Behron
3e39a34a7a
More merge conflicts. Taking main changes then will integrate mine.
33 lines
2.0 KiB
Markdown
33 lines
2.0 KiB
Markdown
## TIAGo Description (MJCF)
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Requires MuJoCo 2.2.2 or later.
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### Overview
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This package contains a simplified robot description (MJCF) of the [TIAGo Robot](https://pal-robotics.com/robots/tiago/) by [PAL Robotics](https://pal-robotics.com/). It is derived from the publicly available [URDF description](https://github.com/pal-robotics/tiago_robot/blob/kinetic-devel/tiago_description).
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<p float="left">
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<img src="tiago.png" width="400">
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</p>
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### URDF -> MJCF derivation steps
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1. Converted the .DAE meshes to .STL format
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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](https://mujoco.readthedocs.io/en/stable/XMLreference.html#compiler).
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3. Removed all `<collision>` elements in the URDF that created a bug with geometries.
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4. Removed `package://` shortcuts and fixed file paths to use assets only from the local `assets` folder.
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5. Used the MuJoCo compiler with `compile` command to convert the URDF file to MJCF format.
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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.
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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.
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8. Added force, velocity and position controlled actuators (manually) .
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9. Added `home` keyframe
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10. Added visuals improvements: plane, skybox and light.
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11. Added contact `<exclude>` to prevent unwanted collisions between some of the bodies.
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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.
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### License
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This model is released under an [Apache-2.0 License](LICENSE).
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