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Add PAL Tiago++ dual MJCF description module #180

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Merged
merged 4 commits into from
Sep 3, 2025
Merged

Add PAL Tiago++ dual MJCF description module #180

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614642c
feat: Add PAL Tiago dual MJCF description module
Danfoa Aug 25, 2025
32522cf
feat: Add TIAGo++ description and update README
Danfoa Aug 25, 2025
15ad7af
Resolve PAL robotics obscure naming conventions: TiagoPro -> Tiago++
Danfoa Aug 26, 2025
e31e5f4
docs: Update README to streamline descriptions list
Danfoa Sep 2, 2025
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Expand Up @@ -6,6 +6,7 @@ All notable changes to this project will be documented in this file.

### Added

- Description: TIAGo++ (MJCF) (thanks to @Danfoa)
- Description: Unitree H1\_2 (URDF) (thanks to @TonyZYT2000)
- Description: Unitree H1\_2 (MJCF) (thanks to @TonyZYT2000)

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34 changes: 24 additions & 10 deletions README.md
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Expand Up @@ -114,16 +114,29 @@ Visualizing a robot description:

Available robot descriptions ([gallery](https://github.com/robot-descriptions/awesome-robot-descriptions#gallery)) are listed in the following categories:

- [Arms](#arms)
- [Bipeds](#bipeds)
- [Dual arms](#dual-arms)
- [Drones](#drones)
- [Educational](#educational)
- [End effectors](#end-effectors)
- [Humanoids](#humanoids)
- [Mobile manipulators](#mobile-manipulators)
- [Quadrupeds](#quadrupeds)
- [Wheeled](#wheeled)
- [Robot descriptions in Python](#robot-descriptions-in-python)
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@stephane-caron stephane-caron Sep 1, 2025

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The TOC here was only meant to navigate locally between descriptions. Are you suggesting adding a global TOC to the readme?

- [Installation](#installation)
- [From conda-forge](#from-conda-forge)
- [From PyPI](#from-pypi)
- [Usage](#usage)
- [Show a description](#show-a-description)
- [Import as submodule](#import-as-submodule)
- [Examples](#examples)
- [Descriptions](#descriptions)
- [Arms](#arms)
- [Bipeds](#bipeds)
- [Dual arms](#dual-arms)
- [Drones](#drones)
- [Educational](#educational)
- [End effectors](#end-effectors)
- [Humanoids](#humanoids)
- [Mobile manipulators](#mobile-manipulators)
- [Quadrupeds](#quadrupeds)
- [Wheeled](#wheeled)
- [Contributing](#contributing)
- [Thanks](#thanks)
- [Citation](#citation)
- [See also](#see-also)

The DOF column denotes the number of actuated degrees of freedom.

Expand Down Expand Up @@ -277,6 +290,7 @@ The DOF column denotes the number of actuated degrees of freedom.
| `sretch_mj_description` | Stretch 2 | Hello Robot | MJCF | Clear BSD |
| `sretch_3_mj_description` | Stretch 3 | Hello Robot | MJCF | Apache-2.0 |
| `tiago_description` | TIAGo | PAL Robotics | URDF | Apache-2.0 |
| `tiago++_mj_description` | TIAGo++ | PAL Robotics | MJCF | Apache-2.0 |
| `rby1_description` | RBY1 | Rainbow Robotics | 24 | URDF |


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3 changes: 3 additions & 0 deletions robot_descriptions/_descriptions.py
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Expand Up @@ -222,6 +222,9 @@ def has_urdf(self) -> bool:
"talos_description": Description(Format.URDF, tags={"humanoid"}),
"talos_mj_description": Description(Format.MJCF, tags={"humanoid"}),
"tiago_description": Description(Format.URDF, tags={"mobile_manipulator"}),
"tiago++_mj_description": Description(
Format.MJCF, tags={"mobile_manipulator"}
),
"trifinger_edu_description": Description(
Format.URDF, tags={"educational"}
),
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20 changes: 20 additions & 0 deletions robot_descriptions/tiago++_mj_description.py
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@@ -0,0 +1,20 @@
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
#
# SPDX-License-Identifier: Apache-2.0

"""PAL Tiago dual description."""

from os import getenv as _getenv
from os import path as _path

from ._cache import clone_to_cache as _clone_to_cache

REPOSITORY_PATH: str = _clone_to_cache(
"mujoco_menagerie",
commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
)

PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "pal_tiago_dual")

MJCF_PATH: str = _path.join(PACKAGE_PATH, "tiago_dual_position.xml")
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