diff --git a/NEWS b/NEWS
new file mode 100644
index 0000000000000000000000000000000000000000..1fedcd08440cc22464dd1d779858abdd69413753
--- /dev/null
+++ b/NEWS
@@ -0,0 +1,5 @@
+                                                                -*- outline -*-
+* Add model of pyrene with lidar. Generated using xacro files in pal_robotics
+  repository.
+
+New in v2.0.0
diff --git a/meshes/head/head_2_lidar.stl b/meshes/head/head_2_lidar.stl
new file mode 100644
index 0000000000000000000000000000000000000000..7a6b9516856189a1d0f17e88fb62909e25d47433
Binary files /dev/null and b/meshes/head/head_2_lidar.stl differ
diff --git a/meshes/head/head_2_lidar_collision.stl b/meshes/head/head_2_lidar_collision.stl
new file mode 100644
index 0000000000000000000000000000000000000000..7a6b9516856189a1d0f17e88fb62909e25d47433
Binary files /dev/null and b/meshes/head/head_2_lidar_collision.stl differ
diff --git a/meshes/sensors/ouster/os1_64.dae b/meshes/sensors/ouster/os1_64.dae
new file mode 100644
index 0000000000000000000000000000000000000000..6f22875eb83f8cd9b220ec04c706ba79bb7e152c
--- /dev/null
+++ b/meshes/sensors/ouster/os1_64.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>vie oct 23 15:40:27 2020</created>
+        <modified>vie oct 23 15:40:27 2020</modified>
+    </asset>
+    <library_images/>
+    <library_materials/>
+    <library_effects/>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
+                <source id="shape0-lib-positions" name="position">
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3097 1476 3098 1589 3098 1590 3098 1477 3099 1590 3099 1591 3099 1477 3100 1591 3100 1283 3100 1283 3101 1591 3101 1293 3101 1487 3102 1592 3102 1593 3102 1504 3103 1291 3103 1594 3103 1488 3104 1504 3104 1594 3104 1488 3105 1594 3105 1592 3105 1487 3106 1488 3106 1592 3106 1289 3107 1287 3107 1288 3107 1289 3108 1288 3108 1290 3108 1497 3109 1487 3109 1593 3109 1497 3110 1593 3110 1284 3110 1291 3111 1288 3111 1284 3111 1290 3112 1288 3112 1291 3112 1594 3113 1593 3113 1592 3113 1594 3114 1284 3114 1593 3114 1291 3115 1284 3115 1594 3115 1487 3116 1598 3116 1595 3116 1477 3117 1283 3117 1596 3117 1477 3118 1596 3118 1597 3118 1476 3119 1477 3119 1597 3119 1598 3120 1476 3120 1597 3120 1298 3121 1289 3121 1281 3121 1488 3122 1487 3122 1595 3122 1508 3123 1488 3123 1595 3123 1508 3124 1595 3124 1599 3124 1278 3125 1508 3125 1599 3125 1282 3126 1280 3126 1279 3126 1281 3127 1280 3127 1282 3127 1597 3128 1595 3128 1598 3128 1599 3129 1595 3129 1597 3129 1596 3130 1599 3130 1597 3130 1281 3131 1289 3131 1280 3131 1279 3132 1599 3132 1596 3132 1600 3133 1479 3133 1480 3133 1506 3134 1600 3134 1601 3134 1478 3135 1506 3135 1601 3135 1478 3136 1601 3136 1471 3136 1485 3137 1602 3137 1480 3137 1521 3138 1469 3138 1603 3138 1515 3139 1521 3139 1604 3139 1521 3140 1603 3140 1604 3140 1515 3141 1604 3141 1605 3141 1515 3142 1605 3142 1505 3142 1495 3143 1505 3143 1605 3143 1495 3144 1605 3144 1602 3144 1495 3145 1602 3145 1485 3145 1299 3146 1603 3146 1469 3146 1601 3147 1605 3147 1604 3147 1471 3148 1601 3148 1604 3148 1471 3149 1604 3149 1603 3149 1600 3150 1480 3150 1602 3150 1600 3151 1602 3151 1605 3151 1601 3152 1600 3152 1605 3152 1299 3153 1471 3153 1603 3153 1287 3154 1469 3154 1277 3154 1485 3155 1606 3155 1609 3155 1495 3156 1485 3156 1609 3156 1495 3157 1609 3157 1607 3157 1505 3158 1495 3158 1607 3158 1515 3159 1505 3159 1607 3159 1515 3160 1607 3160 1608 3160 1469 3161 1515 3161 1608 3161 1277 3162 1469 3162 1608 3162 1494 3163 1610 3163 1606 3163 1485 3164 1494 3164 1606 3164 1520 3165 1277 3165 1516 3165 1503 3166 1516 3166 1609 3166 1503 3167 1609 3167 1610 3167 1494 3168 1503 3168 1610 3168 1608 3169 1607 3169 1516 3169 1608 3170 1516 3170 1277 3170 1609 3171 1606 3171 1610 3171 1607 3172 1609 3172 1516 3172 1493 3173 1473 3173 1614 3173 1519 3174 1611 3174 1612 3174 1519 3175 1276 3175 1611 3175 1501 3176 1519 3176 1612 3176 1501 3177 1612 3177 1613 3177 1486 3178 1501 3178 1613 3178 1614 3179 1486 3179 1613 3179 1473 3180 1486 3180 1614 3180 1491 3181 1493 3181 1614 3181 1491 3182 1614 3182 1615 3182 1499 3183 1615 3183 1616 3183 1499 3184 1616 3184 1510 3184 1510 3185 1616 3185 1617 3185 1617 3186 1616 3186 1612 3186 1617 3187 1612 3187 1611 3187 1615 3188 1614 3188 1613 3188 1616 3189 1615 3189 1613 3189 1616 3190 1613 3190 1612 3190 1468 3191 1618 3191 1619 3191 1481 3192 1620 3192 1621 3192 1511 3193 1481 3193 1621 3193 1622 3194 1511 3194 1621 3194 1474 3195 1511 3195 1622 3195 1474 3196 1622 3196 1623 3196 1618 3197 1474 3197 1623 3197 1473 3198 1468 3198 1619 3198 1473 3199 1619 3199 1624 3199 1486 3200 1473 3200 1624 3200 1486 3201 1624 3201 1501 3201 1501 3202 1624 3202 1625 3202 1501 3203 1625 3203 1626 3203 1519 3204 1501 3204 1626 3204 1519 3205 1626 3205 1522 3205 1626 3206 1622 3206 1621 3206 1522 3207 1626 3207 1621 3207 1522 3208 1621 3208 1620 3208 1619 3209 1618 3209 1623 3209 1624 3210 1619 3210 1623 3210 1624 3211 1623 3211 1622 3211 1625 3212 1624 3212 1622 3212 1626 3213 1625 3213 1622 3213 1484 3214 1493 3214 1628 3214 1484 3215 1628 3215 1629 3215 1507 3216 1484 3216 1629 3216 1507 3217 1629 3217 1517 3217 1524 3218 1517 3218 1627 3218 1493 3219 1630 3219 1628 3219 1513 3220 1631 3220 1518 3220 1509 3221 1518 3221 1496 3221 1492 3222 1509 3222 1496 3222 1492 3223 1496 3223 1630 3223 1518 3224 1629 3224 1496 3224 1518 3225 1517 3225 1629 3225 1631 3226 1517 3226 1518 3226 1631 3227 1627 3227 1517 3227 1496 3228 1628 3228 1630 3228 1496 3229 1629 3229 1628 3229 1632 3230 1490 3230 1475 3230 1500 3231 1490 3231 1632 3231 1500 3232 1632 3232 1633 3232 1483 3233 1500 3233 1633 3233 1308 3234 1483 3234 1275 3234 1468 3235 1482 3235 1470 3235 1523 3236 1275 3236 1634 3236 1514 3237 1523 3237 1634 3237 1514 3238 1634 3238 1633 3238 1498 3239 1514 3239 1633 3239 1498 3240 1633 3240 1635 3240 1482 3241 1498 3241 1635 3241 1634 3242 1483 3242 1633 3242 1482 3243 1475 3243 1470 3243 1275 3244 1483 3244 1634 3244 1635 3245 1475 3245 1482 3245 1635 3246 1632 3246 1475 3246 1633 3247 1632 3247 1635 3247 1638 3248 1337 3248 1636 3248 1463 3249 1638 3249 1636 3249 1463 3250 1467 3250 1314 3250 1463 3251 1637 3251 1467 3251 1463 3252 1636 3252 1637 3252 1467 3253 1637 3253 1337 3253 1337 3254 1637 3254 1636 3254</p>
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib">
+                    <bind_material>
+                        <technique_common/>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/urdf/pyrene.urdf b/urdf/pyrene.urdf
index 23aaac66293d24dad83b551ae06e699c03b097df..9fe990cd11efac827f06eee49f5c37357d7d2755 120000
--- a/urdf/pyrene.urdf
+++ b/urdf/pyrene.urdf
@@ -1 +1 @@
-talos_full_v2.urdf
\ No newline at end of file
+talos_full_v2_with_lidar.urdf
\ No newline at end of file
diff --git a/urdf/talos_full_v2_with_lidar.urdf b/urdf/talos_full_v2_with_lidar.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..811d079bdeedca35f7b68a3f25fa1a36352c08d8
--- /dev/null
+++ b/urdf/talos_full_v2_with_lidar.urdf
@@ -0,0 +1,3094 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ./talos_full_v2.urdf.xacro     | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<!--
+
+  Copyright (c) 2016, PAL Robotics, S.L.
+  All rights reserved.
+
+  This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+  To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+  Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot name="talos" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor">
+  <!--************************-->
+  <!--        TORSO_2  (TILT) -->
+  <!--************************-->
+  <link name="torso_2_link">
+    <inertial>
+      <mass value="16.97403"/>
+      <inertia ixx="0.44372633826" ixy="0.00069132133" ixz="-0.01218206353" iyy="0.2998576068" iyz="-0.00019623338" izz="0.32201554742"/>
+      <origin rpy="0 0 0" xyz="-0.0463563 -0.00099023 0.1452805"/>
+    </inertial>
+    <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"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <!--************************-->
+  <!--        TORSO_1  (PAN)  -->
+  <!--************************-->
+  <link name="torso_1_link">
+    <inertial>
+      <mass value="2.294658"/>
+      <inertia ixx="0.00638508087" ixy="-7.107e-08" ixz="-3.065592e-05" iyy="0.00410256102" iyz="-1.46946e-06" izz="0.00622968815"/>
+      <origin rpy="0 0 0" xyz="0.00078223 3.528e-05 -0.01782457"/>
+    </inertial>
+    <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"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="torso_1_joint" type="revolute">
+    <parent link="base_link"/>
+    <child link="torso_1_link"/>
+    <!-- XXX AS: The kinematic chain order for the torso was reversed manually. This value does not match the CAD model. XXX -->
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0722"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="200.0" lower="-1.25663706144" upper="1.25663706144" velocity="5.4"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <!-- <safety_controller k_position="20"
+                         k_velocity="20"
+                         soft_lower_limit="${-15.0 * deg_to_rad + torso_eps}"
+                         soft_upper_limit="${ 45.0 * deg_to_rad - torso_eps}" /> -->
+  </joint>
+  <!--************************-->
+  <!--        BASE_LINK       -->
+  <!--************************-->
+  <link name="base_link">
+    <inertial>
+      <mass value="15.36284"/>
+      <inertia ixx="0.20105075811" ixy="0.00023244734" ixz="0.0040167728" iyy="0.08411496729" iyz="-0.00087206649" izz="0.2318908414"/>
+      <origin rpy="0 0 0" xyz="-0.05709419 0.00153054 -0.0762521"/>
+    </inertial>
+    <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"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="torso_2_joint" type="revolute">
+    <parent link="torso_1_link"/>
+    <child link="torso_2_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="200.0" lower="-0.226892802759" upper="0.733038285838" velocity="5.4"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <!-- <safety_controller k_position="20"
+                          k_velocity="20"
+                          soft_lower_limit="${-75.00000 * deg_to_rad + eps_radians}"
+                          soft_upper_limit="${75.00000 * deg_to_rad - eps_radians}" /> -->
+  </joint>
+  <link name="imu_link">
+    <inertial>
+      <mass value="0.01"/>
+      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <origin rpy="3.14159265359 0 1.57079632679" xyz="0.04925 0 0.078"/>
+    <parent link="torso_2_link"/>
+    <child link="imu_link"/>
+  </joint>
+  <gazebo reference="torso_1_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="torso_2_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="base_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="torso_1_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="torso_2_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <transmission name="talos_torso_trans">
+    <type>transmission_interface/DifferentialTransmission</type>
+    <actuator name="torso_1_motor">
+      <role>actuator1</role>
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <actuator name="torso_2_motor">
+      <role>actuator2</role>
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="torso_1_joint">
+      <role>joint1</role>
+      <offset>0.0</offset>
+      <mechanicalReduction>1.0</mechanicalReduction>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <joint name="torso_2_joint">
+      <role>joint2</role>
+      <offset>0.0</offset>
+      <mechanicalReduction>1.0</mechanicalReduction>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <link name="head_1_link">
+    <inertial>
+      <mass value="0.73746"/>
+      <inertia ixx="0.00224878584" ixy="4.69375e-06" ixz="8.55557e-05" iyy="0.00111158492" iyz="-4.132536e-05" izz="0.00205225921"/>
+      <origin rpy="0 0 0" xyz="-0.00157211 -0.00157919 0.02175767"/>
+    </inertial>
+    <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"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="head_1_joint" type="revolute">
+    <parent link="torso_2_link"/>
+    <child link="head_1_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 0.32100"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="8.0" lower="-0.209439510239" upper="0.785398163397" velocity="1.0"/>
+    <dynamics damping="0.5" friction="1.0"/>
+    <!-- <safety_controller k_position="20"
+                          k_velocity="20"
+                          soft_lower_limit="${-15.00000 * deg_to_rad + eps_radians}"
+                          soft_upper_limit="${45.00000 * deg_to_rad - eps_radians}" /> -->
+  </joint>
+  <gazebo reference="head_1_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="head_1_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="head_1_link">
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <link name="head_2_link">
+    <inertial>
+      <mass value="1.443954"/>
+      <inertia ixx="0.01084624339" ixy="1.050889e-05" ixz="0.00041594252" iyy="0.0109569176" iyz="2.367831e-05" izz="0.00571698895"/>
+      <origin rpy="0 0 0" xyz="0.01002657 5.218e-05 0.14136068"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/head/head_2_lidar.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_lidar_collision.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="head_2_joint" type="revolute">
+    <parent link="head_1_link"/>
+    <child link="head_2_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="4.0" lower="-1.308996939" upper="1.308996939" velocity="1.0"/>
+    <dynamics damping="0.5" friction="1.0"/>
+    <!-- <safety_controller k_position="20"
+                          k_velocity="20"
+                          soft_lower_limit="${-75.00000 * deg_to_rad + eps_radians}"
+                          soft_upper_limit="${75.00000 * deg_to_rad - eps_radians}" /> -->
+  </joint>
+  <gazebo reference="head_2_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="head_2_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="head_2_link">
+    <material>Gazebo/White</material>
+  </gazebo>
+  <material name="head_d435_camera_aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="head_d435_camera_joint" type="fixed">
+    <origin rpy="0.0 0.785398163397 0.0" xyz="0.074 0.0 0.135"/>
+    <parent link="head_2_link"/>
+    <child link="head_d435_camera_bottom_screw_frame"/>
+  </joint>
+  <link name="head_d435_camera_bottom_screw_frame"/>
+  <joint name="head_d435_camera_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.0175 0.0125"/>
+    <parent link="head_d435_camera_bottom_screw_frame"/>
+    <child link="head_d435_camera_link"/>
+  </joint>
+  <link name="head_d435_camera_link">
+    <visual>
+      <origin rpy="1.57079632679 0 1.57079632679" xyz="0.0149 -0.0175 0"/>
+      <geometry>
+        <!-- <box size="${d435_cam_width} ${d435_cam_height} ${d435_cam_depth}"/> -->
+        <mesh filename="package://realsense2_description/meshes/d435.dae"/>
+        <!--<mesh filename="package://realsense2_description/meshes/d435/d435.dae" />-->
+      </geometry>
+      <material name="head_d435_camera_aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.0175 0"/>
+      <geometry>
+        <box size="0.02505 0.09 0.025"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.564"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <!-- camera depth joints and links -->
+  <joint name="head_d435_camera_depth_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="head_d435_camera_link"/>
+    <child link="head_d435_camera_depth_frame"/>
+  </joint>
+  <link name="head_d435_camera_depth_frame"/>
+  <joint name="head_d435_camera_depth_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="head_d435_camera_depth_frame"/>
+    <child link="head_d435_camera_depth_optical_frame"/>
+  </joint>
+  <link name="head_d435_camera_depth_optical_frame"/>
+  <!-- camera left IR joints and links -->
+  <joint name="head_d435_camera_left_ir_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.0 0"/>
+    <parent link="head_d435_camera_depth_frame"/>
+    <child link="head_d435_camera_left_ir_frame"/>
+  </joint>
+  <link name="head_d435_camera_left_ir_frame"/>
+  <joint name="head_d435_camera_left_ir_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="head_d435_camera_left_ir_frame"/>
+    <child link="head_d435_camera_left_ir_optical_frame"/>
+  </joint>
+  <link name="head_d435_camera_left_ir_optical_frame"/>
+  <!-- camera right IR joints and links -->
+  <joint name="head_d435_camera_right_ir_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.05 0"/>
+    <parent link="head_d435_camera_depth_frame"/>
+    <child link="head_d435_camera_right_ir_frame"/>
+  </joint>
+  <link name="head_d435_camera_right_ir_frame"/>
+  <joint name="head_d435_camera_right_ir_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="head_d435_camera_right_ir_frame"/>
+    <child link="head_d435_camera_right_ir_optical_frame"/>
+  </joint>
+  <link name="head_d435_camera_right_ir_optical_frame"/>
+  <!-- camera color joints and links -->
+  <joint name="head_d435_camera_color_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.015 0"/>
+    <parent link="head_d435_camera_depth_frame"/>
+    <child link="head_d435_camera_color_frame"/>
+  </joint>
+  <link name="head_d435_camera_color_frame"/>
+  <joint name="head_d435_camera_color_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="head_d435_camera_color_frame"/>
+    <child link="head_d435_camera_color_optical_frame"/>
+  </joint>
+  <link name="head_d435_camera_color_optical_frame"/>
+  <gazebo reference="head_d435_camera_link">
+    <self_collide>0</self_collide>
+    <enable_wind>0</enable_wind>
+    <kinematic>0</kinematic>
+    <gravity>1</gravity>
+    <!--<mu>1</mu>-->
+    <mu2>1</mu2>
+    <fdir1>0 0 0</fdir1>
+    <!--<slip1>0</slip1>
+      <slip2>0</slip2>-->
+    <kp>1e+13</kp>
+    <kd>1</kd>
+    <!--<max_vel>0.01</max_vel>
+      <min_depth>0</min_depth>-->
+    <sensor name="head_d435_cameracolor" type="camera">
+      <camera name="head_d435_camera">
+        <horizontal_fov>1.21125850088</horizontal_fov>
+        <image>
+          <width>640</width>
+          <height>480</height>
+          <format>RGB_INT8</format>
+        </image>
+        <clip>
+          <near>0.1</near>
+          <far>100</far>
+        </clip>
+        <noise>
+          <type>gaussian</type>
+          <mean>0.0</mean>
+          <stddev>0.007</stddev>
+        </noise>
+      </camera>
+      <always_on>1</always_on>
+      <update_rate>30</update_rate>
+      <visualize>1</visualize>
+    </sensor>
+    <sensor name="head_d435_cameraired1" type="camera">
+      <camera name="head_d435_camera">
+        <horizontal_fov>1.4870205227</horizontal_fov>
+        <image>
+          <width>1280</width>
+          <height>720</height>
+          <format>L_INT8</format>
+        </image>
+        <clip>
+          <near>0.1</near>
+          <far>100</far>
+        </clip>
+        <noise>
+          <type>gaussian</type>
+          <mean>0.0</mean>
+          <stddev>0.05</stddev>
+        </noise>
+      </camera>
+      <always_on>1</always_on>
+      <update_rate>90</update_rate>
+      <visualize>0</visualize>
+    </sensor>
+    <sensor name="head_d435_cameraired2" type="camera">
+      <camera name="head_d435_camera">
+        <horizontal_fov>1.4870205227</horizontal_fov>
+        <image>
+          <width>1280</width>
+          <height>720</height>
+          <format>L_INT8</format>
+        </image>
+        <clip>
+          <near>0.1</near>
+          <far>100</far>
+        </clip>
+        <noise>
+          <type>gaussian</type>
+          <mean>0.0</mean>
+          <stddev>0.05</stddev>
+        </noise>
+      </camera>
+      <always_on>1</always_on>
+      <update_rate>90</update_rate>
+      <visualize>0</visualize>
+    </sensor>
+    <sensor name="head_d435_cameradepth" type="depth">
+      <camera name="head_d435_camera">
+        <horizontal_fov>1.4870205227</horizontal_fov>
+        <image>
+          <width>1280</width>
+          <height>720</height>
+        </image>
+        <clip>
+          <near>0.1</near>
+          <far>100</far>
+        </clip>
+        <noise>
+          <type>gaussian</type>
+          <mean>0.0</mean>
+          <stddev>0.100</stddev>
+        </noise>
+      </camera>
+      <always_on>1</always_on>
+      <update_rate>90</update_rate>
+      <visualize>0</visualize>
+    </sensor>
+  </gazebo>
+  <gazebo>
+    <plugin filename="librealsense_gazebo_plugin.so" name="head_d435_camera">
+      <prefix>head_d435_camera</prefix>
+      <depthUpdateRate>30.0</depthUpdateRate>
+      <colorUpdateRate>30.0</colorUpdateRate>
+      <infraredUpdateRate>30.0</infraredUpdateRate>
+      <depthTopicName>depth/image_raw</depthTopicName>
+      <depthCameraInfoTopicName>depth/camera_info</depthCameraInfoTopicName>
+      <colorTopicName>color/image_raw</colorTopicName>
+      <colorCameraInfoTopicName>color/camera_info</colorCameraInfoTopicName>
+      <infrared1TopicName>infra1/image_raw</infrared1TopicName>
+      <infrared1CameraInfoTopicName>infra1/camera_info</infrared1CameraInfoTopicName>
+      <infrared2TopicName>infra2/image_raw</infrared2TopicName>
+      <infrared2CameraInfoTopicName>infra2/camera_info</infrared2CameraInfoTopicName>
+      <colorOpticalframeName>head_d435_camera_color_optical_frame</colorOpticalframeName>
+      <depthOpticalframeName>head_d435_camera_depth_optical_frame</depthOpticalframeName>
+      <infrared1OpticalframeName>head_d435_camera_left_ir_optical_frame</infrared1OpticalframeName>
+      <infrared2OpticalframeName>head_d435_camera_right_ir_optical_frame</infrared2OpticalframeName>
+      <rangeMinDepth>0.2</rangeMinDepth>
+      <rangeMaxDepth>10.0</rangeMaxDepth>
+      <pointCloud>True</pointCloud>
+      <pointCloudTopicName>depth/color/points</pointCloudTopicName>
+      <pointCloudCutoff>0.25</pointCloudCutoff>
+      <pointCloudCutoffMax>9.0</pointCloudCutoffMax>
+    </plugin>
+  </gazebo>
+  <material name="head_t265_camera_aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <!-- camera body, with origin at camera_link -->
+  <joint name="head_t265_camera_pose_frame_joint" type="fixed">
+    <origin rpy="0.0 0.0872664625997 0.0" xyz="0.109 0.0 0.196"/>
+    <parent link="head_2_link"/>
+    <child link="head_t265_camera_pose_frame"/>
+  </joint>
+  <link name="head_t265_camera_pose_frame"/>
+  <joint name="head_t265_camera_pose_joint" type="fixed">
+    <origin rpy="1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="head_t265_camera_pose_frame"/>
+    <child link="head_t265_camera_link"/>
+  </joint>
+  <link name="head_t265_camera_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://realsense2_description/meshes/t265.stl"/>
+      </geometry>
+      <material name="head_t265_camera_aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://realsense2_description/meshes/t265.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.068024"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.0000039782" ixy="0.0" ixz="0.000000034641" iyy="0.000065045" iyz="0.0" izz="0.000067499"/>
+    </inertial>
+  </link>
+  <joint name="head_t265_camera_fisheye1_rgb_joint" type="fixed">
+    <origin rpy="0 1.57079632679 1.57079632679" xyz="-0.0411 0.0 0.0"/>
+    <parent link="head_t265_camera_link"/>
+    <child link="head_t265_camera_fisheye1_rgb_frame"/>
+  </joint>
+  <link name="head_t265_camera_fisheye1_rgb_frame"/>
+  <joint name="head_t265_camera_fisheye2_rgb_joint" type="fixed">
+    <origin rpy="0 1.57079632679 1.57079632679" xyz="0.0229 0.0 0.0"/>
+    <parent link="head_t265_camera_link"/>
+    <child link="head_t265_camera_fisheye2_rgb_frame"/>
+  </joint>
+  <link name="head_t265_camera_fisheye2_rgb_frame"/>
+  <joint name="head_t265_camera_fisheye1_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="head_t265_camera_fisheye1_rgb_frame"/>
+    <child link="head_t265_camera_fisheye1_optical_frame"/>
+  </joint>
+  <link name="head_t265_camera_fisheye1_optical_frame"/>
+  <joint name="head_t265_camera_fisheye2_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="head_t265_camera_fisheye2_rgb_frame"/>
+    <child link="head_t265_camera_fisheye2_optical_frame"/>
+  </joint>
+  <link name="head_t265_camera_fisheye2_optical_frame"/>
+  <!-- camera depth joints and links -->
+  <joint name="head_t265_camera_gyro_optical_joint" type="fixed">
+    <origin rpy="0 3.14159265359 0" xyz="-0.0311 0 0.00655"/>
+    <parent link="head_t265_camera_link"/>
+    <child link="head_t265_camera_gyro_optical_frame"/>
+  </joint>
+  <link name="head_t265_camera_gyro_optical_frame"/>
+  <joint name="head_t265_camera_accel_optical_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="head_t265_camera_gyro_optical_frame"/>
+    <child link="head_t265_camera_accel_optical_frame"/>
+  </joint>
+  <link name="head_t265_camera_accel_optical_frame"/>
+  <!-- Load parameters to model's main link-->
+  <gazebo reference="head_t265_camera_fisheye1_rgb_frame">
+    <self_collide>0</self_collide>
+    <enable_wind>0</enable_wind>
+    <kinematic>0</kinematic>
+    <gravity>1</gravity>
+    <!--<mu>1</mu>-->
+    <mu2>1</mu2>
+    <fdir1>0 0 0</fdir1>
+    <!--<slip1>0</slip1>
+      <slip2>0</slip2>-->
+    <kp>1e+13</kp>
+    <kd>1</kd>
+    <!--<max_vel>0.01</max_vel>
+      <min_depth>0</min_depth>-->
+    <sensor name="head_t265_camerafisheye1" type="wideanglecamera">
+      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
+      <update_rate>30</update_rate>
+      <camera>
+        <horizontal_fov>1.95</horizontal_fov>
+        <image>
+          <width>848</width>
+          <height>800</height>
+        </image>
+        <clip>
+          <near>0.2</near>
+          <far>100</far>
+        </clip>
+        <lens>
+          <!-- type element is mandatory -->
+          <type>orthographic</type>
+          <!-- if it is set to `true` your horizontal FOV will remain as defined -->
+          <!-- othervise it depends on lens type and custom function, if there is one -->
+          <scale_to_hfov>true</scale_to_hfov>
+          <!-- clip everything that is outside of this angle -->
+          <!-- eye balled value for these cameras-->
+          <cutoff_angle>2.20</cutoff_angle>
+          <!-- resolution of the cubemap texture, the highter it is - the sharper is your image -->
+          <env_texture_size>1024</env_texture_size>
+        </lens>
+        <!--<distortion>-->
+        <!--<k1>-0.00040996368625201285</k1>-->
+        <!--<k2>0.03653175011277199</k2>-->
+        <!--<k3>0.0</k3>-->
+        <!--<p1>-0.034823670983314514</p1>-->
+        <!--<p2>0.0052825710736215115</p2>-->
+        <!--<center>0.5 0.5</center>-->
+        <!--</distortion>-->
+      </camera>
+      <plugin filename="libgazebo_ros_camera.so" name="head_t265_camerafisheye1">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>30.0</updateRate>
+        <cameraName>head_t265_camera/fisheye1</cameraName>
+        <imageTopicName>image_raw</imageTopicName>
+        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+        <frameName>head_t265_camera_fisheye1_optical_frame</frameName>
+        <hackBaseline>0.07</hackBaseline>
+        <distortionK1>-0.00040996368625201285</distortionK1>
+        <distortionK2>0.03653175011277199</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionP1>-0.034823670983314514</distortionP1>
+        <distortionP2>0.0052825710736215115</distortionP2>
+        <Cx>416.22</Cx>
+        <Cy>402.1</Cy>
+        <CxPrime>416.22</CxPrime>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <gazebo reference="head_t265_camera_fisheye2_rgb_frame">
+    <self_collide>0</self_collide>
+    <enable_wind>0</enable_wind>
+    <kinematic>0</kinematic>
+    <gravity>1</gravity>
+    <!--<mu>1</mu>-->
+    <mu2>1</mu2>
+    <fdir1>0 0 0</fdir1>
+    <!--<slip1>0</slip1>
+      <slip2>0</slip2>-->
+    <kp>1e+13</kp>
+    <kd>1</kd>
+    <!--<max_vel>0.01</max_vel>
+      <min_depth>0</min_depth>-->
+    <sensor name="head_t265_camerafisheye2" type="wideanglecamera">
+      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
+      <update_rate>30</update_rate>
+      <camera>
+        <horizontal_fov>2.84</horizontal_fov>
+        <image>
+          <width>848</width>
+          <height>800</height>
+        </image>
+        <clip>
+          <near>0.1</near>
+          <far>100</far>
+        </clip>
+        <lens>
+          <!-- type element is mandatory -->
+          <type>orthographic</type>
+          <!-- if it is set to `true` your horizontal FOV will remain as defined -->
+          <!-- othervise it depends on lens type and custom function, if there is one -->
+          <scale_to_hfov>true</scale_to_hfov>
+          <!-- clip everything that is outside of this angle -->
+          <!-- eye balled value for these cameras-->
+          <cutoff_angle>2.20</cutoff_angle>
+          <!-- resolution of the cubemap texture, the highter it is - the sharper is your image -->
+          <env_texture_size>1024</env_texture_size>
+        </lens>
+        <!--<distortion>-->
+        <!--<k1>-0.00040996368625201285</k1>-->
+        <!--<k2>0.03653175011277199</k2>-->
+        <!--<k3>0.0</k3>-->
+        <!--<p1>-0.034823670983314514</p1>-->
+        <!--<p2>0.0052825710736215115</p2>-->
+        <!--<center>0.5 0.5</center>-->
+        <!--</distortion>-->
+      </camera>
+      <always_on>1</always_on>
+      <plugin filename="libgazebo_ros_camera.so" name="head_t265_camerafisheye2">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>30.0</updateRate>
+        <cameraName>head_t265_camera/fisheye2</cameraName>
+        <imageTopicName>image_raw</imageTopicName>
+        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+        <frameName>head_t265_camera_fisheye2_optical_frame</frameName>
+        <hackBaseline>0.07</hackBaseline>
+        <distortionK1>-0.00040996368625201285</distortionK1>
+        <distortionK2>0.03653175011277199</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionP1>-0.034823670983314514</distortionP1>
+        <distortionP2>0.0052825710736215115</distortionP2>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <joint name="head_os1_sensor_mount_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.015 0.0 0.285"/>
+    <parent link="head_2_link"/>
+    <child link="head_os1_sensor"/>
+  </joint>
+  <link name="head_os1_sensor">
+    <inertial>
+      <mass value="0.33"/>
+      <origin rpy="0 0 0" xyz="0 0 0.0365"/>
+      <inertia ixx="0.000241148" ixy="0" ixz="0" iyy="0.000241148" iyz="0" izz="0.000264"/>
+    </inertial>
+    <collision name="base_collision">
+      <origin rpy="0 0 0" xyz="0 0 0.0365"/>
+      <geometry>
+        <cylinder length="0.073" radius="0.04"/>
+      </geometry>
+    </collision>
+    <visual name="base_visual">
+      <origin rpy="0 0 1.5707" xyz="0 0 0.0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/sensors/ouster/os1_64.dae"/>
+        <!-- <cylinder length="0.073" radius="0.04" /> -->
+      </geometry>
+    </visual>
+  </link>
+  <link name="os1_imu"/>
+  <link name="os1_lidar"/>
+  <joint name="head_os1_sensor_imu_link_joint" type="fixed">
+    <parent link="head_os1_sensor"/>
+    <child link="os1_imu"/>
+    <origin rpy="0 0 0" xyz="0.006253 -0.011775 0.007645"/>
+  </joint>
+  <gazebo reference="os1_imu">
+    </gazebo>
+  <joint name="head_os1_sensor_lidar_link_joint" type="fixed">
+    <parent link="head_os1_sensor"/>
+    <child link="os1_lidar"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.03618"/>
+  </joint>
+  <!-- Gazebo requires the ouster_gazebo_plugins package -->
+  <gazebo reference="head_os1_sensor">
+    <sensor name="head_os1_sensor-OS1-64" type="ray">
+      <pose>0 0 0 0 0 0</pose>
+      <visualize>false</visualize>
+      <update_rate>10</update_rate>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>220</samples>
+            <resolution>1</resolution>
+            <min_angle>-3.14159265359</min_angle>
+            <max_angle>3.14159265359</max_angle>
+          </horizontal>
+          <vertical>
+            <samples>64</samples>
+            <resolution>1</resolution>
+            <min_angle>-0.26</min_angle>
+            <max_angle>0.26</max_angle>
+          </vertical>
+        </scan>
+        <range>
+          <min>0.9</min>
+          <max>75.0</max>
+          <resolution>0.03</resolution>
+        </range>
+      </ray>
+      <plugin filename="libgazebo_ros_ouster_laser.so" name="gazebo_ros_laser_controller">
+        <topicName>/os1_cloud_node/points</topicName>
+        <frameName>os1_lidar</frameName>
+        <min_range>0.9</min_range>
+        <max_range>75.0</max_range>
+        <gaussianNoise>0.008</gaussianNoise>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <!-- IMU -->
+  <gazebo>
+    <plugin filename="libhector_gazebo_ros_imu.so" name="imu_controller">
+      <robotNamespace>/</robotNamespace>
+      <updateRate>100.0</updateRate>
+      <bodyName>os1_imu</bodyName>
+      <topicName>/os1_cloud_node/imu</topicName>
+      <accelDrift>0.005 0.005 0.005</accelDrift>
+      <accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
+      <rateDrift>0.005 0.005 0.005 </rateDrift>
+      <rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
+      <headingDrift>0.005</headingDrift>
+      <headingGaussianNoise>0.005</headingGaussianNoise>
+    </plugin>
+  </gazebo>
+  <transmission name="talos_trans">
+    <type>transmission_interface/HalfDifferentialTransmission</type>
+    <actuator name="head_1_motor">
+      <role>actuator1</role>
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <actuator name="head_2_motor">
+      <role>actuator2</role>
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="head_1_joint">
+      <role>joint1</role>
+      <offset>0.0</offset>
+      <mechanicalReduction>1.0</mechanicalReduction>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <joint name="head_2_joint">
+      <role>joint2</role>
+      <offset>0.0</offset>
+      <mechanicalReduction>2.0</mechanicalReduction>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <!--************************-->
+  <!--        SHOULDER        -->
+  <!--************************-->
+  <link name="arm_left_1_link">
+    <inertial>
+      <mass value="2.714567"/>
+      <inertia ixx="0.01237818683" ixy="-3.625571e-05" ixz="7.14472e-05" iyy="0.004191372" iyz="-0.00023639064" izz="0.01358161109"/>
+      <origin rpy="0 0 0" xyz="-0.0002762 0.10060223 0.04437419"/>
+    </inertial>
+    <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"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_left_1_joint" type="revolute">
+    <parent link="torso_2_link"/>
+    <child link="arm_left_1_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.1575 0.23200"/>
+    <axis xyz="0 0 1"/>
+    <!-- v1 TALOS has 1st arm left joint (-90,30) and right joint (-30,90) -->
+    <!-- v2 TALOS has 1st arm left joint (-90,50) and right joint (-50,90) -->
+    <limit effort="100.0" lower="-1.57079632679" upper="0.785398163397" velocity="2.7"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <!--        <safety_controller k_position="20"
+                          k_velocity="20"
+                          soft_lower_limit="${-90.00000 * deg_to_rad + arm_eps}"
+                          soft_upper_limit="${30.00000 * deg_to_rad - arm_eps}" /> -->
+  </joint>
+  <link name="arm_left_2_link">
+    <inertial>
+      <mass value="2.425086"/>
+      <inertia ixx="0.01297822101" ixy="1.208791e-05" ixz="-0.00320370433" iyy="0.01380870278" iyz="-0.00012770059" izz="0.00478856621"/>
+      <origin rpy="0 0 0" xyz="0.01438831 0.00092938 -0.08684268"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/arm/arm_2.STL" scale="1 1 1"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_left_2_joint" type="revolute">
+    <parent link="arm_left_1_link"/>
+    <child link="arm_left_2_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00493 0.1365 0.04673"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="0.00872664625997" upper="2.87106661953" velocity="3.66"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <!--        <safety_controller k_position="20"
+                          k_velocity="20"
+                          soft_lower_limit="${0.00000 * deg_to_rad + arm_eps}"
+                          soft_upper_limit="${165.00000 * deg_to_rad - arm_eps}" /> -->
+  </joint>
+  <link name="arm_left_3_link">
+    <inertial>
+      <mass value="2.208741"/>
+      <inertia ixx="0.00718831493" ixy="-0.00011563551" ixz="0.00075969733" iyy="0.00693528503" iyz="0.00042134743" izz="0.00388359007"/>
+      <origin rpy="0 0 0" xyz="0.0136084 0.01241619 -0.2499004"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/arm/arm_3.STL" scale="1 1 1"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_left_3_joint" type="revolute">
+    <parent link="arm_left_2_link"/>
+    <child link="arm_left_3_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="70.0" lower="-2.42600766027" upper="2.42600766027" velocity="4.58"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <!--       <safety_controller k_position="20"
+                          k_velocity="20"
+                          soft_lower_limit="${-140.0 * deg_to_rad + arm_eps}"
+                          soft_upper_limit="${140.0 * deg_to_rad - arm_eps}" /> -->
+  </joint>
+  <!--************************-->
+  <!--        ELBOW           -->
+  <!--************************-->
+  <link name="arm_left_4_link">
+    <inertial>
+      <mass value="0.877346"/>
+      <inertia ixx="0.00251207716" ixy="0.00010070062" ixz="-0.00032788214" iyy="0.00275869324" iyz="0.00040022227" izz="0.00120735959"/>
+      <origin rpy="0 0 0" xyz="-0.00742138 -0.0213895 -0.03312656"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/arm/arm_4.STL" scale="1 1 1"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_left_4_joint" type="revolute">
+    <parent link="arm_left_3_link"/>
+    <child link="arm_left_4_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 -0.27300"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="70.0" lower="-2.23402144255" upper="0.00349065850399" velocity="4.58"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <!--       <safety_controller k_position="20"
+                          k_velocity="20"
+                          soft_lower_limit="${-135.0 * deg_to_rad + arm_eps}"
+                          soft_upper_limit="${0.0 * deg_to_rad - arm_eps}" /> -->
+  </joint>
+  <gazebo reference="arm_left_1_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="arm_left_2_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="arm_left_3_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="arm_left_4_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="arm_left_1_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="arm_left_2_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="arm_left_3_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="arm_left_4_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <!--************************-->
+  <!--        WRIST           -->
+  <!--************************-->
+  <link name="arm_left_5_link">
+    <inertial>
+      <mass value="1.877923"/>
+      <inertia ixx="0.00349507283" ixy="1.265489e-05" ixz="1.038286e-05" iyy="0.00436830072" iyz="-9.736042e-05" izz="0.0022826337"/>
+      <origin rpy="0 0 0" xyz="-6e-05 0.003262 0.079625"/>
+    </inertial>
+    <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"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_left_5_joint" type="revolute">
+    <parent link="arm_left_4_link"/>
+    <child link="arm_left_5_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="-0.02000 0.00000 -0.26430"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="20.0" lower="-2.51327412287" upper="2.51327412287" velocity="1.95"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <!--       <safety_controller k_position="20"
+                          k_velocity="20"
+                          soft_lower_limit="${-145.00000 * deg_to_rad + wrist_eps}"
+                          soft_upper_limit="${145.00000 * deg_to_rad - wrist_eps}" /> -->
+  </joint>
+  <link name="arm_left_6_link">
+    <inertial>
+      <mass value="0.40931"/>
+      <inertia ixx="0.00010700023" ixy="-8.899e-08" ixz="-4.392e-08" iyy="0.00014101316" iyz="4.1702e-07" izz="0.00015398658"/>
+      <origin rpy="0 0 0" xyz="2.1e-05 -0.001965 -0.000591"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/arm/arm_6.STL" scale="1 1 1"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_left_6_joint" type="revolute">
+    <parent link="arm_left_5_link"/>
+    <child link="arm_left_6_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="8.0" lower="-1.37008346282" upper="1.37008346282" velocity="1.76"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <!--       <safety_controller k_position="20"
+                          k_velocity="20"
+                          soft_lower_limit="${-80.00000 * deg_to_rad + eps_radians}"
+                          soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
+  </joint>
+  <link name="arm_left_7_link">
+    <inertial>
+      <mass value="0.308441"/>
+      <inertia ixx="0.00030894317" ixy="-1.58687e-06" ixz="1.73418e-06" iyy="0.00021886181" iyz="-1.221167e-05" izz="0.00017519492"/>
+      <origin rpy="0 0 0" xyz="0.007525 0.001378 -0.02463"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/arm/arm_7.STL" scale="1 1 1"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_left_7_joint" type="revolute">
+    <parent link="arm_left_6_link"/>
+    <child link="arm_left_7_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="8.0" lower="-0.680678408278" upper="0.680678408278" velocity="1.76"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <!--       <safety_controller k_position="20"
+                          k_velocity="20"
+                          soft_lower_limit="${-40.00000 * deg_to_rad + eps_radians}"
+                          soft_upper_limit="${40.00000 * deg_to_rad - eps_radians}" /> -->
+  </joint>
+  <gazebo reference="arm_left_5_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="arm_left_6_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="arm_left_7_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="arm_left_5_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="arm_left_6_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="arm_left_7_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <transmission name="arm_left_5_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="arm_left_5_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="arm_left_5_joint">
+      <offset>0.0</offset>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="wrist_left_trans">
+    <type>transmission_interface/DifferentialTransmission</type>
+    <actuator name="arm_left_6_motor">
+      <role>actuator1</role>
+      <mechanicalReduction>-1.0</mechanicalReduction>
+    </actuator>
+    <actuator name="arm_left_7_motor">
+      <role>actuator2</role>
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="arm_left_6_joint">
+      <role>joint1</role>
+      <offset>0.0</offset>
+      <mechanicalReduction>-1.0</mechanicalReduction>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <joint name="arm_left_7_joint">
+      <role>joint2</role>
+      <offset>0.0</offset>
+      <mechanicalReduction>-1.0</mechanicalReduction>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="arm_left_1_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="arm_left_1_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="arm_left_1_joint">
+      <offset>0.0</offset>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="arm_left_2_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="arm_left_2_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="arm_left_2_joint">
+      <offset>0.0</offset>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="arm_left_3_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="arm_left_3_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="arm_left_3_joint">
+      <offset>0.0</offset>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="arm_left_4_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="arm_left_4_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="arm_left_4_joint">
+      <offset>0.0</offset>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <!--************************-->
+  <!--        SHOULDER        -->
+  <!--************************-->
+  <link name="arm_right_1_link">
+    <inertial>
+      <mass value="2.714567"/>
+      <inertia ixx="0.01237818683" ixy="3.625571e-05" ixz="7.14472e-05" iyy="0.004191372" iyz="0.00023639064" izz="0.01358161109"/>
+      <origin rpy="0 0 0" xyz="-0.0002762 -0.10060223 0.04437419"/>
+    </inertial>
+    <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"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_right_1_joint" type="revolute">
+    <parent link="torso_2_link"/>
+    <child link="arm_right_1_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.1575 0.23200"/>
+    <axis xyz="0 0 1"/>
+    <!-- v1 TALOS has 1st arm left joint (-90,30) and right joint (-30,90) -->
+    <!-- v2 TALOS has 1st arm left joint (-90,50) and right joint (-50,90) -->
+    <limit effort="100.0" lower="-0.785398163397" upper="1.57079632679" velocity="2.7"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <!--        <safety_controller k_position="20"
+                          k_velocity="20"
+                          soft_lower_limit="${-90.00000 * deg_to_rad + arm_eps}"
+                          soft_upper_limit="${30.00000 * deg_to_rad - arm_eps}" /> -->
+  </joint>
+  <link name="arm_right_2_link">
+    <inertial>
+      <mass value="2.425086"/>
+      <inertia ixx="0.01297822101" ixy="-1.208791e-05" ixz="-0.00320370433" iyy="0.01380870278" iyz="0.00012770059" izz="0.00478856621"/>
+      <origin rpy="0 0 0" xyz="0.01438831 -0.00092938 -0.08684268"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/arm/arm_2.STL" scale="1 -1 1"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_right_2_joint" type="revolute">
+    <parent link="arm_right_1_link"/>
+    <child link="arm_right_2_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00493 -0.1365 0.04673"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="-2.87106661953" upper="-0.00872664625997" velocity="3.66"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <!--        <safety_controller k_position="20"
+                          k_velocity="20"
+                          soft_lower_limit="${0.00000 * deg_to_rad + arm_eps}"
+                          soft_upper_limit="${165.00000 * deg_to_rad - arm_eps}" /> -->
+  </joint>
+  <link name="arm_right_3_link">
+    <inertial>
+      <mass value="2.208741"/>
+      <inertia ixx="0.00718831493" ixy="0.00011563551" ixz="0.00075969733" iyy="0.00693528503" iyz="-0.00042134743" izz="0.00388359007"/>
+      <origin rpy="0 0 0" xyz="0.0136084 -0.01241619 -0.2499004"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/arm/arm_3.STL" scale="1 -1 1"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_right_3_joint" type="revolute">
+    <parent link="arm_right_2_link"/>
+    <child link="arm_right_3_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="70.0" lower="-2.42600766027" upper="2.42600766027" velocity="4.58"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <!--       <safety_controller k_position="20"
+                          k_velocity="20"
+                          soft_lower_limit="${-140.0 * deg_to_rad + arm_eps}"
+                          soft_upper_limit="${140.0 * deg_to_rad - arm_eps}" /> -->
+  </joint>
+  <!--************************-->
+  <!--        ELBOW           -->
+  <!--************************-->
+  <link name="arm_right_4_link">
+    <inertial>
+      <mass value="0.877346"/>
+      <inertia ixx="0.00251207716" ixy="-0.00010070062" ixz="-0.00032788214" iyy="0.00275869324" iyz="-0.00040022227" izz="0.00120735959"/>
+      <origin rpy="0 0 0" xyz="-0.00742138 0.0213895 -0.03312656"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/arm/arm_4.STL" scale="1 -1 1"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_right_4_joint" type="revolute">
+    <parent link="arm_right_3_link"/>
+    <child link="arm_right_4_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 -0.27300"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="70.0" lower="-2.23402144255" upper="0.00349065850399" velocity="4.58"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <!--       <safety_controller k_position="20"
+                          k_velocity="20"
+                          soft_lower_limit="${-135.0 * deg_to_rad + arm_eps}"
+                          soft_upper_limit="${0.0 * deg_to_rad - arm_eps}" /> -->
+  </joint>
+  <gazebo reference="arm_right_1_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="arm_right_2_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="arm_right_3_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="arm_right_4_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="arm_right_1_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="arm_right_2_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="arm_right_3_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="arm_right_4_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <!--************************-->
+  <!--        WRIST           -->
+  <!--************************-->
+  <link name="arm_right_5_link">
+    <inertial>
+      <mass value="1.877923"/>
+      <inertia ixx="0.00349507283" ixy="-1.265489e-05" ixz="1.038286e-05" iyy="0.00436830072" iyz="9.736042e-05" izz="0.0022826337"/>
+      <origin rpy="0 0 0" xyz="-6e-05 -0.003262 0.079625"/>
+    </inertial>
+    <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"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_right_5_joint" type="revolute">
+    <parent link="arm_right_4_link"/>
+    <child link="arm_right_5_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="-0.02000 0.00000 -0.26430"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="20.0" lower="-2.51327412287" upper="2.51327412287" velocity="1.95"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <!--       <safety_controller k_position="20"
+                          k_velocity="20"
+                          soft_lower_limit="${-145.00000 * deg_to_rad + wrist_eps}"
+                          soft_upper_limit="${145.00000 * deg_to_rad - wrist_eps}" /> -->
+  </joint>
+  <link name="arm_right_6_link">
+    <inertial>
+      <mass value="0.40931"/>
+      <inertia ixx="0.00010700023" ixy="8.899e-08" ixz="-4.392e-08" iyy="0.00014101316" iyz="-4.1702e-07" izz="0.00015398658"/>
+      <origin rpy="0 0 0" xyz="2.1e-05 0.001965 -0.000591"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/arm/arm_6.STL" scale="1 -1 1"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_right_6_joint" type="revolute">
+    <parent link="arm_right_5_link"/>
+    <child link="arm_right_6_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="8.0" lower="-1.37008346282" upper="1.37008346282" velocity="1.76"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <!--       <safety_controller k_position="20"
+                          k_velocity="20"
+                          soft_lower_limit="${-80.00000 * deg_to_rad + eps_radians}"
+                          soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
+  </joint>
+  <link name="arm_right_7_link">
+    <inertial>
+      <mass value="0.308441"/>
+      <inertia ixx="0.00030894317" ixy="1.58687e-06" ixz="1.73418e-06" iyy="0.00021886181" iyz="1.221167e-05" izz="0.00017519492"/>
+      <origin rpy="0 0 0" xyz="0.007525 -0.001378 -0.02463"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/arm/arm_7.STL" scale="1 -1 1"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_right_7_joint" type="revolute">
+    <parent link="arm_right_6_link"/>
+    <child link="arm_right_7_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="8.0" lower="-0.680678408278" upper="0.680678408278" velocity="1.76"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <!--       <safety_controller k_position="20"
+                          k_velocity="20"
+                          soft_lower_limit="${-40.00000 * deg_to_rad + eps_radians}"
+                          soft_upper_limit="${40.00000 * deg_to_rad - eps_radians}" /> -->
+  </joint>
+  <gazebo reference="arm_right_5_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="arm_right_6_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="arm_right_7_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="arm_right_5_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="arm_right_6_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="arm_right_7_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <transmission name="arm_right_5_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="arm_right_5_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="arm_right_5_joint">
+      <offset>0.0</offset>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="wrist_right_trans">
+    <type>transmission_interface/DifferentialTransmission</type>
+    <actuator name="arm_right_6_motor">
+      <role>actuator1</role>
+      <mechanicalReduction>-1.0</mechanicalReduction>
+    </actuator>
+    <actuator name="arm_right_7_motor">
+      <role>actuator2</role>
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="arm_right_6_joint">
+      <role>joint1</role>
+      <offset>0.0</offset>
+      <mechanicalReduction>-1.0</mechanicalReduction>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <joint name="arm_right_7_joint">
+      <role>joint2</role>
+      <offset>0.0</offset>
+      <mechanicalReduction>-1.0</mechanicalReduction>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="arm_right_1_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="arm_right_1_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="arm_right_1_joint">
+      <offset>0.0</offset>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="arm_right_2_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="arm_right_2_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="arm_right_2_joint">
+      <offset>0.0</offset>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="arm_right_3_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="arm_right_3_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="arm_right_3_joint">
+      <offset>0.0</offset>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="arm_right_4_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="arm_right_4_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="arm_right_4_joint">
+      <offset>0.0</offset>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <!--************************-->
+  <!--        ft sensor       -->
+  <!--************************-->
+  <link name="wrist_right_ft_link">
+    <inertial>
+      <mass value="0.095"/>
+      <inertia ixx="1.108502e-05" ixy="9.9077e-07" ixz="-2.3811e-07" iyy="1.092725e-05" iyz="2.3137e-07" izz="1.898772e-05"/>
+      <origin rpy="0 0 0" xyz="-0.001001 0.000995 -0.008108"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.0157" radius="0.0225"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.0157" radius="0.0225"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="wrist_right_ft_joint" type="fixed">
+    <parent link="arm_right_7_link"/>
+    <child link="wrist_right_ft_link"/>
+    <origin rpy="0.0 0 -1.57079632679" xyz="0 0 -0.051"/>
+  </joint>
+  <!--***********************-->
+  <!--       FT TOOL         -->
+  <!--***********************-->
+  <link name="wrist_right_ft_tool_link">
+    <inertial>
+      <mass value="0.001"/>
+      <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
+      <geometry>
+        <cylinder length="0.00975" radius="0.025"/>
+      </geometry>
+      <material name="FlatBlack"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
+      <geometry>
+        <cylinder length="0.00975" radius="0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="wrist_right_tool_joint" type="fixed">
+    <parent link="wrist_right_ft_link"/>
+    <child link="wrist_right_ft_tool_link"/>
+    <origin rpy="0 0 -1.57079632679" xyz="0 0 -0.012725"/>
+  </joint>
+  <!--************************-->
+  <!--        ft sensor       -->
+  <!--************************-->
+  <link name="wrist_left_ft_link">
+    <inertial>
+      <mass value="0.095"/>
+      <inertia ixx="1.108502e-05" ixy="9.9077e-07" ixz="-2.3811e-07" iyy="1.092725e-05" iyz="2.3137e-07" izz="1.898772e-05"/>
+      <origin rpy="0 0 0" xyz="-0.001001 0.000995 -0.008108"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.0157" radius="0.0225"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.0157" radius="0.0225"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="wrist_left_ft_joint" type="fixed">
+    <parent link="arm_left_7_link"/>
+    <child link="wrist_left_ft_link"/>
+    <origin rpy="0.0 0 -4.71238898038" xyz="0 0 -0.051"/>
+  </joint>
+  <!--***********************-->
+  <!--       FT TOOL         -->
+  <!--***********************-->
+  <link name="wrist_left_ft_tool_link">
+    <inertial>
+      <mass value="0.001"/>
+      <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
+      <geometry>
+        <cylinder length="0.00975" radius="0.025"/>
+      </geometry>
+      <material name="FlatBlack"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
+      <geometry>
+        <cylinder length="0.00975" radius="0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="wrist_left_tool_joint" type="fixed">
+    <parent link="wrist_left_ft_link"/>
+    <child link="wrist_left_ft_tool_link"/>
+    <origin rpy="0 0 4.71238898038" xyz="0 0 -0.012725"/>
+  </joint>
+  <link name="gripper_left_base_link">
+    <inertial>
+      <mass value="0.637534"/>
+      <inertia ixx="0.0005849692" ixy="4.37159e-06" ixz="-1.2589e-05" iyy="0.00067076439" iyz="2.824361e-05" izz="0.00085526645"/>
+      <origin rpy="0 0 0" xyz="2.8e-05 0.005394 -0.023654"/>
+    </inertial>
+    <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"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="gripper_left_base_link_joint" type="fixed">
+    <parent link="wrist_left_ft_tool_link"/>
+    <child link="gripper_left_base_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.02875"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <link name="gripper_left_motor_double_link">
+    <inertial>
+      <mass value="0.134356"/>
+      <inertia ixx="0.00013479919" ixy="6.184429e-05" ixz="-3.0798e-05" iyy="0.00019602207" iyz="4.707722e-05" izz="0.00024217879"/>
+      <origin rpy="0 0 0" xyz="0.019654 0.018572 -0.011998"/>
+    </inertial>
+    <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"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="gripper_left_joint" type="revolute">
+    <parent link="gripper_left_base_link"/>
+    <child link="gripper_left_motor_double_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.02025 -0.03"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1.0" lower="-0.959931088597" upper="0.0" velocity="1.0"/>
+    <dynamics damping="1.0" friction="1.0"/>
+  </joint>
+  <link name="gripper_left_inner_double_link">
+    <inertial>
+      <mass value="0.087986"/>
+      <inertia ixx="7.410642e-05" ixy="-7.4773e-07" ixz="1.01536e-06" iyy="0.0001279418" iyz="2.504083e-05" izz="0.00010495175"/>
+      <origin rpy="0 0 0" xyz="-0.013283 0.036852 -0.023153"/>
+    </inertial>
+    <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"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="gripper_left_inner_double_joint" type="revolute">
+    <parent link="gripper_left_base_link"/>
+    <child link="gripper_left_inner_double_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00525 -0.05598"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
+    <mimic joint="gripper_left_joint" multiplier="1.0" offset="0.0"/>
+  </joint>
+  <link name="gripper_left_fingertip_1_link">
+    <inertial>
+      <mass value="0.026301"/>
+      <inertia ixx="8e-06" ixy="0.0" ixz="0.0" iyy="8.69179e-06" iyz="-1.43612e-06" izz="2.3082e-06"/>
+      <origin rpy="0 0 0" xyz="0 0.004604 -0.002537"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="gripper_left_fingertip_1_joint" type="revolute">
+    <parent link="gripper_left_inner_double_link"/>
+    <child link="gripper_left_fingertip_1_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.03200 0.04589 -0.06553"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+    <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
+  </joint>
+  <link name="gripper_left_fingertip_2_link">
+    <inertial>
+      <mass value="0.026301"/>
+      <inertia ixx="8e-06" ixy="0.0" ixz="0.0" iyy="8.69179e-06" iyz="-1.43612e-06" izz="2.3082e-06"/>
+      <origin rpy="0 0 0" xyz="0 0.004604 -0.002537"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="gripper_left_fingertip_2_joint" type="revolute">
+    <parent link="gripper_left_inner_double_link"/>
+    <child link="gripper_left_fingertip_2_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="-0.03200 0.04589 -0.06553"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+    <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
+  </joint>
+  <link name="gripper_left_motor_single_link">
+    <inertial>
+      <mass value="0.107923"/>
+      <inertia ixx="8.973662e-05" ixy="-4.082027e-05" ixz="-1.927099e-05" iyy="0.00011957255" iyz="-2.873284e-05" izz="0.00015469079"/>
+      <origin rpy="0 0 0" xyz="0.025237 -0.011231 -0.008158"/>
+    </inertial>
+    <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"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="gripper_left_motor_single_joint" type="revolute">
+    <parent link="gripper_left_base_link"/>
+    <child link="gripper_left_motor_single_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.02025 -0.03000"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+    <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
+  </joint>
+  <link name="gripper_left_inner_single_link">
+    <inertial>
+      <mass value="0.047177"/>
+      <inertia ixx="4.199818e-05" ixy="1.3418e-07" ixz="1.9358e-07" iyy="3.231338e-05" iyz="-1.509136e-05" izz="2.168842e-05"/>
+      <origin rpy="0 0 0" xyz="0 -0.034565 -0.021412"/>
+    </inertial>
+    <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"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="gripper_left_inner_single_joint" type="revolute">
+    <parent link="gripper_left_base_link"/>
+    <child link="gripper_left_inner_single_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.00525 -0.05598"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+    <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
+  </joint>
+  <link name="gripper_left_fingertip_3_link">
+    <inertial>
+      <mass value="0.026301"/>
+      <inertia ixx="8e-06" ixy="0.0" ixz="0.0" iyy="8.69179e-06" iyz="-1.43612e-06" izz="2.3082e-06"/>
+      <origin rpy="0 0 0" xyz="0 0.004604 -0.002537"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="gripper_left_fingertip_3_joint" type="revolute">
+    <parent link="gripper_left_inner_single_link"/>
+    <child link="gripper_left_fingertip_3_link"/>
+    <origin rpy="0.0 0.0 3.14159265359" xyz="0.00000 -0.04589 -0.06553"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+    <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
+  </joint>
+  <gazebo>
+    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_inner_double_joint">
+      <joint>gripper_left_joint</joint>
+      <mimicJoint>gripper_left_inner_double_joint</mimicJoint>
+      <multiplier>1.0</multiplier>
+      <offset>0.0</offset>
+      <hasPID/>
+    </plugin>
+    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_1_joint">
+      <joint>gripper_left_joint</joint>
+      <mimicJoint>gripper_left_fingertip_1_joint</mimicJoint>
+      <multiplier>-1.0</multiplier>
+      <offset>0.0</offset>
+      <hasPID/>
+    </plugin>
+    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_2_joint">
+      <joint>gripper_left_joint</joint>
+      <mimicJoint>gripper_left_fingertip_2_joint</mimicJoint>
+      <multiplier>-1.0</multiplier>
+      <offset>0.0</offset>
+      <hasPID/>
+    </plugin>
+    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_inner_single_joint">
+      <joint>gripper_left_joint</joint>
+      <mimicJoint>gripper_left_inner_single_joint</mimicJoint>
+      <multiplier>-1.0</multiplier>
+      <offset>0.0</offset>
+      <hasPID/>
+    </plugin>
+    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_motor_single_joint">
+      <joint>gripper_left_joint</joint>
+      <mimicJoint>gripper_left_motor_single_joint</mimicJoint>
+      <multiplier>-1.0</multiplier>
+      <offset>0.0</offset>
+      <hasPID/>
+    </plugin>
+    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_3_joint">
+      <joint>gripper_left_joint</joint>
+      <mimicJoint>gripper_left_fingertip_3_joint</mimicJoint>
+      <multiplier>-1.0</multiplier>
+      <offset>0.0</offset>
+      <hasPID/>
+    </plugin>
+  </gazebo>
+  <!--     <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
+      <actuatedJoint>${name}_joint</actuatedJoint>
+      <virtualJoint>
+        <name>${name}_inner_double_joint</name>
+        <scale_factor>1.0</scale_factor>
+      </virtualJoint> -->
+  <!--       <virtualJoint>
+        <name>${name}_fingertip_1_joint</name>
+        <scale_factor>-1.0</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>${name}_fingertip_2_joint</name>
+        <scale_factor>-1.0</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>${name}_motor_single_joint</name>
+        <scale_factor>1.0</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>${name}_fingertip_3_joint</name>
+        <scale_factor>-1.0</scale_factor>
+      </virtualJoint> -->
+  <!--     </plugin> -->
+  <gazebo reference="gripper_left_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <gazebo reference="gripper_left_inner_double_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <gazebo reference="gripper_left_fingertip_1_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <gazebo reference="gripper_left_fingertip_2_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <gazebo reference="gripper_left_motor_single_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <gazebo reference="gripper_left_fingertip_3_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <gazebo reference="gripper_left_base_link">
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="gripper_left_motor_double_link">
+    <material>Gazebo/Orange</material>
+  </gazebo>
+  <gazebo reference="gripper_left_inner_double_link">
+    <material>Gazebo/Orange</material>
+  </gazebo>
+  <gazebo reference="gripper_left_fingertip_1_link">
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="gripper_left_motor_single_link">
+    <material>Gazebo/Orange</material>
+  </gazebo>
+  <gazebo reference="gripper_left_inner_single_link">
+    <material>Gazebo/Orange</material>
+  </gazebo>
+  <gazebo reference="gripper_left_fingertip_2_link">
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="gripper_left_fingertip_3_link">
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <transmission name="gripper_left_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="gripper_left_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="gripper_left_joint">
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <!-- virtual mimic joints -->
+  <!--         <xacro:gripper_virtual_transmission name="${name}_inner_double" reduction="1.0"/>
+        <xacro:gripper_virtual_transmission name="${name}_fingertip_1" reduction="1.0"/>
+        <xacro:gripper_virtual_transmission name="${name}_fingertip_2" reduction="1.0"/>
+        <xacro:gripper_virtual_transmission name="${name}_inner_single" reduction="1.0"/>
+        <xacro:gripper_virtual_transmission name="${name}_motor_single" reduction="1.0"/>
+        <xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/> -->
+  <link name="gripper_right_base_link">
+    <inertial>
+      <mass value="0.637534"/>
+      <inertia ixx="0.0005849692" ixy="4.37159e-06" ixz="-1.2589e-05" iyy="0.00067076439" iyz="2.824361e-05" izz="0.00085526645"/>
+      <origin rpy="0 0 0" xyz="2.8e-05 0.005394 -0.023654"/>
+    </inertial>
+    <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"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="gripper_right_base_link_joint" type="fixed">
+    <parent link="wrist_right_ft_tool_link"/>
+    <child link="gripper_right_base_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.02875"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <link name="gripper_right_motor_double_link">
+    <inertial>
+      <mass value="0.134356"/>
+      <inertia ixx="0.00013479919" ixy="6.184429e-05" ixz="-3.0798e-05" iyy="0.00019602207" iyz="4.707722e-05" izz="0.00024217879"/>
+      <origin rpy="0 0 0" xyz="0.019654 0.018572 -0.011998"/>
+    </inertial>
+    <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"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="gripper_right_joint" type="revolute">
+    <parent link="gripper_right_base_link"/>
+    <child link="gripper_right_motor_double_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.02025 -0.03"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1.0" lower="-0.959931088597" upper="0.0" velocity="1.0"/>
+    <dynamics damping="1.0" friction="1.0"/>
+  </joint>
+  <link name="gripper_right_inner_double_link">
+    <inertial>
+      <mass value="0.087986"/>
+      <inertia ixx="7.410642e-05" ixy="-7.4773e-07" ixz="1.01536e-06" iyy="0.0001279418" iyz="2.504083e-05" izz="0.00010495175"/>
+      <origin rpy="0 0 0" xyz="-0.013283 0.036852 -0.023153"/>
+    </inertial>
+    <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"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="gripper_right_inner_double_joint" type="revolute">
+    <parent link="gripper_right_base_link"/>
+    <child link="gripper_right_inner_double_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00525 -0.05598"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
+    <mimic joint="gripper_right_joint" multiplier="1.0" offset="0.0"/>
+  </joint>
+  <link name="gripper_right_fingertip_1_link">
+    <inertial>
+      <mass value="0.026301"/>
+      <inertia ixx="8e-06" ixy="0.0" ixz="0.0" iyy="8.69179e-06" iyz="-1.43612e-06" izz="2.3082e-06"/>
+      <origin rpy="0 0 0" xyz="0 0.004604 -0.002537"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="gripper_right_fingertip_1_joint" type="revolute">
+    <parent link="gripper_right_inner_double_link"/>
+    <child link="gripper_right_fingertip_1_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.03200 0.04589 -0.06553"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+    <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
+  </joint>
+  <link name="gripper_right_fingertip_2_link">
+    <inertial>
+      <mass value="0.026301"/>
+      <inertia ixx="8e-06" ixy="0.0" ixz="0.0" iyy="8.69179e-06" iyz="-1.43612e-06" izz="2.3082e-06"/>
+      <origin rpy="0 0 0" xyz="0 0.004604 -0.002537"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="gripper_right_fingertip_2_joint" type="revolute">
+    <parent link="gripper_right_inner_double_link"/>
+    <child link="gripper_right_fingertip_2_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="-0.03200 0.04589 -0.06553"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+    <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
+  </joint>
+  <link name="gripper_right_motor_single_link">
+    <inertial>
+      <mass value="0.107923"/>
+      <inertia ixx="8.973662e-05" ixy="-4.082027e-05" ixz="-1.927099e-05" iyy="0.00011957255" iyz="-2.873284e-05" izz="0.00015469079"/>
+      <origin rpy="0 0 0" xyz="0.025237 -0.011231 -0.008158"/>
+    </inertial>
+    <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"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="gripper_right_motor_single_joint" type="revolute">
+    <parent link="gripper_right_base_link"/>
+    <child link="gripper_right_motor_single_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.02025 -0.03000"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+    <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
+  </joint>
+  <link name="gripper_right_inner_single_link">
+    <inertial>
+      <mass value="0.047177"/>
+      <inertia ixx="4.199818e-05" ixy="1.3418e-07" ixz="1.9358e-07" iyy="3.231338e-05" iyz="-1.509136e-05" izz="2.168842e-05"/>
+      <origin rpy="0 0 0" xyz="0 -0.034565 -0.021412"/>
+    </inertial>
+    <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"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="gripper_right_inner_single_joint" type="revolute">
+    <parent link="gripper_right_base_link"/>
+    <child link="gripper_right_inner_single_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.00525 -0.05598"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+    <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
+  </joint>
+  <link name="gripper_right_fingertip_3_link">
+    <inertial>
+      <mass value="0.026301"/>
+      <inertia ixx="8e-06" ixy="0.0" ixz="0.0" iyy="8.69179e-06" iyz="-1.43612e-06" izz="2.3082e-06"/>
+      <origin rpy="0 0 0" xyz="0 0.004604 -0.002537"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="gripper_right_fingertip_3_joint" type="revolute">
+    <parent link="gripper_right_inner_single_link"/>
+    <child link="gripper_right_fingertip_3_link"/>
+    <origin rpy="0.0 0.0 3.14159265359" xyz="0.00000 -0.04589 -0.06553"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+    <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
+  </joint>
+  <gazebo>
+    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_inner_double_joint">
+      <joint>gripper_right_joint</joint>
+      <mimicJoint>gripper_right_inner_double_joint</mimicJoint>
+      <multiplier>1.0</multiplier>
+      <offset>0.0</offset>
+      <hasPID/>
+    </plugin>
+    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_1_joint">
+      <joint>gripper_right_joint</joint>
+      <mimicJoint>gripper_right_fingertip_1_joint</mimicJoint>
+      <multiplier>-1.0</multiplier>
+      <offset>0.0</offset>
+      <hasPID/>
+    </plugin>
+    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_2_joint">
+      <joint>gripper_right_joint</joint>
+      <mimicJoint>gripper_right_fingertip_2_joint</mimicJoint>
+      <multiplier>-1.0</multiplier>
+      <offset>0.0</offset>
+      <hasPID/>
+    </plugin>
+    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_inner_single_joint">
+      <joint>gripper_right_joint</joint>
+      <mimicJoint>gripper_right_inner_single_joint</mimicJoint>
+      <multiplier>-1.0</multiplier>
+      <offset>0.0</offset>
+      <hasPID/>
+    </plugin>
+    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_motor_single_joint">
+      <joint>gripper_right_joint</joint>
+      <mimicJoint>gripper_right_motor_single_joint</mimicJoint>
+      <multiplier>-1.0</multiplier>
+      <offset>0.0</offset>
+      <hasPID/>
+    </plugin>
+    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_3_joint">
+      <joint>gripper_right_joint</joint>
+      <mimicJoint>gripper_right_fingertip_3_joint</mimicJoint>
+      <multiplier>-1.0</multiplier>
+      <offset>0.0</offset>
+      <hasPID/>
+    </plugin>
+  </gazebo>
+  <!--     <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
+      <actuatedJoint>${name}_joint</actuatedJoint>
+      <virtualJoint>
+        <name>${name}_inner_double_joint</name>
+        <scale_factor>1.0</scale_factor>
+      </virtualJoint> -->
+  <!--       <virtualJoint>
+        <name>${name}_fingertip_1_joint</name>
+        <scale_factor>-1.0</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>${name}_fingertip_2_joint</name>
+        <scale_factor>-1.0</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>${name}_motor_single_joint</name>
+        <scale_factor>1.0</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>${name}_fingertip_3_joint</name>
+        <scale_factor>-1.0</scale_factor>
+      </virtualJoint> -->
+  <!--     </plugin> -->
+  <gazebo reference="gripper_right_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <gazebo reference="gripper_right_inner_double_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <gazebo reference="gripper_right_fingertip_1_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <gazebo reference="gripper_right_fingertip_2_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <gazebo reference="gripper_right_motor_single_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <gazebo reference="gripper_right_fingertip_3_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <gazebo reference="gripper_right_base_link">
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="gripper_right_motor_double_link">
+    <material>Gazebo/Orange</material>
+  </gazebo>
+  <gazebo reference="gripper_right_inner_double_link">
+    <material>Gazebo/Orange</material>
+  </gazebo>
+  <gazebo reference="gripper_right_fingertip_1_link">
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="gripper_right_motor_single_link">
+    <material>Gazebo/Orange</material>
+  </gazebo>
+  <gazebo reference="gripper_right_inner_single_link">
+    <material>Gazebo/Orange</material>
+  </gazebo>
+  <gazebo reference="gripper_right_fingertip_2_link">
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="gripper_right_fingertip_3_link">
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <transmission name="gripper_right_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="gripper_right_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="gripper_right_joint">
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <!-- virtual mimic joints -->
+  <!--         <xacro:gripper_virtual_transmission name="${name}_inner_double" reduction="1.0"/>
+        <xacro:gripper_virtual_transmission name="${name}_fingertip_1" reduction="1.0"/>
+        <xacro:gripper_virtual_transmission name="${name}_fingertip_2" reduction="1.0"/>
+        <xacro:gripper_virtual_transmission name="${name}_inner_single" reduction="1.0"/>
+        <xacro:gripper_virtual_transmission name="${name}_motor_single" reduction="1.0"/>
+        <xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/> -->
+  <!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
+  <link name="leg_left_1_link">
+    <inertial>
+      <mass value="1.845591"/>
+      <inertia ixx="0.00541533521" ixy="-0.00015428714" ixz="0.00131612622" iyy="0.00848624936" iyz="-1.906103e-05" izz="0.00474512541"/>
+      <origin rpy="0 0 0" xyz="0.02247868 0.00106736 0.03130665"/>
+    </inertial>
+    <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 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 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="leg_left_1_joint" type="revolute">
+    <parent link="base_link"/>
+    <child link="leg_left_1_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="-0.02 0.085 -0.27105"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="100" lower="-0.349065850399" upper="1.57079632679" velocity="3.87"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
+  <link name="leg_left_2_link">
+    <inertial>
+      <mass value="1.490952"/>
+      <inertia ixx="0.00497152259" ixy="-0.0001311358" ixz="-4.86648e-06" iyy="0.00190550993" iyz="4.585381e-05" izz="0.00474289754"/>
+      <origin rpy="0 0 0" xyz="-0.00704703 0.02592659 0.00273385"/>
+    </inertial>
+    <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 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 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="leg_left_2_joint" type="revolute">
+    <parent link="leg_left_1_link"/>
+    <child link="leg_left_2_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="160" lower="-0.5236" upper="0.5236" velocity="5.8"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
+  <link name="leg_left_3_link">
+    <inertial>
+      <mass value="6.239871"/>
+      <inertia ixx="0.15337403915" ixy="0.00068913396" ixz="0.00168034366" iyy="0.13648139346" iyz="-0.02187635445" izz="0.03001594885"/>
+      <origin rpy="0 0 0" xyz="0.0058523 0.0636967 -0.18339564"/>
+    </inertial>
+    <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 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 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="leg_left_3_joint" type="revolute">
+    <parent link="leg_left_2_link"/>
+    <child link="leg_left_3_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="160" lower="-2.095" upper="0.7" velocity="5.8"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
+  <link name="leg_left_4_link">
+    <inertial>
+      <mass value="3.759951"/>
+      <inertia ixx="0.04287677484" ixy="0.00043705397" ixz="0.00078292368" iyy="0.03598906971" iyz="0.00037717694" izz="0.01364791564"/>
+      <origin rpy="0 0 0" xyz="0.01317717 0.02917508 -0.11594602"/>
+    </inertial>
+    <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 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 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="leg_left_4_joint" type="revolute">
+    <parent link="leg_left_3_link"/>
+    <child link="leg_left_4_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.38000"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="300" lower="0" upper="2.618" velocity="7"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
+  <link name="leg_left_5_link">
+    <inertial>
+      <mass value="1.29096"/>
+      <inertia ixx="0.01143430819" ixy="0.00096978273" ixz="0.00039976581" iyy="0.00888974312" iyz="-0.00277808667" izz="0.00506373875"/>
+      <origin rpy="0 0 0" xyz="-0.01400838 0.04180064 0.03820186"/>
+    </inertial>
+    <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 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 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="leg_left_5_joint" type="revolute">
+    <parent link="leg_left_4_link"/>
+    <child link="leg_left_5_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.32500"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="160" lower="-1.27" upper="0.68" velocity="5.8"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
+  <link name="leg_left_6_link">
+    <inertial>
+      <mass value="1.597773"/>
+      <inertia ixx="0.00439027267" ixy="-6.743674e-05" ixz="0.00113816363" iyy="0.00743063029" iyz="3.943143e-05" izz="0.00550906699"/>
+      <origin rpy="0 0 0" xyz="-0.02034668 -0.00051514 -0.05987428"/>
+    </inertial>
+    <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 1"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.1"/>
+      <geometry>
+        <box size="0.21 0.13 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="leg_left_6_joint" type="revolute">
+    <parent link="leg_left_5_link"/>
+    <child link="leg_left_6_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100" lower="-0.5236" upper="0.5236" velocity="4.8"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- from here is copy paste -->
+  <link name="left_sole_link">
+    <inertial>
+      <mass value="0.01"/>
+      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </inertial>
+  </link>
+  <joint name="leg_left_sole_fix_joint" type="fixed">
+    <parent link="leg_left_6_link"/>
+    <child link="left_sole_link"/>
+    <origin rpy="0 0 0" xyz="0.00 0.00 -0.107"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <transmission name="leg_left_1_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="leg_left_1_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="leg_left_1_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="leg_left_2_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="leg_left_2_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="leg_left_2_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="leg_left_3_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="leg_left_3_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="leg_left_3_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="leg_left_4_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="leg_left_4_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="leg_left_4_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="leg_left_5_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="leg_left_5_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="leg_left_5_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="leg_left_6_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="leg_left_6_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="leg_left_6_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <gazebo reference="leg_left_1_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="leg_left_2_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="leg_left_3_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="leg_left_4_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="leg_left_5_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <!-- contact model for foot surface -->
+  <gazebo reference="leg_left_6_link">
+    <kp>1000000.0</kp>
+    <kd>100.0</kd>
+    <mu1>1.0</mu1>
+    <mu2>1.0</mu2>
+    <fdir1>1 0 0</fdir1>
+    <maxVel>1.0</maxVel>
+    <minDepth>0.00</minDepth>
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="leg_left_1_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="leg_left_2_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="leg_left_3_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="leg_left_4_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="leg_left_5_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="leg_left_6_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <gazebo reference="leg_left_1_link">
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="leg_left_2_link">
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="leg_left_3_link">
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="leg_left_4_link">
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="leg_left_5_link">
+    <material>Gazebo/White</material>
+  </gazebo>
+  <gazebo reference="leg_left_6_link">
+    <material>Gazebo/White</material>
+  </gazebo>
+  <!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
+  <link name="leg_right_1_link">
+    <inertial>
+      <mass value="1.845591"/>
+      <inertia ixx="0.00541533521" ixy="0.00015428714" ixz="0.00131612622" iyy="0.00848624936" iyz="1.906103e-05" izz="0.00474512541"/>
+      <origin rpy="0 0 0" xyz="0.02247868 -0.00106736 0.03130665"/>
+    </inertial>
+    <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 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 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="leg_right_1_joint" type="revolute">
+    <parent link="base_link"/>
+    <child link="leg_right_1_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="-0.02 -0.085 -0.27105"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="100" lower="-1.57079632679" upper="0.349065850399" velocity="3.87"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
+  <link name="leg_right_2_link">
+    <inertial>
+      <mass value="1.490952"/>
+      <inertia ixx="0.00497152259" ixy="0.0001311358" ixz="-4.86648e-06" iyy="0.00190550993" iyz="-4.585381e-05" izz="0.00474289754"/>
+      <origin rpy="0 0 0" xyz="-0.00704703 -0.02592659 0.00273385"/>
+    </inertial>
+    <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 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 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="leg_right_2_joint" type="revolute">
+    <parent link="leg_right_1_link"/>
+    <child link="leg_right_2_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="160" lower="-0.5236" upper="0.5236" velocity="5.8"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
+  <link name="leg_right_3_link">
+    <inertial>
+      <mass value="6.239871"/>
+      <inertia ixx="0.15337403915" ixy="-0.00068913396" ixz="0.00168034366" iyy="0.13648139346" iyz="0.02187635445" izz="0.03001594885"/>
+      <origin rpy="0 0 0" xyz="0.0058523 -0.0636967 -0.18339564"/>
+    </inertial>
+    <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 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 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="leg_right_3_joint" type="revolute">
+    <parent link="leg_right_2_link"/>
+    <child link="leg_right_3_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="160" lower="-2.095" upper="0.7" velocity="5.8"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
+  <link name="leg_right_4_link">
+    <inertial>
+      <mass value="3.759951"/>
+      <inertia ixx="0.04287677484" ixy="-0.00043705397" ixz="0.00078292368" iyy="0.03598906971" iyz="-0.00037717694" izz="0.01364791564"/>
+      <origin rpy="0 0 0" xyz="0.01317717 -0.02917508 -0.11594602"/>
+    </inertial>
+    <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 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 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="leg_right_4_joint" type="revolute">
+    <parent link="leg_right_3_link"/>
+    <child link="leg_right_4_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.38000"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="300" lower="0" upper="2.618" velocity="7"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
+  <link name="leg_right_5_link">
+    <inertial>
+      <mass value="1.29096"/>
+      <inertia ixx="0.01143430819" ixy="-0.00096978273" ixz="0.00039976581" iyy="0.00888974312" iyz="0.00277808667" izz="0.00506373875"/>
+      <origin rpy="0 0 0" xyz="-0.01400838 -0.04180064 0.03820186"/>
+    </inertial>
+    <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 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 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="leg_right_5_joint" type="revolute">
+    <parent link="leg_right_4_link"/>
+    <child link="leg_right_5_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.32500"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="160" lower="-1.27" upper="0.68" velocity="5.8"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
+  <link name="leg_right_6_link">
+    <inertial>
+      <mass value="1.597773"/>
+      <inertia ixx="0.00439027267" ixy="6.743674e-05" ixz="0.00113816363" iyy="0.00743063029" iyz="-3.943143e-05" izz="0.00550906699"/>
+      <origin rpy="0 0 0" xyz="-0.02034668 0.00051514 -0.05987428"/>
+    </inertial>
+    <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 1"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.1"/>
+      <geometry>
+        <box size="0.21 0.13 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="leg_right_6_joint" type="revolute">
+    <parent link="leg_right_5_link"/>
+    <child link="leg_right_6_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100" lower="-0.5236" upper="0.5236" velocity="4.8"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- from here is copy paste -->
+  <link name="right_sole_link">
+    <inertial>
+      <mass value="0.01"/>
+      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </inertial>
+  </link>
+  <joint name="leg_right_sole_fix_joint" type="fixed">
+    <parent link="leg_right_6_link"/>
+    <child link="right_sole_link"/>
+    <origin rpy="0 0 0" xyz="0.00 0.00 -0.107"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <transmission name="leg_right_1_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="leg_right_1_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="leg_right_1_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="leg_right_2_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="leg_right_2_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="leg_right_2_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="leg_right_3_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="leg_right_3_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="leg_right_3_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="leg_right_4_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="leg_right_4_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="leg_right_4_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="leg_right_5_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="leg_right_5_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="leg_right_5_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="leg_right_6_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="leg_right_6_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="leg_right_6_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <gazebo reference="leg_right_1_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="leg_right_2_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="leg_right_3_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="leg_right_4_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="leg_right_5_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <!-- contact model for foot surface -->
+  <gazebo reference="leg_right_6_link">
+    <kp>1000000.0</kp>
+    <kd>100.0</kd>
+    <mu1>1.0</mu1>
+    <mu2>1.0</mu2>
+    <fdir1>1 0 0</fdir1>
+    <maxVel>1.0</maxVel>
+    <minDepth>0.00</minDepth>
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="leg_right_1_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="leg_right_2_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="leg_right_3_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="leg_right_4_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="leg_right_5_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="leg_right_6_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <gazebo reference="leg_right_1_link">
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="leg_right_2_link">
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="leg_right_3_link">
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="leg_right_4_link">
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="leg_right_5_link">
+    <material>Gazebo/White</material>
+  </gazebo>
+  <gazebo reference="leg_right_6_link">
+    <material>Gazebo/White</material>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
+      <ns/>
+      <robotSimType>pal_hardware_gazebo/PalHardwareGazebo</robotSimType>
+      <robotNamespace/>
+      <controlPeriod>0.001</controlPeriod>
+    </plugin>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libgazebo_world_odometry.so" name="gazebo_ros_odometry">
+      <frameName>base_link</frameName>
+      <topicName>floating_base_pose_simulated</topicName>
+    </plugin>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
+      <bodyName>base_link</bodyName>
+      <topicName>wrench</topicName>
+    </plugin>
+  </gazebo>
+  <gazebo reference="imu_link">
+    <!-- this is expected to be reparented to pelvis with appropriate offset
+         when imu_link is reduced by fixed joint reduction -->
+    <!-- todo: this is working with gazebo 1.4, need to write a unit test -->
+    <sensor name="imu_sensor" type="imu">
+      <always_on>1</always_on>
+      <update_rate>1000.0</update_rate>
+      <imu>
+        <noise>
+          <type>gaussian</type>
+          <!-- Noise parameters from Boston Dynamics
+               (http://gazebosim.org/wiki/Sensor_noise):
+                 rates (rad/s): mean=0, stddev=2e-4
+                 accels (m/s/s): mean=0, stddev=1.7e-2
+                 rate bias (rad/s): 5e-6 - 1e-5
+                 accel bias (m/s/s): 1e-1
+               Experimentally, simulation provide rates with noise of
+               about 1e-3 rad/s and accels with noise of about 1e-1 m/s/s.
+               So we don't expect to see the noise unless number of inner iterations
+               are increased.
+
+               We will add bias.  In this model, bias is sampled once for rates
+               and once for accels at startup; the sign (negative or positive)
+               of each bias is then switched with equal probability.  Thereafter,
+               the biases are fixed additive offsets.  We choose
+               bias means and stddevs to produce biases close to the provided
+               data. -->
+          <!--
+          <rate>
+            <mean>0.0</mean>
+            <stddev>2e-4</stddev>
+            <bias_mean>0.0000075</bias_mean>
+            <bias_stddev>0.0000008</bias_stddev>
+          </rate>
+          <accel>
+            <mean>0.0</mean>
+            <stddev>1.7e-2</stddev>
+            <bias_mean>0.1</bias_mean>
+            <bias_stddev>0.001</bias_stddev>
+          </accel>
+          -->
+          <rate>
+            <mean>0.0</mean>
+            <stddev>0.0</stddev>
+            <bias_mean>0.000000</bias_mean>
+            <bias_stddev>0.0000008</bias_stddev>
+          </rate>
+          <accel>
+            <mean>0.0</mean>
+            <stddev>0.0</stddev>
+            <bias_mean>0.0</bias_mean>
+            <bias_stddev>0.000</bias_stddev>
+          </accel>
+        </noise>
+      </imu>
+    </sensor>
+  </gazebo>
+  <!-- define global properties -->
+  <!-- <xacro:property name="M_PI" value="3.1415926535897931" /> -->
+  <material name="Blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+  <material name="Green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+  <material name="Grey">
+    <color rgba="0.7 0.7 0.7 1.0"/>
+  </material>
+  <material name="LightGrey">
+    <color rgba="0.9 0.9 0.9 1.0"/>
+  </material>
+  <material name="DarkGrey">
+    <color rgba="0.2 0.2 0.2 1.0"/>
+  </material>
+  <material name="Red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+  <material name="White">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+  <material name="Orange">
+    <color rgba="1.0 0.5 0.0 1.0"/>
+  </material>
+</robot>