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pal_tiago

README.md

TIAGo Description (MJCF)

Requires MuJoCo 2.2.2 or later.

Overview

This package contains a simplified robot description (MJCF) of the TIAGo Robot by PAL Robotics. It is derived from the publicly available URDF description.

URDF -> MJCF derivation steps

  1. Converted the .DAE meshes to .STL format
  2. Added <mujoco> <compiler meshdir="../meshes/" strippath="false"balanceinertia="true" autolimits="true" discardvisual="false"/> </mujoco> to the URDF in order to preserve visual geometries and configure other parameters.
  3. Removed all <collision> elements in the URDF that created a bug with geometries.
  4. Removed package:// shortcuts and fixed file paths to use assets only from the local assets folder.
  5. Used the MuJoCo compiler with compile command to convert the URDF file to MJCF format.
  6. Added a free joint <joint name="reference" type="free"/> to the base and fixed the body tree by adding <body name="base_link" pos="0 0 0"></body> around the base geom.
  7. Added <inertial pos="0 0 0" mass="28.26649" fullinertia="0.465408937 0.483193291 0.550939703 0.002160024 -0.001760255 -0.000655952"/> base inertia that was not automatically converted.
  8. Added force, velocity and position controlled actuators (manually) .
  9. Added home keyframe
  10. Added visuals improvements: plane, skybox and light.
  11. Added contact <exclude> to prevent unwanted collisions between some of the bodies.
  12. Added scene_position.xml, scene_velocity.xml and scene_motor.xml which allows to control the arms of the robot in different control modes and which also includes the robot, with a textured groundplane, skybox, and haze.

License

This model is released under an Apache-2.0 License.