TALOS Description (MJCF)
Important
Requires MuJoCo 2.2.2 or later.
Overview
This package contains a simplified robot description (MJCF) of the TALOS Robot by PAL Robotics. It is derived from the publicly available URDF description.
URDF -> MJCF derivation step
- Converted the .DAE meshes to .STL format
- 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. - Removed
package://shortcuts and fixed file paths to use assets only from the localassetsfolder. - Used the MuJoCo compiler with
compilecommand to convert the URDF file to MJCF format. - 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. - Added
<inertial pos="-0.05709419 0.00153054 -0.0762521" mass="15.36284" fullinertia="0.20105075811 0.08411496729 0.2318908414 0.00023244734 0.0040167728 -0.00087206649"/> <geom type="mesh" class="visual" density="0" rgba="0.9 0.9 0.9 1" mesh="base_link"/>base inertia that was not automatically converted. - Added force, velocity and position controlled actuators.
- Added
homekeyframe. - Added visuals improvements: plane, skybox and light.
- Added contact
<exclude>to prevent unwanted collisions between some of the bodies. - Added
scene.xmlwhich includes the robot, with a textured groundplane, skybox, and haze.
License
This model is released under an Apache-2.0 License.