44f19908
Binary files /dev/null and b/pal_talos/assets/torso/torso_2_collision.stl differ
diff --git a/pal_talos/assets/v2/ankle_X_collision.stl b/pal_talos/assets/v2/ankle_X_collision.stl
new file mode 100644
index 00000000..93982ea0
Binary files /dev/null and b/pal_talos/assets/v2/ankle_X_collision.stl differ
diff --git a/pal_talos/assets/v2/ankle_X_lo_res.stl b/pal_talos/assets/v2/ankle_X_lo_res.stl
new file mode 100644
index 00000000..b955dd77
Binary files /dev/null and b/pal_talos/assets/v2/ankle_X_lo_res.stl differ
diff --git a/pal_talos/assets/v2/ankle_Y_collision.stl b/pal_talos/assets/v2/ankle_Y_collision.stl
new file mode 100644
index 00000000..f6722db8
Binary files /dev/null and b/pal_talos/assets/v2/ankle_Y_collision.stl differ
diff --git a/pal_talos/assets/v2/ankle_Y_lo_res.stl b/pal_talos/assets/v2/ankle_Y_lo_res.stl
new file mode 100644
index 00000000..eeafe5f9
Binary files /dev/null and b/pal_talos/assets/v2/ankle_Y_lo_res.stl differ
diff --git a/pal_talos/assets/v2/hip_x_collision.stl b/pal_talos/assets/v2/hip_x_collision.stl
new file mode 100644
index 00000000..abfe7927
Binary files /dev/null and b/pal_talos/assets/v2/hip_x_collision.stl differ
diff --git a/pal_talos/assets/v2/hip_x_lo_res.stl b/pal_talos/assets/v2/hip_x_lo_res.stl
new file mode 100644
index 00000000..24bc6e5f
Binary files /dev/null and b/pal_talos/assets/v2/hip_x_lo_res.stl differ
diff --git a/pal_talos/assets/v2/hip_y_collision.stl b/pal_talos/assets/v2/hip_y_collision.stl
new file mode 100644
index 00000000..03a3f54a
Binary files /dev/null and b/pal_talos/assets/v2/hip_y_collision.stl differ
diff --git a/pal_talos/assets/v2/hip_y_lo_res.stl b/pal_talos/assets/v2/hip_y_lo_res.stl
new file mode 100644
index 00000000..2ea1a4f7
Binary files /dev/null and b/pal_talos/assets/v2/hip_y_lo_res.stl differ
diff --git a/pal_talos/assets/v2/hip_z_collision.stl b/pal_talos/assets/v2/hip_z_collision.stl
new file mode 100644
index 00000000..10c1d3ef
Binary files /dev/null and b/pal_talos/assets/v2/hip_z_collision.stl differ
diff --git a/pal_talos/assets/v2/hip_z_lo_res.stl b/pal_talos/assets/v2/hip_z_lo_res.stl
new file mode 100644
index 00000000..e09faf6f
Binary files /dev/null and b/pal_talos/assets/v2/hip_z_lo_res.stl differ
diff --git a/pal_talos/assets/v2/knee_collision.stl b/pal_talos/assets/v2/knee_collision.stl
new file mode 100644
index 00000000..e18ec28d
Binary files /dev/null and b/pal_talos/assets/v2/knee_collision.stl differ
diff --git a/pal_talos/assets/v2/knee_lo_res.stl b/pal_talos/assets/v2/knee_lo_res.stl
new file mode 100644
index 00000000..55ab0f11
Binary files /dev/null and b/pal_talos/assets/v2/knee_lo_res.stl differ
diff --git a/pal_talos/scene_motor.xml b/pal_talos/scene_motor.xml
new file mode 100644
index 00000000..b1dc4ccd
--- /dev/null
+++ b/pal_talos/scene_motor.xml
@@ -0,0 +1,23 @@
+<mujoco model="talos motor scene">
+  <include file="talos_motor.xml"/>
+
+  <statistic center="0 0 .9" extent="1.5"/>
+
+  <visual>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="160" elevation="-10"/>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
+      markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+    <light name="spotlight" mode="targetbody" target="base_link" pos="1 0 20"/>
+  </worldbody>
+</mujoco>
diff --git a/pal_talos/scene_position.xml b/pal_talos/scene_position.xml
new file mode 100644
index 00000000..2a36e241
--- /dev/null
+++ b/pal_talos/scene_position.xml
@@ -0,0 +1,23 @@
+<mujoco model="talos position scene">
+  <include file="talos_position.xml"/>
+
+  <statistic center="0 0 .9" extent="1.5"/>
+
+  <visual>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="160" elevation="-10"/>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
+      markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+  </asset>
+
+  <worldbody>
+    <light name="spotlight" mode="targetbody" target="base_link" pos="1 0 20"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+  </worldbody>
+</mujoco>
diff --git a/pal_talos/talos.png b/pal_talos/talos.png
new file mode 100644
index 00000000..ac354d72
Binary files /dev/null and b/pal_talos/talos.png differ
diff --git a/pal_talos/talos.xml b/pal_talos/talos.xml
new file mode 100644
index 00000000..e55e5893
--- /dev/null
+++ b/pal_talos/talos.xml
@@ -0,0 +1,515 @@
+<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 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="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"/>
+            <joint name="head_1_joint" axis="0 1 0" range="-0.20944 0.785398" damping="0.5" actuatorfrcrange="-8 8"/>
+            <geom class="visual" mesh="head_1" material="black"/>
+            <geom mesh="head_1_collision" class="collision" 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"/>
+              <joint name="head_2_joint" axis="0 0 1" range="-1.309 1.309" damping="0.5" actuatorfrcrange="-4 4"/>
+              <geom class="visual" material="white" mesh="head_2_default"/>
+              <geom material="white" mesh="head_2_default_collision" class="collision"/>
+              <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"/>
+                    <joint name="arm_left_5_joint" axis="0 0 1" range="-2.51327 2.51327" actuatorfrcrange="-20 20"/>
+                    <geom class="visual" material="white" mesh="l_arm_5"/>
+                    <geom material="white" mesh="l_arm_5c" class="collision"/>
+                    <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"/>
+                      <joint name="arm_left_6_joint" axis="1 0 0" range="-1.37008 1.37008" actuatorfrcrange="-8 8"/>
+                      <geom class="visual" material="white" mesh="l_arm_6"/>
+                      <geom material="white" mesh="l_arm_6c" class="collision"/>
+                      <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"/>
+                        <joint name="arm_left_7_joint" axis="0 1 0" range="-0.680678 0.680678" actuatorfrcrange="-8 8"/>
+                        <geom class="visual" mesh="l_arm_7" material="black"/>
+                        <geom mesh="l_arm_7c" class="collision" 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="0.0225 0.00785" pos="0 0 -0.051" quat="-1 0 0 -1" type="cylinder" material="white"
+                          class="collision"/>
+                        <geom size="0.025 0.004875" pos="0 0 -0.063725" type="cylinder" class="visual" material="black"/>
+                        <geom size="0.025 0.004875" pos="0 0 -0.063725" type="cylinder" class="collision"
+                          material="black"/>
+                        <geom pos="0 0 -0.092475" class="visual" mesh="gripper_base_link" material="black"/>
+                        <geom pos="0 0 -0.092475" mesh="gripper_base_link_collision" class="collision" material="black"/>
+                        <body name="gripper_left_motor_double_link" pos="0 0.02025 -0.122475">
+                          <inertial pos="0.019654 0.018572 -0.011998" quat="0.434706 0.588708 -0.0217956 0.68116"
+                            mass="0.134356" diaginertia="0.000272 0.000221 8e-05"/>
+                          <joint name="gripper_left_joint" axis="1 0 0" range="-0.959931 0"/>
+                          <geom class="visual" material="orange" mesh="gripper_motor_double"/>
+                          <geom material="orange" mesh="gripper_motor_double_collision" class="collision"/>
+                        </body>
+                        <body name="gripper_left_inner_double_link" pos="0 0.00525 -0.148455">
+                          <inertial pos="-0.013283 0.036852 -0.023153" quat="0.312568 0.633813 0.365244 0.605953"
+                            mass="0.087986" diaginertia="0.000144 8.89999e-05 7.4e-05"/>
+                          <joint name="gripper_left_inner_double_joint" axis="1 0 0" range="-1.0472 0"/>
+                          <geom class="visual" material="orange" mesh="inner_double"/>
+                          <geom material="orange" mesh="inner_double_collision" class="collision"/>
+                          <body name="gripper_left_fingertip_1_link" pos="0.032 0.04589 -0.06553">
+                            <inertial pos="0 0.004604 -0.002537" quat="0.70316 -0.074603 0.074603 0.70316"
+                              mass="0.026301" diaginertia="8.99999e-06 8e-06 2e-06"/>
+                            <joint name="gripper_left_fingertip_1_joint" axis="1 0 0" range="0 1.0472"/>
+                            <geom class="visual" mesh="fingertip" material="black"/>
+                            <geom mesh="fingertip_collision" class="collision" material="black"/>
+                          </body>
+                          <body name="gripper_left_fingertip_2_link" pos="-0.032 0.04589 -0.06553">
+                            <inertial pos="0 0.004604 -0.002537" quat="0.70316 -0.074603 0.074603 0.70316"
+                              mass="0.026301" diaginertia="8.99999e-06 8e-06 2e-06"/>
+                            <joint name="gripper_left_fingertip_2_joint" axis="1 0 0" range="0 1.0472"/>
+                            <geom class="visual" mesh="fingertip" material="black"/>
+                            <geom mesh="fingertip_collision" class="collision" material="black"/>
+                          </body>
+                        </body>
+                        <body name="gripper_left_motor_single_link" pos="0 -0.02025 -0.122475">
+                          <inertial pos="0.025237 -0.011231 -0.008158" quat="-0.429079 0.588757 0.0530926 0.682962"
+                            mass="0.107923" diaginertia="0.000171 0.000142 5.1e-05"/>
+                          <joint name="gripper_left_motor_single_joint" axis="1 0 0" range="0 1.0472"/>
+                          <geom class="visual" material="orange" mesh="gripper_motor_single"/>
+                          <geom material="orange" mesh="gripper_motor_single_collision" class="collision"/>
+                        </body>
+                        <body name="gripper_left_inner_single_link" pos="0 -0.00525 -0.148455">
+                          <inertial pos="0 -0.034565 -0.021412" quat="0.672196 -0.216723 0.212111 0.67542"
+                            mass="0.047177" diaginertia="4.3e-05 4.2e-05 1.1e-05"/>
+                          <joint name="gripper_left_inner_single_joint" axis="1 0 0" range="0 1.0472"/>
+                          <geom class="visual" material="orange" mesh="inner_single"/>
+                          <geom material="orange" mesh="inner_single_collision" class="collision"/>
+                          <body name="gripper_left_fingertip_3_link" pos="0 -0.04589 -0.06553" quat="0 0 0 1">
+                            <inertial pos="0 0.004604 -0.002537" quat="0.70316 -0.074603 0.074603 0.70316"
+                              mass="0.026301" diaginertia="8.99999e-06 8e-06 2e-06"/>
+                            <joint name="gripper_left_fingertip_3_joint" axis="1 0 0" range="0 1.0472"/>
+                            <geom class="visual" mesh="fingertip" material="black"/>
+                            <geom mesh="fingertip_collision" class="collision" material="black"/>
+                            <site name="left_palm" pos="0 -0.05 0"/>
+                          </body>
+                        </body>
+                      </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"/>
+                    <joint name="arm_right_5_joint" axis="0 0 1" range="-2.51327 2.51327" actuatorfrcrange="-20 20"/>
+                    <geom class="visual" material="white" mesh="r_arm_5"/>
+                    <geom material="white" mesh="r_arm_5c" class="collision"/>
+                    <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"/>
+                      <joint name="arm_right_6_joint" axis="1 0 0" range="-1.37008 1.37008" actuatorfrcrange="-8 8"/>
+                      <geom class="visual" material="white" mesh="r_arm_6"/>
+                      <geom material="white" mesh="r_arm_6c" class="collision"/>
+                      <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"/>
+                        <joint name="arm_right_7_joint" axis="0 1 0" range="-0.680678 0.680678" actuatorfrcrange="-8 8"/>
+                        <geom class="visual" mesh="r_arm_7" material="black"/>
+                        <geom mesh="r_arm_7c" class="collision" 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="0.0225 0.00785" pos="0 0 -0.051" quat="1 0 0 -1" type="cylinder" material="white"
+                          class="collision"/>
+                        <geom size="0.025 0.004875" pos="0 0 -0.063725" quat="0 0 0 -1" type="cylinder" class="visual"
+                          material="black"/>
+                        <geom size="0.025 0.004875" pos="0 0 -0.063725" quat="0 0 0 -1" type="cylinder" material="black"
+                          class="collision"/>
+                        <geom pos="0 0 -0.092475" quat="0 0 0 -1" class="visual" mesh="gripper_base_link"
+                          material="black"/>
+                        <geom pos="0 0 -0.092475" quat="0 0 0 -1" mesh="gripper_base_link_collision" class="collision"
+                          material="black"/>
+                        <body name="gripper_right_motor_double_link" pos="0 -0.02025 -0.122475" quat="0 0 0 -1">
+                          <inertial pos="0.019654 0.018572 -0.011998" quat="0.434706 0.588708 -0.0217956 0.68116"
+                            mass="0.134356" diaginertia="0.000272 0.000221 8e-05"/>
+                          <joint name="gripper_right_joint" axis="1 0 0" range="-0.959931 0"/>
+                          <geom class="visual" material="orange" mesh="gripper_motor_double"/>
+                          <geom material="orange" mesh="gripper_motor_double_collision" class="collision"/>
+                        </body>
+                        <body name="gripper_right_inner_double_link" pos="0 -0.00525 -0.148455" quat="0 0 0 -1">
+                          <inertial pos="-0.013283 0.036852 -0.023153" quat="0.312568 0.633813 0.365244 0.605953"
+                            mass="0.087986" diaginertia="0.000144 8.89999e-05 7.4e-05"/>
+                          <joint name="gripper_right_inner_double_joint" axis="1 0 0" range="-1.0472 0"/>
+                          <geom class="visual" material="orange" mesh="inner_double"/>
+                          <geom material="orange" mesh="inner_double_collision" class="collision"/>
+                          <body name="gripper_right_fingertip_1_link" pos="0.032 0.04589 -0.06553">
+                            <inertial pos="0 0.004604 -0.002537" quat="0.70316 -0.074603 0.074603 0.70316"
+                              mass="0.026301" diaginertia="8.99999e-06 8e-06 2e-06"/>
+                            <joint name="gripper_right_fingertip_1_joint" axis="1 0 0" range="0 1.0472"/>
+                            <geom class="visual" mesh="fingertip" material="black"/>
+                            <geom mesh="fingertip_collision" class="collision" material="black"/>
+                          </body>
+                          <body name="gripper_right_fingertip_2_link" pos="-0.032 0.04589 -0.06553">
+                            <inertial pos="0 0.004604 -0.002537" quat="0.70316 -0.074603 0.074603 0.70316"
+                              mass="0.026301" diaginertia="8.99999e-06 8e-06 2e-06"/>
+                            <joint name="gripper_right_fingertip_2_joint" axis="1 0 0" range="0 1.0472"/>
+                            <geom class="visual" mesh="fingertip" material="black"/>
+                            <geom mesh="fingertip_collision" class="collision" material="black"/>
+                            <site name="right_palm" pos="0 -0.05 0"/>
+                          </body>
+                        </body>
+                        <body name="gripper_right_motor_single_link" pos="0 0.02025 -0.122475" quat="0 0 0 -1">
+                          <inertial pos="0.025237 -0.011231 -0.008158" quat="-0.429079 0.588757 0.0530926 0.682962"
+                            mass="0.107923" diaginertia="0.000171 0.000142 5.1e-05"/>
+                          <joint name="gripper_right_motor_single_joint" axis="1 0 0" range="0 1.0472"/>
+                          <geom class="visual" material="orange" mesh="gripper_motor_single"/>
+                          <geom material="orange" mesh="gripper_motor_single_collision" class="collision"/>
+                        </body>
+                        <body name="gripper_right_inner_single_link" pos="0 0.00525 -0.148455" quat="0 0 0 -1">
+                          <inertial pos="0 -0.034565 -0.021412" quat="0.672196 -0.216723 0.212111 0.67542"
+                            mass="0.047177" diaginertia="4.3e-05 4.2e-05 1.1e-05"/>
+                          <joint name="gripper_right_inner_single_joint" axis="1 0 0" range="0 1.0472"/>
+                          <geom class="visual" material="orange" mesh="inner_single"/>
+                          <geom material="orange" mesh="inner_single_collision" class="collision"/>
+                          <body name="gripper_right_fingertip_3_link" pos="0 -0.04589 -0.06553" quat="0 0 0 1">
+                            <inertial pos="0 0.004604 -0.002537" quat="0.70316 -0.074603 0.074603 0.70316"
+                              mass="0.026301" diaginertia="8.99999e-06 8e-06 2e-06"/>
+                            <joint name="gripper_right_fingertip_3_joint" axis="1 0 0" range="0 1.0472"/>
+                            <geom class="visual" mesh="fingertip" material="black"/>
+                            <geom mesh="fingertip_collision" class="collision" material="black"/>
+                          </body>
+                        </body>
+                      </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"/>
+                </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"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <contact>
+    <exclude body1="torso_2_link" body2="base_link"/>
+    <exclude body1="arm_left_7_link" body2="arm_left_4_link"/>
+    <exclude body1="arm_right_7_link" body2="arm_right_4_link"/>
+    <exclude body1="arm_left_7_link" body2="arm_left_6_link"/>
+    <exclude body1="arm_right_7_link" body2="arm_right_6_link"/>
+    <exclude body1="arm_left_7_link" body2="arm_left_5_link"/>
+    <exclude body1="arm_right_7_link" body2="arm_right_5_link"/>
+    <exclude body1="leg_left_3_link" body2="leg_left_4_link"/>
+    <exclude body1="leg_right_3_link" body2="leg_right_4_link"/>
+    <exclude body1="leg_left_3_link" body2="leg_left_2_link"/>
+    <exclude body1="leg_right_3_link" body2="leg_right_2_link"/>
+    <exclude body1="leg_left_3_link" body2="leg_left_1_link"/>
+    <exclude body1="leg_right_3_link" body2="leg_right_1_link"/>
+    <exclude body1="leg_left_3_link" body2="base_link"/>
+    <exclude body1="leg_right_3_link" body2="base_link"/>
+    <exclude body1="leg_left_6_link" body2="leg_left_4_link"/>
+    <exclude body1="leg_right_6_link" body2="leg_right_4_link"/>
+    <!-- Gripper excludes -->
+    <!-- left gripper -->
+    <exclude body1="arm_left_7_link" body2="gripper_left_inner_double_link"/>
+    <exclude body1="leg_left_4_link" body2="gripper_left_motor_single_link"/>
+    <exclude body1="arm_left_7_link" body2="gripper_left_motor_single_link"/>
+    <exclude body1="arm_left_7_link" body2="gripper_left_motor_double_link"/>
+    <exclude body1="arm_left_7_link" body2="gripper_left_inner_single_link"/>
+    <exclude body1="gripper_left_motor_single_link" body2="gripper_left_motor_double_link"/>
+    <exclude body1="gripper_left_motor_single_link" body2="gripper_left_inner_double_link"/>
+    <exclude body1="gripper_left_motor_single_link" body2="gripper_left_inner_single_link"/>
+    <exclude body1="gripper_left_motor_double_link" body2="gripper_left_inner_single_link"/>
+    <exclude body1="gripper_left_motor_double_link" body2="gripper_left_inner_double_link"/>
+    <exclude body1="gripper_left_motor_double_link" body2="gripper_left_fingertip_2_link"/>
+    <exclude body1="gripper_left_motor_single_link" body2="gripper_left_fingertip_3_link"/>
+    <exclude body1="gripper_left_fingertip_3_link" body2="gripper_left_fingertip_2_link"/>
+    <exclude body1="gripper_left_fingertip_2_link" body2="gripper_left_fingertip_1_link"/>
+    <exclude body1="gripper_left_fingertip_3_link" body2="gripper_left_fingertip_1_link"/>
+    <!-- right gripper -->
+    <exclude body1="arm_right_7_link" body2="gripper_right_inner_double_link"/>
+    <exclude body1="leg_right_4_link" body2="gripper_right_motor_single_link"/>
+    <exclude body1="arm_right_7_link" body2="gripper_right_motor_single_link"/>
+    <exclude body1="arm_right_7_link" body2="gripper_right_motor_double_link"/>
+    <exclude body1="arm_right_7_link" body2="gripper_right_inner_single_link"/>
+    <exclude body1="gripper_right_motor_single_link" body2="gripper_right_motor_double_link"/>
+    <exclude body1="gripper_right_motor_single_link" body2="gripper_right_inner_double_link"/>
+    <exclude body1="gripper_right_motor_single_link" body2="gripper_right_inner_single_link"/>
+    <exclude body1="gripper_right_motor_double_link" body2="gripper_right_inner_single_link"/>
+    <exclude body1="gripper_right_motor_double_link" body2="gripper_right_inner_double_link"/>
+    <exclude body1="gripper_right_motor_double_link" body2="gripper_right_fingertip_2_link"/>
+    <exclude body1="gripper_right_motor_single_link" body2="gripper_right_fingertip_3_link"/>
+    <exclude body1="gripper_right_fingertip_3_link" body2="gripper_right_fingertip_2_link"/>
+    <exclude body1="gripper_right_fingertip_2_link" body2="gripper_right_fingertip_1_link"/>
+    <exclude body1="gripper_right_fingertip_3_link" body2="gripper_right_fingertip_1_link"/>
+  </contact>
+
+
+  <equality>
+    <!-- Joint constraints for left gripper -->
+    <joint joint1="gripper_left_motor_single_joint" joint2="gripper_left_joint" solref="0.01 1" polycoef="0 -1 0 0 0"/>
+    <joint joint1="gripper_left_joint" joint2="gripper_left_inner_double_joint" solref="0.01 1" polycoef="0 1 0 0 0"/>
+    <joint joint1="gripper_left_inner_single_joint" joint2="gripper_left_inner_double_joint" solref="0.01 1"
+      polycoef="0 -1 0 0 0"/>
+    <!-- Joint constraints for right gripper -->
+    <joint joint1="gripper_right_motor_single_joint" joint2="gripper_right_joint" solref="0.01 1" polycoef="0 -1 0 0 0"/>
+    <joint joint1="gripper_right_joint" joint2="gripper_right_inner_double_joint" solref="0.01 1" polycoef="0 1 0 0 0"/>
+    <joint joint1="gripper_right_inner_single_joint" joint2="gripper_right_inner_double_joint" solref="0.01 1"
+      polycoef="0 -1 0 0 0"/>
+  </equality>
+</mujoco>
diff --git a/pal_talos/talos_motor.xml b/pal_talos/talos_motor.xml
new file mode 100644
index 00000000..ee80391b
--- /dev/null
+++ b/pal_talos/talos_motor.xml
@@ -0,0 +1,43 @@
+<mujoco model="talos">
+  <include file="talos.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="head_1_joint_torque" joint="head_1_joint" ctrlrange="-8 8"/>
+    <motor name="head_2_joint_torque" joint="head_2_joint" ctrlrange="-4 4"/>
+    <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_left_5_joint_torque" joint="arm_left_5_joint" ctrlrange="-20 20"/>
+    <motor name="arm_left_6_joint_torque" joint="arm_left_6_joint" ctrlrange="-8 8"/>
+    <motor name="arm_left_7_joint_torque" joint="arm_left_7_joint" ctrlrange="-8 8"/>
+    <motor name="gripper_left_joint_torque" joint="gripper_left_joint" forcerange="-1 1" ctrlrange="-1 1"/>
+    <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="arm_right_5_joint_torque" joint="arm_right_5_joint" ctrlrange="-20 20"/>
+    <motor name="arm_right_6_joint_torque" joint="arm_right_6_joint" ctrlrange="-8 8"/>
+    <motor name="arm_right_7_joint_torque" joint="arm_right_7_joint" ctrlrange="-8 8"/>
+    <motor name="gripper_right_joint_torque" joint="gripper_right_joint" forcerange="-1 1" ctrlrange="-1 1"/>
+    <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 0.16 0 0 0 0 0 0 0 0 0 0 0 0 0 -0.16 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/pal_talos/talos_position.xml b/pal_talos/talos_position.xml
new file mode 100644
index 00000000..825aaf74
--- /dev/null
+++ b/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>