## TALOS Description (MJCF) > [!IMPORTANT] > Requires MuJoCo 2.2.2 or later. ### Overview This package contains a simplified robot description (MJCF) of the [TALOS Robot](https://pal-robotics.com/robots/talos/) by [PAL Robotics](https://pal-robotics.com/). It is derived from the publicly available [URDF description](https://github.com/pal-robotics/talos_robot/tree/kinetic-devel/talos_description).

### URDF -> MJCF derivation step 1. Converted the .DAE meshes to .STL format 2. Added ` ` to the URDF in order to preserve visual geometries and configure other [parameters](https://mujoco.readthedocs.io/en/stable/XMLreference.html#compiler). 3. Removed `package://` shortcuts and fixed file paths to use assets only from the local `assets` folder. 4. Used the MuJoCo compiler with `compile` command to convert the URDF file to MJCF format. 5. Added a free joint `` to the base and fixed the body tree by adding `` around the base geom. 6. Added ` ` base inertia that was not automatically converted. 7. Added force, velocity and position controlled actuators. 8. Added `home` keyframe. 9. Added visuals improvements: plane, skybox and light. 10. Added contact `` to prevent unwanted collisions between some of the bodies. 11. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze. ### License This model is released under an [Apache-2.0 License](LICENSE).