## TIAGo++ Description (MJCF) Requires MuJoCo 2.2.2 or later. ### Overview This package contains a simplified robot description (MJCF) of the [TIAGo++ Robot](https://pal-robotics.com/robots/tiago/) with omnidirectional base by [PAL Robotics](https://pal-robotics.com/). It is derived from the publicly available [URDF description](https://github.com/pal-robotics/tiago_dual_robot/blob/kinetic-devel/tiago_dual_description/).

### URDF -> MJCF derivation steps 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 all `` 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 `` to the base and fixed the body tree by adding `` around the base geom. 7. Added `` base inertia that was not automatically converted. 8. Added force, velocity and position controlled actuators (manually) . 9. Added visuals improvements: plane, skybox and light. 10. Added `scene_position.xml`, `scene_velocity.xml` and `scene_motor.xml` which allows to control the both 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](LICENSE).