From 56e93944f29e6d04fd078b5cd6b27f310cfbc020 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Thu, 1 Mar 2018 08:28:14 +0100
Subject: [PATCH] Fix talos-data in talos_data reported by K. Giraud-Esclasse.

---
 launch/talos_joint_command_rviz.launch        |   2 +-
 robots/talos_arm.urdf.xacro                   |  12 +-
 robots/talos_full.urdf.xacro                  |  16 +-
 robots/talos_full_collision.urdf              | 190 +++++++++---------
 robots/talos_full_no_grippers.urdf.xacro      |  14 +-
 robots/talos_full_no_lower_arm.urdf.xacro     |  16 +-
 robots/talos_gripper.urdf.xacro               |   8 +-
 robots/talos_head.urdf.xacro                  |  10 +-
 robots/talos_lower_body.urdf.xacro            |  10 +-
 robots/talos_lower_body_with_torso.urdf.xacro |  16 +-
 robots/talos_small.urdf.xacro                 |  16 +-
 robots/talos_torso.urdf.xacro                 |   6 +-
 robots/upload_arm.launch                      |   2 +-
 robots/upload_gripper.launch                  |   2 +-
 robots/upload_head.launch                     |   2 +-
 robots/upload_legs.launch                     |   2 +-
 robots/upload_talos.launch                    |   2 +-
 urdf/arm/arm.urdf.xacro                       |  22 +-
 urdf/arm/wrist.urdf.xacro                     |  16 +-
 urdf/gripper/gripper.urdf.xacro               |  38 ++--
 urdf/head/head.urdf.xacro                     |  14 +-
 urdf/leg/leg.urdf.xacro                       |  26 +--
 urdf/sensors/orbbec_astra_pro.urdf.xacro      |   4 +-
 urdf/talos_full.urdf                          | 190 +++++++++---------
 urdf/talos_full_accurate_gripper.urdf         | 190 +++++++++---------
 urdf/talos_full_collision.urdf                | 190 +++++++++---------
 urdf/talos_reduced.urdf                       | 190 +++++++++---------
 urdf/torso/torso.urdf.xacro                   |  18 +-
 28 files changed, 612 insertions(+), 612 deletions(-)

diff --git a/launch/talos_joint_command_rviz.launch b/launch/talos_joint_command_rviz.launch
index 489b533..7d93e0f 100644
--- a/launch/talos_joint_command_rviz.launch
+++ b/launch/talos_joint_command_rviz.launch
@@ -1,5 +1,5 @@
 
-roslaunch talos-data upload_legs.launch
+roslaunch talos_data upload_legs.launch
 
 rosrun joint_state_publisher joint_state_publisher _use_gui:=True
 
diff --git a/robots/talos_arm.urdf.xacro b/robots/talos_arm.urdf.xacro
index a55d2eb..07f5a12 100644
--- a/robots/talos_arm.urdf.xacro
+++ b/robots/talos_arm.urdf.xacro
@@ -13,8 +13,8 @@
         xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
         xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
 
-  <xacro:include filename="$(find talos-data)/urdf/arm/arm.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/gripper/gripper.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/arm/arm.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />
 
  <link name="talos_2_link">
     <inertial>
@@ -28,7 +28,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://talos-data/meshes/talos/talos_2.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/talos/talos_2.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey" />
     </visual>
@@ -36,7 +36,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://talos-data/meshes/talos/talos_2_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/talos/talos_2_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -48,8 +48,8 @@
   <xacro:talos_gripper name="right_gripper" parent="arm_right_7_link"/>
 
   <!-- Generic simulatalos_gazebo plugins -->
-  <xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
   <!-- Materials for visualization -->
-  <xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
 
 </robot>
diff --git a/robots/talos_full.urdf.xacro b/robots/talos_full.urdf.xacro
index 6628166..7af3453 100644
--- a/robots/talos_full.urdf.xacro
+++ b/robots/talos_full.urdf.xacro
@@ -13,12 +13,12 @@
         xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
         xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
 
-  <xacro:include filename="$(find talos-data)/urdf/torso/torso.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/head/head.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/arm/arm.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/sensors/ftsensor.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/gripper/gripper.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/leg/leg.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/arm/arm.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
 
   <xacro:talos_torso name="torso" />
 
@@ -37,8 +37,8 @@
   <xacro:talos_leg prefix="right" reflect="-1" />
 
   <!-- Generic simulatalos_gazebo plugins -->
-  <xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
   <!-- Materials for visualization -->
-  <xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
 
 </robot>
diff --git a/robots/talos_full_collision.urdf b/robots/talos_full_collision.urdf
index 70e52e3..100c7a1 100644
--- a/robots/talos_full_collision.urdf
+++ b/robots/talos_full_collision.urdf
@@ -43,14 +43,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/torso_2.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/torso_2.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -66,14 +66,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/torso_1.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/torso_1.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -101,14 +101,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/base_link.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/base_link.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -196,14 +196,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/head/head_1.stl" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/head/head_1.stl" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -238,14 +238,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/head/head_2.stl" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/head/head_2.stl" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -290,7 +290,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
 	  <geometry>
-          <mesh filename="package://talos-data/meshes/sensors/orbbec/orbbec.STL"/>
+          <mesh filename="package://talos_data/meshes/sensors/orbbec/orbbec.STL"/>
       </geometry>
       <material name="DarkGrey">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -453,14 +453,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -486,14 +486,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -519,14 +519,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -555,14 +555,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -626,14 +626,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -659,14 +659,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -700,14 +700,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_7.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_7.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -837,14 +837,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -870,14 +870,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -903,14 +903,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -939,14 +939,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1010,14 +1010,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1043,14 +1043,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1084,14 +1084,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1324,14 +1324,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/base_link.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1352,14 +1352,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1380,14 +1380,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1408,14 +1408,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1436,14 +1436,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1464,14 +1464,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1492,14 +1492,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1520,14 +1520,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1679,14 +1679,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/base_link.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1707,14 +1707,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1735,14 +1735,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1763,14 +1763,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1791,14 +1791,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1819,14 +1819,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1847,14 +1847,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1875,14 +1875,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -2035,14 +2035,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_z_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_z_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2064,14 +2064,14 @@
     <visual>
       <origin rpy="0  0  0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_x_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0  0  0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_x_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2093,14 +2093,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_y_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_y_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2122,14 +2122,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/knee_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/knee_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2151,14 +2151,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_Y_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="Grey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_Y_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2180,7 +2180,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_X_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="Grey"/>
     </visual>
@@ -2188,7 +2188,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
+          <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
       </collision> 
       
@@ -2361,14 +2361,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_z_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_z_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2390,14 +2390,14 @@
     <visual>
       <origin rpy="0  0  0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_x_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0  0  0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_x_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2419,14 +2419,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_y_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_y_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2448,14 +2448,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/knee_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/knee_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2477,14 +2477,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_Y_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="Grey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_Y_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2506,7 +2506,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_X_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="Grey"/>
     </visual>
@@ -2514,7 +2514,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
+          <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
       </collision> 
       
diff --git a/robots/talos_full_no_grippers.urdf.xacro b/robots/talos_full_no_grippers.urdf.xacro
index 54b78bb..c7c9856 100644
--- a/robots/talos_full_no_grippers.urdf.xacro
+++ b/robots/talos_full_no_grippers.urdf.xacro
@@ -13,11 +13,11 @@
         xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
         xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
 
-  <xacro:include filename="$(find talos-data)/urdf/torso/torso.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/head/head.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/arm/arm.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/sensors/ftsensor.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/leg/leg.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/arm/arm.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
 
   <xacro:talos_torso name="torso" />
 
@@ -33,8 +33,8 @@
   <xacro:talos_leg prefix="right" reflect="-1" />
 
   <!-- Generic simulatalos_gazebo plugins -->
-  <xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
   <!-- Materials for visualization -->
-  <xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
 
 </robot>
diff --git a/robots/talos_full_no_lower_arm.urdf.xacro b/robots/talos_full_no_lower_arm.urdf.xacro
index 43f04c4..f9bd7e3 100644
--- a/robots/talos_full_no_lower_arm.urdf.xacro
+++ b/robots/talos_full_no_lower_arm.urdf.xacro
@@ -13,12 +13,12 @@
         xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
         xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
 
-  <xacro:include filename="$(find talos-data)/urdf/torso/torso.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/head/head.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/arm/arm.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/sensors/ftsensor.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/gripper/gripper.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/leg/leg.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/arm/arm.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
 
   <xacro:talos_torso name="torso" />
 
@@ -32,8 +32,8 @@
   <xacro:talos_leg prefix="right" reflect="-1" />
 
   <!-- Generic simulatalos_gazebo plugins -->
-  <xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
   <!-- Materials for visualization -->
-  <xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
 
 </robot>
diff --git a/robots/talos_gripper.urdf.xacro b/robots/talos_gripper.urdf.xacro
index f17bdf7..4245a7d 100644
--- a/robots/talos_gripper.urdf.xacro
+++ b/robots/talos_gripper.urdf.xacro
@@ -13,17 +13,17 @@
         xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
         xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
 
-  <xacro:include filename="$(find talos-data)/urdf/gripper/gripper.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />
 
-  <xacro:include filename="$(find talos-data)/urdf/torso/torso.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
 
   <xacro:talos_torso name="torso" />
 
   <xacro:talos_gripper name="gripper" parent="torso_2_link"/>
 
   <!-- Generic simulatalos_gazebo plugins -->
-  <xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
   <!-- Materials for visualization -->
-  <xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
 
 </robot>
diff --git a/robots/talos_head.urdf.xacro b/robots/talos_head.urdf.xacro
index d0cc851..10f6e9f 100644
--- a/robots/talos_head.urdf.xacro
+++ b/robots/talos_head.urdf.xacro
@@ -13,7 +13,7 @@
         xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
         xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
 
-  <xacro:include filename="$(find talos-data)/urdf/head/head.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />
 
  <link name="talos_2_link">
     <inertial>
@@ -27,7 +27,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://talos-data/meshes/talos/talos_2.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/talos/talos_2.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey" />
     </visual>
@@ -35,7 +35,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://talos-data/meshes/talos/talos_2_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/talos/talos_2_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -43,8 +43,8 @@
   <xacro:talos_head name="head" parent="talos_2_link"/>
 
   <!-- Generic simulatalos_gazebo plugins -->
-  <xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
   <!-- Materials for visualization -->
-  <xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
 
 </robot>
diff --git a/robots/talos_lower_body.urdf.xacro b/robots/talos_lower_body.urdf.xacro
index 76d345a..b1495b1 100644
--- a/robots/talos_lower_body.urdf.xacro
+++ b/robots/talos_lower_body.urdf.xacro
@@ -13,7 +13,7 @@
         xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
         xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
 
-  <xacro:include filename="$(find talos-data)/urdf/leg/leg.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
     <link name="base_link">
       <inertial>
         <origin xyz="-0.08222 0.00838 -0.07261" rpy="0.00000 0.00000 0.00000"/>
@@ -26,7 +26,7 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://talos-data/meshes/talos/base_link.STL" scale="1 1 1"/>
+          <mesh filename="package://talos_data/meshes/talos/base_link.STL" scale="1 1 1"/>
         </geometry>
         <material name="DarkGrey" />
       </visual>
@@ -34,7 +34,7 @@
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://talos-data/meshes/talos/base_link_collision.STL" scale="1 1 1"/>
+          <mesh filename="package://talos_data/meshes/talos/base_link_collision.STL" scale="1 1 1"/>
         </geometry>
       </collision>  
     </link>
@@ -44,8 +44,8 @@
    <xacro:talos_leg prefix="right" reflect="-1" />
 
   <!-- Generic simulatalos_gazebo plugins -->
-  <xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
   <!-- Materials for visualization -->
-  <xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
 
 </robot>
diff --git a/robots/talos_lower_body_with_torso.urdf.xacro b/robots/talos_lower_body_with_torso.urdf.xacro
index 40dae45..1ddaa4c 100644
--- a/robots/talos_lower_body_with_torso.urdf.xacro
+++ b/robots/talos_lower_body_with_torso.urdf.xacro
@@ -13,12 +13,12 @@
         xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
         xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
 
-  <xacro:include filename="$(find talos-data)/urdf/torso/torso.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/head/head.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/arm/arm.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/sensors/ftsensor.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/gripper/gripper.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/leg/leg.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/arm/arm.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
 
   <xacro:talos_torso name="torso" />
 
@@ -28,8 +28,8 @@
   <xacro:talos_leg prefix="right" reflect="-1" />
 
   <!-- Generic simulatalos_gazebo plugins -->
-  <xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
   <!-- Materials for visualization -->
-  <xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
 
 </robot>
diff --git a/robots/talos_small.urdf.xacro b/robots/talos_small.urdf.xacro
index ff2e360..23e4345 100644
--- a/robots/talos_small.urdf.xacro
+++ b/robots/talos_small.urdf.xacro
@@ -13,12 +13,12 @@
         xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
         xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
 
-  <xacro:include filename="$(find talos-data)/urdf/torso/torso.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/head/head.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/arm/arm.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/sensors/ftsensor.urdf.xacro" />
-  <!--  <xacro:include filename="$(find talos-data)/urdf/gripper/gripper.urdf.xacro" /> -->
-  <xacro:include filename="$(find talos-data)/urdf/leg/leg.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/arm/arm.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
+  <!--  <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" /> -->
+  <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
 
   <xacro:talos_torso name="torso" />
 
@@ -38,8 +38,8 @@
   <xacro:talos_leg prefix="right" reflect="-1" />
 
   <!-- Generic simulatalos_gazebo plugins -->
-  <xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
   <!-- Materials for visualization -->
-  <xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
 
 </robot>
diff --git a/robots/talos_torso.urdf.xacro b/robots/talos_torso.urdf.xacro
index 1b6dea4..3ba7398 100644
--- a/robots/talos_torso.urdf.xacro
+++ b/robots/talos_torso.urdf.xacro
@@ -13,13 +13,13 @@
         xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
         xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
 
-  <xacro:include filename="$(find talos-data)/urdf/torso/torso.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
 
   <xacro:talos_torso name="torso" />
 
   <!-- Generic simulatalos_gazebo plugins -->
-  <xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
   <!-- Materials for visualization -->
-  <xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
 
 </robot>
diff --git a/robots/upload_arm.launch b/robots/upload_arm.launch
index 27a2d53..739a8e8 100644
--- a/robots/upload_arm.launch
+++ b/robots/upload_arm.launch
@@ -1,6 +1,6 @@
 <launch>
 
   <!-- Robot description -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos-data)/robots/talos_arm.urdf.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_data)/robots/talos_arm.urdf.xacro'" />
 
 </launch>
diff --git a/robots/upload_gripper.launch b/robots/upload_gripper.launch
index d959de4..9cb8705 100644
--- a/robots/upload_gripper.launch
+++ b/robots/upload_gripper.launch
@@ -1,6 +1,6 @@
 <launch>
 
   <!-- Robot description -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos-data)/robots/talos_gripper.urdf.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_data)/robots/talos_gripper.urdf.xacro'" />
 
 </launch>
diff --git a/robots/upload_head.launch b/robots/upload_head.launch
index 2cb5a1e..1e6fcab 100644
--- a/robots/upload_head.launch
+++ b/robots/upload_head.launch
@@ -1,6 +1,6 @@
 <launch>
 
   <!-- Robot description -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos-data)/robots/talos_head.urdf.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_data)/robots/talos_head.urdf.xacro'" />
 
 </launch>
diff --git a/robots/upload_legs.launch b/robots/upload_legs.launch
index da729c3..e335ea4 100644
--- a/robots/upload_legs.launch
+++ b/robots/upload_legs.launch
@@ -1,6 +1,6 @@
 <launch>
 
   <!-- Robot description -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos-data)/robots/talos_lower_body.urdf.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_data)/robots/talos_lower_body.urdf.xacro'" />
 
 </launch>
diff --git a/robots/upload_talos.launch b/robots/upload_talos.launch
index 72e6ed2..e13341b 100644
--- a/robots/upload_talos.launch
+++ b/robots/upload_talos.launch
@@ -3,6 +3,6 @@
   <arg name="robot" default="full"/>
   
   <!-- Robot description -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos-data)/robots/talos_$(arg robot).urdf.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_data)/robots/talos_$(arg robot).urdf.xacro'" />
 
 </launch>
diff --git a/urdf/arm/arm.urdf.xacro b/urdf/arm/arm.urdf.xacro
index af9148a..e80b6b8 100644
--- a/urdf/arm/arm.urdf.xacro
+++ b/urdf/arm/arm.urdf.xacro
@@ -11,9 +11,9 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
 
   <!--File includes-->
-  <xacro:include filename="$(find talos-data)/urdf/deg_to_rad.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/arm/wrist.urdf.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/arm/arm.transmission.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/arm/wrist.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/arm/arm.transmission.xacro" />
 
   <!--Constant parameters-->
   <xacro:property name="arm_friction"       value="1.0" />
@@ -48,14 +48,14 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_1.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_1.STL" scale="1 ${reflect} 1"/>
         </geometry>
         <material name="DarkGrey" />
       </visual>
       <collision>
        <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_1_collision.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 ${reflect} 1"/>
         </geometry>
       </collision>
     </link>
@@ -87,14 +87,14 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_2.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_2.STL" scale="1 ${reflect} 1"/>
         </geometry>
         <material name="DarkGrey" />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_2_collision.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 ${reflect} 1"/>
         </geometry>
       </collision>
     </link>
@@ -127,14 +127,14 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_3.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_3.STL" scale="1 ${reflect} 1"/>
         </geometry>
         <material name="DarkGrey" />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_3_collision.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 ${reflect} 1"/>
         </geometry>
       </collision>
     </link>
@@ -170,14 +170,14 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_4.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_4.STL" scale="1 ${reflect} 1"/>
         </geometry>
         <material name="DarkGrey" />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_4_collision.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 ${reflect} 1"/>
         </geometry>
       </collision>
     </link>
diff --git a/urdf/arm/wrist.urdf.xacro b/urdf/arm/wrist.urdf.xacro
index 469ebe8..b765ea9 100644
--- a/urdf/arm/wrist.urdf.xacro
+++ b/urdf/arm/wrist.urdf.xacro
@@ -11,8 +11,8 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
 
   <!--File includes-->
-  <xacro:include filename="$(find talos-data)/urdf/deg_to_rad.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/arm/wrist.transmission.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/arm/wrist.transmission.xacro" />
 
   <!--Constant parameters-->
   <xacro:property name="wrist_friction"       value="1.0" />
@@ -44,14 +44,14 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_5.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_5.STL" scale="1 ${reflect} 1"/>
         </geometry>
         <material name="LightGrey" />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_5_collision.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 ${reflect} 1"/>
         </geometry>
       </collision>
     </link>
@@ -84,14 +84,14 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_6.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_6.STL" scale="1 ${reflect} 1"/>
         </geometry>
         <material name="LightGrey" />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_6_collision.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 ${reflect} 1"/>
         </geometry>
       </collision>
     </link>
@@ -134,7 +134,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_7.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_7.STL" scale="1 ${reflect} 1"/>
         </geometry>
         <material name="DarkGrey" />
       </visual>
@@ -142,7 +142,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/arm/arm_7_collision.STL" scale="1 ${reflect} 1"/>
+          <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 ${reflect} 1"/>
         </geometry>
       </collision>
     </link>
diff --git a/urdf/gripper/gripper.urdf.xacro b/urdf/gripper/gripper.urdf.xacro
index 4d535a4..0344130 100644
--- a/urdf/gripper/gripper.urdf.xacro
+++ b/urdf/gripper/gripper.urdf.xacro
@@ -3,9 +3,9 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
 
   <!--File includes-->
-  <xacro:include filename="$(find talos-data)/urdf/deg_to_rad.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/gripper/gripper.transmission.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/gripper/gripper.gazebo.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.transmission.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.gazebo.xacro" />
 
 
   <xacro:macro name="talos_gripper" params="name parent reflect">
@@ -22,7 +22,7 @@
               <visual>
                 <origin xyz="0 0 0" rpy="0 0 0" />
                 <geometry>
-                  <mesh filename="package://talos-data/meshes/gripper/base_link.STL" scale="1 1 1"/>
+                  <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
                 </geometry>
                 <material name="DarkGrey"/>
               </visual>
@@ -30,7 +30,7 @@
               <collision>
                 <origin xyz="0 0 0" rpy="0 0 0" />
                 <geometry>
-                  <mesh filename="package://talos-data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+                  <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
                 </geometry>
               </collision>
             </link>
@@ -58,7 +58,7 @@
               <visual>
                 <origin xyz="0 0 0" rpy="0 0 0" />
                 <geometry>
-                  <mesh filename="package://talos-data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
+                  <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
                 </geometry>
               <material name="Orange"/>
               </visual>
@@ -66,7 +66,7 @@
               <collision>
                 <origin xyz="0 0 0" rpy="0 0 0" />
                 <geometry>
-                  <mesh filename="package://talos-data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+                  <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
                 </geometry>
               </collision>
             </link>
@@ -94,7 +94,7 @@
               <visual>
                 <origin xyz="0 0 0" rpy="0 0 0" />
                 <geometry>
-                  <mesh filename="package://talos-data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+                  <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
                 </geometry>
               <material name="Orange"/>
               </visual>
@@ -102,7 +102,7 @@
               <collision>
                 <origin xyz="0 0 0" rpy="0 0 0" />
                 <geometry>
-                  <mesh filename="package://talos-data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
+                  <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
                 </geometry>
               </collision>
             </link>
@@ -132,7 +132,7 @@
               <visual>
                 <origin xyz="0 0 0" rpy="0 0 0" />
                 <geometry>
-                  <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+                  <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
                 </geometry>
               <material name="DarkGrey"/>
               </visual>
@@ -140,7 +140,7 @@
               <collision>
                 <origin xyz="0 0 0" rpy="0 0 0" />
                 <geometry>
-                  <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+                  <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
                 </geometry>
               </collision>
             </link>
@@ -169,7 +169,7 @@
               <visual>
                 <origin xyz="0 0 0" rpy="0 0 0" />
                 <geometry>
-                  <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+                  <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
                 </geometry>
                 <material name="DarkGrey"/>
               </visual>
@@ -177,7 +177,7 @@
               <collision>
                 <origin xyz="0 0 0" rpy="0 0 0" />
                 <geometry>
-                  <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+                  <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
                 </geometry>
               </collision>
             </link>
@@ -205,7 +205,7 @@
               <visual>
                 <origin xyz="0 0 0" rpy="0 0 0" />
                 <geometry>
-                  <mesh filename="package://talos-data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
+                  <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
                 </geometry>
               <material name="Orange"/>
               </visual>
@@ -213,7 +213,7 @@
               <collision>
                 <origin xyz="0 0 0" rpy="0 0 0" />
                 <geometry>
-                  <mesh filename="package://talos-data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+                  <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
                 </geometry>
               </collision>
             </link>
@@ -242,7 +242,7 @@
               <visual>
                 <origin xyz="0 0 0" rpy="0 0 0" />
                 <geometry>
-                  <mesh filename="package://talos-data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+                  <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
                 </geometry>
               <material name="Orange"/>
               </visual>
@@ -250,7 +250,7 @@
               <collision>
                 <origin xyz="0 0 0" rpy="0 0 0" />
                 <geometry>
-                  <mesh filename="package://talos-data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
+                  <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
                 </geometry>
               </collision>
             </link>
@@ -279,7 +279,7 @@
               <visual>
                 <origin xyz="0 0 0" rpy="0 0 0" />
                 <geometry>
-                  <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+                  <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
                 </geometry>
               <material name="DarkGrey"/>
               </visual>
@@ -287,7 +287,7 @@
               <collision>
                 <origin xyz="0 0 0" rpy="0 0 0" />
                 <geometry>
-                  <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+                  <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
                 </geometry>
               </collision>
             </link>
diff --git a/urdf/head/head.urdf.xacro b/urdf/head/head.urdf.xacro
index 4597e2c..430db53 100644
--- a/urdf/head/head.urdf.xacro
+++ b/urdf/head/head.urdf.xacro
@@ -11,9 +11,9 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
 
   <!--File includes-->
-  <xacro:include filename="$(find talos-data)/urdf/deg_to_rad.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/head/head.transmission.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/sensors/orbbec_astra_pro.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/head/head.transmission.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/sensors/orbbec_astra_pro.urdf.xacro" />
 
   <!--Constant parameters-->
   <xacro:property name="head_friction" value="1.0" />
@@ -37,7 +37,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/head/head_1.stl" scale="1 1 1"/>
+          <mesh filename="package://talos_data/meshes/head/head_1.stl" scale="1 1 1"/>
         </geometry>
         <material name="DarkGrey" />
       </visual>
@@ -45,7 +45,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
+          <mesh filename="package://talos_data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
         </geometry>
       </collision>
     </link>
@@ -97,7 +97,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/head/head_2.stl" scale="1 1 1"/>
+          <mesh filename="package://talos_data/meshes/head/head_2.stl" scale="1 1 1"/>
         </geometry>
         <material name="LightGrey" />
       </visual>
@@ -105,7 +105,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
+          <mesh filename="package://talos_data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
         </geometry>
       </collision>
     </link>
diff --git a/urdf/leg/leg.urdf.xacro b/urdf/leg/leg.urdf.xacro
index 3e5fb6d..9319dfb 100644
--- a/urdf/leg/leg.urdf.xacro
+++ b/urdf/leg/leg.urdf.xacro
@@ -2,7 +2,7 @@
 
 <robot xmlns:xacro="http://ros.org/wiki/xacro" name="talos">
 
-  <xacro:include filename="$(find talos-data)/urdf/leg/leg.transmission.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/leg/leg.transmission.xacro" />
 
   <xacro:property name="deg_to_rad"       value="0.01745329251994329577" />
   <xacro:property name="eps_radians"      value="0.008" /> <!-- 0.45deg -->
@@ -27,7 +27,7 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://talos-data/meshes/v2/hip_z_lo_res.stl" scale="1 ${reflect*1} 1"/>
+          <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
         <material name="DarkGrey" />
       </visual>
@@ -35,7 +35,7 @@
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-           <mesh filename="package://talos-data/meshes/v2/hip_z_collision.stl" scale="1 ${reflect*1} 1"/>
+           <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
       </collision>  
     </link>
@@ -65,7 +65,7 @@
       <visual>
         <origin xyz="0 0 0.0" rpy="0  0  0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/v2/hip_x_lo_res.stl" scale="1 ${reflect*1} 1"/>
+          <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
         <material name="DarkGrey" />
       </visual>
@@ -73,7 +73,7 @@
       <collision>
       <origin xyz="0 0 0.0" rpy="0  0  0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/v2/hip_x_collision.stl" scale="1 ${reflect*1} 1"/>
+          <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
       </collision>
     </link>
@@ -102,7 +102,7 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://talos-data/meshes/v2/hip_y_lo_res.stl" scale="1 ${reflect*1} 1"/>
+          <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
         <material name="DarkGrey" />
       </visual>
@@ -110,7 +110,7 @@
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-           <mesh filename="package://talos-data/meshes/v2/hip_y_collision.stl" scale="1 ${reflect*1} 1"/>
+           <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
       </collision>  
     </link>
@@ -139,7 +139,7 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://talos-data/meshes/v2/knee_lo_res.stl" scale="1 ${reflect*1} 1"/>
+          <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
         <material name="DarkGrey" />
       </visual>
@@ -147,7 +147,7 @@
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-           <mesh filename="package://talos-data/meshes/v2/knee_collision.stl" scale="1 ${reflect*1} 1"/>
+           <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
       </collision>  
     </link>
@@ -177,7 +177,7 @@
       <visual>
         <origin xyz="0 0 0.0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/v2/ankle_Y_lo_res.stl" scale="1 ${reflect*1} 1"/>
+          <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
         <material name="Grey" />
       </visual>
@@ -185,7 +185,7 @@
       <collision>
         <origin xyz="0 0 0.0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/v2/ankle_Y_collision.stl" scale="1 ${reflect*1} 1"/>
+          <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
       </collision>  
     </link>
@@ -214,7 +214,7 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://talos-data/meshes/v2/ankle_X_lo_res.stl" scale="1 ${reflect*1} 1"/>
+          <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
         <material name="Grey" />
       </visual>
@@ -223,7 +223,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
+          <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
       </collision> 
       
diff --git a/urdf/sensors/orbbec_astra_pro.urdf.xacro b/urdf/sensors/orbbec_astra_pro.urdf.xacro
index 9beb0ad..5a68540 100644
--- a/urdf/sensors/orbbec_astra_pro.urdf.xacro
+++ b/urdf/sensors/orbbec_astra_pro.urdf.xacro
@@ -24,7 +24,7 @@
 -->
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
 
-  <xacro:include filename="$(find talos-data)/urdf/sensors/xtion_pro_live.gazebo.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/sensors/xtion_pro_live.gazebo.xacro" />
 
   <!-- Macro -->
   <xacro:macro name="xtion_pro_live" params="name parent *origin *optical_origin">
@@ -50,7 +50,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://talos-data/meshes/sensors/orbbec/orbbec.STL" />
+          <mesh filename="package://talos_data/meshes/sensors/orbbec/orbbec.STL" />
         </geometry>
         <material name="DarkGrey">
           <color rgba="0.5 0.5 0.5 1"/>
diff --git a/urdf/talos_full.urdf b/urdf/talos_full.urdf
index 3eaa8bc..023d233 100644
--- a/urdf/talos_full.urdf
+++ b/urdf/talos_full.urdf
@@ -43,14 +43,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/torso_2.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/torso_2.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -66,14 +66,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/torso_1.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/torso_1.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -101,14 +101,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/base_link.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/base_link.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -196,14 +196,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/head/head_1.stl" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/head/head_1.stl" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -238,14 +238,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/head/head_2.stl" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/head/head_2.stl" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -289,7 +289,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/sensors/orbbec/orbbec.STL"/>
+        <mesh filename="package://talos_data/meshes/sensors/orbbec/orbbec.STL"/>
       </geometry>
       <material name="DarkGrey">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -451,14 +451,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_1.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_1.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -484,14 +484,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_2.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_2.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -517,14 +517,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_3.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_3.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -553,14 +553,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_4.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_4.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -624,14 +624,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_5.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_5.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -657,14 +657,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_6.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_6.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -698,14 +698,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_7.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_7.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -835,14 +835,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_1.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_1.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -868,14 +868,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_2.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_2.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -901,14 +901,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_3.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_3.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -937,14 +937,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_4.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_4.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1008,14 +1008,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_5.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_5.STL" scale="1 -1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1041,14 +1041,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_6.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_6.STL" scale="1 -1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1082,14 +1082,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_7.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_7.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1322,14 +1322,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/base_link.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1350,14 +1350,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1378,14 +1378,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1406,14 +1406,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1434,14 +1434,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1462,14 +1462,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1490,14 +1490,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1518,14 +1518,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1677,14 +1677,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/base_link.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1705,14 +1705,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1733,14 +1733,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1761,14 +1761,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1789,14 +1789,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1817,14 +1817,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1845,14 +1845,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1873,14 +1873,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -2033,14 +2033,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_z_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_z_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2062,14 +2062,14 @@
     <visual>
       <origin rpy="0  0  0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_x_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0  0  0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_x_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2091,14 +2091,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_y_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_y_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2120,14 +2120,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/knee_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/knee_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2149,14 +2149,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_Y_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="Grey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_Y_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2178,7 +2178,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_X_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="Grey"/>
     </visual>
@@ -2186,7 +2186,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
+          <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
       </collision> 
       
@@ -2359,14 +2359,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_z_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_z_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2388,14 +2388,14 @@
     <visual>
       <origin rpy="0  0  0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_x_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0  0  0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_x_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2417,14 +2417,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_y_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_y_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2446,14 +2446,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/knee_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/knee_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2475,14 +2475,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_Y_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="Grey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_Y_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2504,7 +2504,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_X_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="Grey"/>
     </visual>
@@ -2512,7 +2512,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
+          <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
       </collision> 
       
diff --git a/urdf/talos_full_accurate_gripper.urdf b/urdf/talos_full_accurate_gripper.urdf
index 8c93432..94ba7d7 100644
--- a/urdf/talos_full_accurate_gripper.urdf
+++ b/urdf/talos_full_accurate_gripper.urdf
@@ -43,14 +43,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/torso_2.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/torso_2.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -66,14 +66,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/torso_1.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/torso_1.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -101,14 +101,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/base_link.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/base_link.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -196,14 +196,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/head/head_1.stl" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/head/head_1.stl" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -238,14 +238,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/head/head_2.stl" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/head/head_2.stl" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -289,7 +289,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/sensors/orbbec/orbbec.STL"/>
+        <mesh filename="package://talos_data/meshes/sensors/orbbec/orbbec.STL"/>
       </geometry>
       <material name="DarkGrey">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -451,14 +451,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_1.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_1.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -484,14 +484,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_2.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_2.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -517,14 +517,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_3.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_3.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -553,14 +553,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_4.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_4.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -624,14 +624,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_5.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_5.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -657,14 +657,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_6.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_6.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -698,14 +698,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_7.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_7.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -835,14 +835,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_1.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_1.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -868,14 +868,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_2.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_2.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -901,14 +901,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_3.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_3.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -937,14 +937,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_4.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_4.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1008,14 +1008,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_5.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_5.STL" scale="1 -1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1041,14 +1041,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_6.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_6.STL" scale="1 -1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1082,14 +1082,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_7.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_7.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1322,14 +1322,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/base_link.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1350,14 +1350,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1378,14 +1378,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1406,14 +1406,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1434,14 +1434,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1462,14 +1462,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1490,14 +1490,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1518,14 +1518,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1677,14 +1677,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/base_link.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1705,14 +1705,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1733,14 +1733,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1761,14 +1761,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1789,14 +1789,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1817,14 +1817,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1845,14 +1845,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1873,14 +1873,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -2033,14 +2033,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_z_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_z_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2062,14 +2062,14 @@
     <visual>
       <origin rpy="0  0  0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_x_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0  0  0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_x_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2091,14 +2091,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_y_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_y_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2120,14 +2120,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/knee_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/knee_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2149,14 +2149,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_Y_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="Grey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_Y_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2178,7 +2178,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_X_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="Grey"/>
     </visual>
@@ -2186,7 +2186,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
+          <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
       </collision> 
       
@@ -2359,14 +2359,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_z_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_z_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2388,14 +2388,14 @@
     <visual>
       <origin rpy="0  0  0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_x_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0  0  0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_x_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2417,14 +2417,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_y_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_y_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2446,14 +2446,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/knee_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/knee_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2475,14 +2475,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_Y_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="Grey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_Y_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2504,7 +2504,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_X_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="Grey"/>
     </visual>
@@ -2512,7 +2512,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
+          <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
       </collision> 
       
diff --git a/urdf/talos_full_collision.urdf b/urdf/talos_full_collision.urdf
index 70e52e3..100c7a1 100644
--- a/urdf/talos_full_collision.urdf
+++ b/urdf/talos_full_collision.urdf
@@ -43,14 +43,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/torso_2.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/torso_2.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -66,14 +66,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/torso_1.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/torso_1.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -101,14 +101,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/base_link.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/base_link.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -196,14 +196,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/head/head_1.stl" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/head/head_1.stl" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -238,14 +238,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/head/head_2.stl" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/head/head_2.stl" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -290,7 +290,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
 	  <geometry>
-          <mesh filename="package://talos-data/meshes/sensors/orbbec/orbbec.STL"/>
+          <mesh filename="package://talos_data/meshes/sensors/orbbec/orbbec.STL"/>
       </geometry>
       <material name="DarkGrey">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -453,14 +453,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -486,14 +486,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -519,14 +519,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -555,14 +555,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -626,14 +626,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -659,14 +659,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -700,14 +700,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_7.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_7.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -837,14 +837,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -870,14 +870,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -903,14 +903,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -939,14 +939,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1010,14 +1010,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1043,14 +1043,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1084,14 +1084,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1324,14 +1324,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/base_link.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1352,14 +1352,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1380,14 +1380,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1408,14 +1408,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1436,14 +1436,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1464,14 +1464,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1492,14 +1492,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1520,14 +1520,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1679,14 +1679,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/base_link.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1707,14 +1707,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1735,14 +1735,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1763,14 +1763,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1791,14 +1791,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1819,14 +1819,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1847,14 +1847,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1875,14 +1875,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -2035,14 +2035,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_z_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_z_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2064,14 +2064,14 @@
     <visual>
       <origin rpy="0  0  0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_x_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0  0  0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_x_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2093,14 +2093,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_y_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_y_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2122,14 +2122,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/knee_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/knee_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2151,14 +2151,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_Y_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="Grey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_Y_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2180,7 +2180,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_X_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="Grey"/>
     </visual>
@@ -2188,7 +2188,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
+          <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
       </collision> 
       
@@ -2361,14 +2361,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_z_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_z_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2390,14 +2390,14 @@
     <visual>
       <origin rpy="0  0  0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_x_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0  0  0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_x_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2419,14 +2419,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_y_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_y_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2448,14 +2448,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/knee_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/knee_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2477,14 +2477,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_Y_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="Grey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_Y_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2506,7 +2506,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_X_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="Grey"/>
     </visual>
@@ -2514,7 +2514,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
+          <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
       </collision> 
       
diff --git a/urdf/talos_reduced.urdf b/urdf/talos_reduced.urdf
index bf27b31..56bbdfe 100644
--- a/urdf/talos_reduced.urdf
+++ b/urdf/talos_reduced.urdf
@@ -43,14 +43,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/torso_2.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/torso_2.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -66,14 +66,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/torso_1.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/torso_1.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -101,14 +101,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/base_link.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/base_link.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -196,14 +196,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/head/head_1.stl" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/head/head_1.stl" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -238,14 +238,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/head/head_2.stl" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/head/head_2.stl" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -290,7 +290,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
 	  <geometry>
-          <mesh filename="package://talos-data/meshes/sensors/orbbec/orbbec.STL"/>
+          <mesh filename="package://talos_data/meshes/sensors/orbbec/orbbec.STL"/>
       </geometry>
       <material name="DarkGrey">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -453,14 +453,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -486,14 +486,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -519,14 +519,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -555,14 +555,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -626,14 +626,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -659,14 +659,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -700,14 +700,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_7.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_7.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -837,14 +837,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -870,14 +870,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -903,14 +903,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -939,14 +939,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1010,14 +1010,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1043,14 +1043,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1084,14 +1084,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1324,14 +1324,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/base_link.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1352,14 +1352,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1380,14 +1380,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1408,14 +1408,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1436,14 +1436,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1464,14 +1464,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1492,14 +1492,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1520,14 +1520,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1679,14 +1679,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/base_link.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1707,14 +1707,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1735,14 +1735,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1763,14 +1763,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1791,14 +1791,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1819,14 +1819,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1847,14 +1847,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1875,14 +1875,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -2035,14 +2035,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_z_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_z_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2064,14 +2064,14 @@
     <visual>
       <origin rpy="0  0  0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_x_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0  0  0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_x_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2093,14 +2093,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_y_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_y_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2122,14 +2122,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/knee_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/knee_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2151,14 +2151,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_Y_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="Grey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_Y_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2180,7 +2180,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_X_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="Grey"/>
     </visual>
@@ -2188,7 +2188,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
+          <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
       </collision> 
       
@@ -2361,14 +2361,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_z_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_z_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2390,14 +2390,14 @@
     <visual>
       <origin rpy="0  0  0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_x_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0  0  0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_x_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2419,14 +2419,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_y_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/hip_y_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2448,14 +2448,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/knee_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/knee_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2477,14 +2477,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_Y_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="Grey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_Y_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2506,7 +2506,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/v2/ankle_X_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="Grey"/>
     </visual>
@@ -2514,7 +2514,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
+          <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
       </collision> 
       
diff --git a/urdf/torso/torso.urdf.xacro b/urdf/torso/torso.urdf.xacro
index e188912..f20cb81 100644
--- a/urdf/torso/torso.urdf.xacro
+++ b/urdf/torso/torso.urdf.xacro
@@ -11,9 +11,9 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
 
   <!--File includes-->
-  <xacro:include filename="$(find talos-data)/urdf/deg_to_rad.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/torso/torso.transmission.xacro" />
-  <xacro:include filename="$(find talos-data)/urdf/sensors/imu.urdf.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/torso/torso.transmission.xacro" />
+  <xacro:include filename="$(find talos_data)/urdf/sensors/imu.urdf.xacro" />
 
  <!--Constant parameters-->
   <xacro:property name="torso_max_vel"  value="5.4" />
@@ -36,7 +36,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/torso/torso_2.STL" scale="1 1 1"/>
+          <mesh filename="package://talos_data/meshes/torso/torso_2.STL" scale="1 1 1"/>
         </geometry>
         <material name="LightGrey" />
       </visual>
@@ -44,7 +44,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
+          <mesh filename="package://talos_data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
         </geometry>
       </collision>
     </link>
@@ -64,14 +64,14 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/torso/torso_1.STL" scale="1 1 1"/>
+          <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
         </geometry>
         <material name="LightGrey" />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/torso/torso_1.STL" scale="1 1 1"/>
+          <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
         </geometry>
       </collision>
     </link>
@@ -107,7 +107,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/torso/base_link.STL" scale="1 1 1"/>
+          <mesh filename="package://talos_data/meshes/torso/base_link.STL" scale="1 1 1"/>
         </geometry>
         <material name="LightGrey" />
       </visual>
@@ -115,7 +115,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos-data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
+          <mesh filename="package://talos_data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
         </geometry>
       </collision>
     </link>
-- 
GitLab