URDF doesn't match 'official' URDF

[washichi]

I noticed that elfin3.urdf.xacro doesn't match the elfin3.urdf.xacro in the HansRobot Elfin repo .
Is there a reason for this?

Also when I launch gravity_comp_controller the robot keeps moving where I expect it to stabilize.

[arianwu]

I don't know about the mismatch between both .xacro files, but for the gravity_comp_controller you have to comment on lines 211 and 215 and uncomment lines 210 and 214.