Add TIAGo and TIAGo++ Robot from PAL Robotics to menagerie

README.md

@@ -218,6 +218,8 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md).
 | Google Robot | Google DeepMind | 9 | [Apache-2.0](google_robot/LICENSE) |✖️|
 | Stretch 2 | Hello Robot | 17 | [Clear BSD](hello_robot_stretch/LICENSE) |✖️|
 | Stretch 3 | Hello Robot | 17 | [Apache-2.0](hello_robot_stretch_3/LICENSE) |✖️|
+| PAL Tiago | PAL Robotics | 12 | [Apache-2.0](pal_tiago/LICENSE) |✖️|
+| PAL Tiago Dual | PAL Robotics | 21 | [Apache-2.0](pal_tiago_dual/LICENSE) |✖️|
 
 **Humanoids.**
 

pal_tiago/LICENSE

@@ -0,0 +1,201 @@
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pal_tiago/README.md

@@ -0,0 +1,32 @@
+## TIAGo Description (MJCF)
+
+Requires MuJoCo 2.2.2 or later.
+
+### Overiew
+
+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 publicy available [URDF description](https://github.com/pal-robotics/tiago_robot/blob/kinetic-devel/tiago_description). 
+
+<p float="left">
+  <img src="tiago.png" width="400">
+</p>
+
+
+### 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](https://mujoco.readthedocs.io/en/stable/XMLreference.html#compiler).
+ 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](LICENSE).

pal_tiago/scene_motor.xml

@@ -0,0 +1,24 @@
+<mujoco model="tiago motor scene">
+
+  <include file="tiago_motor.xml"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="150" elevation="-20" realtime="1"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture builtin="checker" height="100" name="texplane" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8"
+      type="2d" width="200"/>
+    <material name="MatPlane" reflectance="0.1" shininess="0.4" specular="1" texrepeat="5 5" texuniform="true"
+      texture="texplane"/>
+  </asset>
+
+  <worldbody>
+    <light name="spotlight" mode="targetbody" target="base_link" pos="1 0 10"/>
+    <geom name="floor" pos="0 0 -0.99" size="0 0 1" type="plane" material="MatPlane" contype="1" conaffinity="1"/>
+  </worldbody>
+
+</mujoco>

pal_tiago/scene_position.xml

@@ -0,0 +1,24 @@
+<mujoco model="tiago position scene">
+
+  <include file="tiago_position.xml"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="150" elevation="-20" realtime="1"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture builtin="checker" height="100" name="texplane" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8"
+      type="2d" width="200"/>
+    <material name="MatPlane" reflectance="0.1" shininess="0.4" specular="1" texrepeat="5 5" texuniform="true"
+      texture="texplane"/>
+  </asset>
+
+  <worldbody>
+    <light name="spotlight" mode="targetbody" target="base_link" pos="1 0 10"/>
+    <geom name="floor" pos="0 0 -0.99" size="0 0 1" type="plane" material="MatPlane" contype="1" conaffinity="1"/>
+  </worldbody>
+
+</mujoco>

pal_tiago/scene_velocity.xml

@@ -0,0 +1,24 @@
+<mujoco model="tiago velocity scene">
+
+  <include file="tiago_velocity.xml"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="150" elevation="-20" realtime="1"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture builtin="checker" height="100" name="texplane" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8"
+      type="2d" width="200"/>
+    <material name="MatPlane" reflectance="0.1" shininess="0.4" specular="1" texrepeat="5 5" texuniform="true"
+      texture="texplane"/>
+  </asset>
+
+  <worldbody>
+    <light name="spotlight" mode="targetbody" target="base_link" pos="1 0 10"/>
+    <geom name="floor" pos="0 0 -0.99" size="0 0 1" type="plane" material="MatPlane" contype="1" conaffinity="1"/>
+  </worldbody>
+
+</mujoco>