Improve overall model.

1. Box collisions for feet for more stable contacts.
2. Reformat all XML files to use 2-space indent and consistent line length.
3. Improved default classes.
4. Added more damping to position actuators.
5. Other minor things.

pal_talos/scene_motor.xml

@@ -1,25 +1,22 @@
 <mujoco model="talos motor scene">
+  <include file="talos_motor.xml"/>
 
-    <include file="talos_motor.xml"/>
+  <visual>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="60" elevation="-20"/>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+  </visual>
 
-    <visual>
-        <rgba haze="0.15 0.25 0.35 1"/>
-        <global azimuth="60" elevation="-20"/>
-        <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
-    </visual>
-
-    <asset>
-        <material name="MatPlane" reflectance="0.2" shininess="0.2" specular="1" texrepeat="5 5" texuniform="true"
-            texture="texplane"/>
-        <texture builtin="checker" height="100" name="texplane" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
-            markrgb="0.8 0.8 0.8" type="2d" width="200"/>
-        <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    </asset>
-
-    <worldbody>
-        <geom name="floor" contype="1" conaffinity="1" pos="0 0 -1.01" size="0 0 1" type="plane" material="MatPlane"/>
-        <light name="spotlight" mode="targetbody" target="base_link" pos="1 0 20"/>
-    </worldbody>
+  <asset>
+    <material name="MatPlane" reflectance="0.2" shininess="0.2" specular="1" texrepeat="5 5" texuniform="true"
+      texture="texplane"/>
+    <texture builtin="checker" height="100" name="texplane" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8"
+      type="2d" width="200"/>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+  </asset>
 
+  <worldbody>
+    <geom name="floor" contype="1" conaffinity="1" pos="0 0 -1.01" size="0 0 1" type="plane" material="MatPlane"/>
+    <light name="spotlight" mode="targetbody" target="base_link" pos="1 0 20"/>
+  </worldbody>
 </mujoco>
-

pal_talos/scene_position.xml

@@ -1,25 +1,22 @@
 <mujoco model="talos position scene">
+  <include file="talos_position.xml"/>
 
-    <include file="talos_position.xml"/>
+  <visual>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="60" elevation="-20"/>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+  </visual>
 
-    <visual>
-        <rgba haze="0.15 0.25 0.35 1"/>
-        <global azimuth="60" elevation="-20"/>
-        <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
-    </visual>
-
-    <asset>
-        <material name="MatPlane" reflectance="0.2" shininess="0.2" specular="1" texrepeat="5 5" texuniform="true"
-            texture="texplane"/>
-        <texture builtin="checker" height="100" name="texplane" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
-            markrgb="0.8 0.8 0.8" type="2d" width="200"/>
-        <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    </asset>
-
-    <worldbody>
-        <geom name="floor" contype="1" conaffinity="1" pos="0 0 -1.01" size="0 0 1" type="plane" material="MatPlane"/>
-        <light name="spotlight" mode="targetbody" target="base_link" pos="1 0 20"/>
-    </worldbody>
+  <asset>
+    <material name="MatPlane" reflectance="0.2" shininess="0.2" specular="1" texrepeat="5 5" texuniform="true"
+      texture="texplane"/>
+    <texture builtin="checker" height="100" name="texplane" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8"
+      type="2d" width="200"/>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+  </asset>
 
+  <worldbody>
+    <geom name="floor" contype="1" conaffinity="1" pos="0 0 -1.01" size="0 0 1" type="plane" material="MatPlane"/>
+    <light name="spotlight" mode="targetbody" target="base_link" pos="1 0 20"/>
+  </worldbody>
 </mujoco>
-

pal_talos/scene_velocity.xml

@@ -1,25 +1,22 @@
 <mujoco model="talos velocity scene">
+  <include file="talos_velocity.xml"/>
 
-    <include file="talos_velocity.xml"/>
+  <visual>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="60" elevation="-20"/>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+  </visual>
 
-    <visual>
-        <rgba haze="0.15 0.25 0.35 1"/>
-        <global azimuth="60" elevation="-20"/>
-        <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
-    </visual>
-
-    <asset>
-        <material name="MatPlane" reflectance="0.2" shininess="0.2" specular="1" texrepeat="5 5" texuniform="true"
-            texture="texplane"/>
-        <texture builtin="checker" height="100" name="texplane" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
-            markrgb="0.8 0.8 0.8" type="2d" width="200"/>
-        <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    </asset>
-
-    <worldbody>
-        <geom name="floor" contype="1" conaffinity="1" pos="0 0 -1.01" size="0 0 1" type="plane" material="MatPlane"/>
-        <light name="spotlight" mode="targetbody" target="base_link" pos="1 0 20"/>
-    </worldbody>
+  <asset>
+    <material name="MatPlane" reflectance="0.2" shininess="0.2" specular="1" texrepeat="5 5" texuniform="true"
+      texture="texplane"/>
+    <texture builtin="checker" height="100" name="texplane" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8"
+      type="2d" width="200"/>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+  </asset>
 
+  <worldbody>
+    <geom name="floor" contype="1" conaffinity="1" pos="0 0 -1.01" size="0 0 1" type="plane" material="MatPlane"/>
+    <light name="spotlight" mode="targetbody" target="base_link" pos="1 0 20"/>
+  </worldbody>
 </mujoco>
-