Add TIAGo and TIAGo++ Robot from PAL Robotics to menagerie #20

saikishor · 2023-08-07T13:02:50Z

This PR adds the requested models as in the issue: #19. The models are generated inspiring from the existing models in the repository.

Please feel free to suggest any suggestions to improve the quality of this PR.

Have a great day,

Best Regards,
Sai Kishor Kothakota

google-cla · 2023-08-07T13:02:56Z

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View this failed invocation of the CLA check for more information.

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saran-t · 2023-09-20T22:24:24Z

Hey, sorry I dropped the ball on this. We're going to import this for internal reviewing now.

saikishor · 2023-09-20T22:27:30Z

Hello @saran-t,

Thank you so much. Looking forward to it.

Have a great day,

Best Regards,
Sai Kishor Kothakota

saran-t · 2023-09-20T22:28:31Z

@saikishor I can't find any license file in the upstream repository. We can't accept assets into this repository without an explicit OSS license from the vendor.

saikishor · 2023-09-20T22:31:42Z

@saikishor I can't find any license file in the upstream repository. We can't accept assets into this repository without an explicit OSS license from the vendor.

Thanks for getting back to me. I'm a part of @pal-robotics team. We usually define the licences directly in the package.xml as per ROS standards. You can find it here : https://github.com/pal-robotics/tiago_robot/blob/humble-devel/tiago_description/package.xml#L12.

saran-t · 2023-09-20T22:35:04Z

Would you be willing to include a copy of https://www.apache.org/licenses/LICENSE-2.0.txt verbatim as a file called LICENSE in the root of your repository?

Alternatively we can also take an email from a company director to confirm that @pal-robotics licenses these assets under Apache-2.0.

saikishor · 2023-09-20T22:38:48Z

Would you be willing to include a copy of https://www.apache.org/licenses/LICENSE-2.0.txt verbatim as a file called LICENSE in the root of your repository?

@saran-t Sure, I think it can be done. Can I do it tomorrow in morning, and ping you back once it is done?, it's late already here in Spain. I hope it's not a problem.

In case of an email, to what email can we send the confirmation?. I'll make sure atleast one of it is done by tomorrow.

I'm sorry for the inconvenience caused.

Thank you,

Best Regards,
Sai

saran-t · 2023-09-20T22:44:12Z

Yeah no problem, I'll get the review started under the assumption that LICENSE is added.

saikishor · 2023-09-20T22:44:57Z

Thanks for that🙌🏽🙌🏽

saran-t · 2023-09-20T23:05:48Z

The GitHub Actions build is failing which suggests that the physics blows up. We'll take a look at this at some point but perhaps you should also take a look at the failure.

saikishor · 2023-09-21T07:11:01Z

@saran-t Thanks for reporting the issue. Where can I find these scripts to test the physics?. On my machine, upon launching it seems stable.

saran-t · 2023-09-21T12:59:14Z

This is the basic test that we run.

saran-t · 2023-09-21T15:53:14Z

One obvious issue is that you have three actuators attached to each joint: <position>, <velocity>, and <motor>. These are all applying torques concurrently.

If you want to provide three control options for your robot models, you should have a base XML file without any actuator. Then create one XML for each actuation type, <include> the base XML, then add actuators there.

Additionally, your kp for position controllers are extremely high. Have these been identified against the real hardware at all?

saikishor · 2023-09-21T16:02:45Z

Hello @saran-t,

We have updated the licenses on our repo: TIAGo and TIAGo++ robot models. I've attached the links for you to look over.

Regarding the issue with the actuators, sorry we weren't aware of this. We can refactor it to have one for each control mode. Regarding the Kp, unfortunately, those were not identified w.r.t to the real hardware, however, we tuned them until the robot showed some stable behavior in the simulation. That's how we have done also for our Gazebo models. Do you have any suggestions in this regard? We really appreciate your feedback on this.

Thank you,

Best Regards,
Sai Kishor Kothakota

saikishor · 2023-09-25T11:19:16Z

Hello @saran-t,

I've updated the structure so that there is one scene file per control mode. I ran the model_test.py and now it is passing without issues. Thanks for the guidance.

Running tests under Python 3.8.10: /usr/bin/python
[ RUN      ] ModelsTest.test_compiles_and_steps0 (PosixPath('shadow_hand/scene_left.xml'))
[       OK ] ModelsTest.test_compiles_and_steps0 (PosixPath('shadow_hand/scene_left.xml'))
[ RUN      ] ModelsTest.test_compiles_and_steps1 (PosixPath('shadow_hand/scene_right.xml'))
[       OK ] ModelsTest.test_compiles_and_steps1 (PosixPath('shadow_hand/scene_right.xml'))
[ RUN      ] ModelsTest.test_compiles_and_steps10 (PosixPath('wonik_allegro/scene_right.xml'))
[       OK ] ModelsTest.test_compiles_and_steps10 (PosixPath('wonik_allegro/scene_right.xml'))
[ RUN      ] ModelsTest.test_compiles_and_steps11 (PosixPath('rethink_robotics_sawyer/scene.xml'))
[       OK ] ModelsTest.test_compiles_and_steps11 (PosixPath('rethink_robotics_sawyer/scene.xml'))
[ RUN      ] ModelsTest.test_compiles_and_steps12 (PosixPath('robotiq_2f85/scene.xml'))
[       OK ] ModelsTest.test_compiles_and_steps12 (PosixPath('robotiq_2f85/scene.xml'))
[ RUN      ] ModelsTest.test_compiles_and_steps13 (PosixPath('pal_tiago_dual/scene_motor.xml'))
[       OK ] ModelsTest.test_compiles_and_steps13 (PosixPath('pal_tiago_dual/scene_motor.xml'))
[ RUN      ] ModelsTest.test_compiles_and_steps14 (PosixPath('pal_tiago_dual/scene_velocity.xml'))
[       OK ] ModelsTest.test_compiles_and_steps14 (PosixPath('pal_tiago_dual/scene_velocity.xml'))
[ RUN      ] ModelsTest.test_compiles_and_steps15 (PosixPath('pal_tiago_dual/scene_position.xml'))
[       OK ] ModelsTest.test_compiles_and_steps15 (PosixPath('pal_tiago_dual/scene_position.xml'))
[ RUN      ] ModelsTest.test_compiles_and_steps16 (PosixPath('unitree_go1/scene.xml'))
[       OK ] ModelsTest.test_compiles_and_steps16 (PosixPath('unitree_go1/scene.xml'))
[ RUN      ] ModelsTest.test_compiles_and_steps17 (PosixPath('agility_cassie/scene.xml'))
[       OK ] ModelsTest.test_compiles_and_steps17 (PosixPath('agility_cassie/scene.xml'))
[ RUN      ] ModelsTest.test_compiles_and_steps18 (PosixPath('robotis_op3/scene.xml'))
[       OK ] ModelsTest.test_compiles_and_steps18 (PosixPath('robotis_op3/scene.xml'))
[ RUN      ] ModelsTest.test_compiles_and_steps19 (PosixPath('anybotics_anymal_b/scene.xml'))
[       OK ] ModelsTest.test_compiles_and_steps19 (PosixPath('anybotics_anymal_b/scene.xml'))
[ RUN      ] ModelsTest.test_compiles_and_steps2 (PosixPath('pal_tiago/scene_motor.xml'))
[       OK ] ModelsTest.test_compiles_and_steps2 (PosixPath('pal_tiago/scene_motor.xml'))
[ RUN      ] ModelsTest.test_compiles_and_steps20 (PosixPath('anybotics_anymal_c/scene.xml'))
[       OK ] ModelsTest.test_compiles_and_steps20 (PosixPath('anybotics_anymal_c/scene.xml'))
[ RUN      ] ModelsTest.test_compiles_and_steps3 (PosixPath('pal_tiago/scene_velocity.xml'))
[       OK ] ModelsTest.test_compiles_and_steps3 (PosixPath('pal_tiago/scene_velocity.xml'))
[ RUN      ] ModelsTest.test_compiles_and_steps4 (PosixPath('pal_tiago/scene_position.xml'))
[       OK ] ModelsTest.test_compiles_and_steps4 (PosixPath('pal_tiago/scene_position.xml'))
[ RUN      ] ModelsTest.test_compiles_and_steps5 (PosixPath('franka_emika_panda/scene.xml'))
[       OK ] ModelsTest.test_compiles_and_steps5 (PosixPath('franka_emika_panda/scene.xml'))
[ RUN      ] ModelsTest.test_compiles_and_steps6 (PosixPath('unitree_a1/scene.xml'))
[       OK ] ModelsTest.test_compiles_and_steps6 (PosixPath('unitree_a1/scene.xml'))
[ RUN      ] ModelsTest.test_compiles_and_steps7 (PosixPath('universal_robots_ur5e/scene.xml'))
[       OK ] ModelsTest.test_compiles_and_steps7 (PosixPath('universal_robots_ur5e/scene.xml'))
[ RUN      ] ModelsTest.test_compiles_and_steps8 (PosixPath('kuka_iiwa_14/scene.xml'))
[       OK ] ModelsTest.test_compiles_and_steps8 (PosixPath('kuka_iiwa_14/scene.xml'))
[ RUN      ] ModelsTest.test_compiles_and_steps9 (PosixPath('wonik_allegro/scene_left.xml'))
[       OK ] ModelsTest.test_compiles_and_steps9 (PosixPath('wonik_allegro/scene_left.xml'))
----------------------------------------------------------------------
Ran 21 tests in 8.311s

OK

Regarding the failing CLA check, it seems like our IT department has disabled the email of my intern who was working on this few months back. Is that a problem?

Thank you,

Best Regards,
Sai Kishor Kothakota

saikishor · 2023-09-27T10:44:08Z

Hello @saran-t!

We believe the PR is good for review now. I have fixed all the things that are requested by you.

Thank you,

Best Regards,
Sai Kishor

kevinzakka · 2023-09-27T17:48:55Z

Hi @saikishor, I'll be taking over the review from here. Will go over this as soon as I can and leave some comments.

saikishor · 2023-09-27T18:04:18Z

Hello @kevinzakka!

Thank you for letting me know.

Best Regards,
Sai Kishor

kevinzakka · 2023-10-02T22:18:42Z

pal_tiago/tiago.xml

+
+  <compiler angle="radian" meshdir="./assets/" autolimits="true"/>
+
+  <option timestep="0.001" integrator="implicit" />


Switch to implicitfast.

kevinzakka · 2023-10-02T22:19:32Z

pal_tiago/tiago.xml

+  <option timestep="0.001" integrator="implicit" />
+
+  <asset>
+    <mesh name="sick_tim551" file="sensors/sick_tim551.stl"/>


You can get rid of all the name attributes below. MuJoCo will automatically extract and use the filename from the path.

kevinzakka · 2023-10-02T22:23:07Z

pal_tiago/tiago.xml

+  <default class="main">
+    <geom contype="0" conaffinity="1" group="1"/>
+    <default class="arm">
+      <geom contype="1" conaffinity="1"/>
+    </default>
+  </default>


To make the XML file more compact, we should really be using the default classes more. Can you take a look at some of the XML files in the other Menagerie repos to see how we make use of defaults? Specifically, geoms, joints, actuators, etc. can be given defaults to significantly reduce the worldbody definition.

Hello @kevinzakka!

This might take some time, I've fixed most of your other comments, I'll try to get this done soon. Please let me know if you have more comments.

Thank you

@kevinzakka I've also applied the default class changes to reduce the definitions you mentioned. I think the PR is ready for another review.

kevinzakka · 2023-10-02T22:23:28Z

pal_tiago/tiago.xml

+  </default>
+
+  <worldbody>
+    <body name="base_link" pos="0 0 0">


Remove pos="0 0 0", it is not needed.

kevinzakka · 2023-10-02T22:23:56Z

pal_tiago/tiago.xml

+  <worldbody>
+    <body name="base_link" pos="0 0 0">
+      <joint name="reference" type="free"/>
+      <geom pos="0 0 0.0985" type="mesh" density="0" rgba="1 1 1 1" mesh="base"/>


Move all the rgba definitions into materials and define them in <assets>.

kevinzakka · 2023-10-02T22:24:47Z

pal_tiago/tiago.xml

+      <body name="suspension_right_link" pos="0 0 0.0985">
+        <inertial pos="0 0 -0.02" mass="10" diaginertia="1 1 1"/>
+        <joint name="suspension_right_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-0.005 0.005" damping="100"/>
+        <body name="wheel_right_link" pos="0 -0.2022 0" quat="0.707107 -0.707107 0 0">


MuJoCo will normalize quaternions for you. Therefore, for quats like .7 -0.7 0 0, you can more cleanly write it as 1 -1 0 0.

kevinzakka · 2023-10-02T22:25:15Z

pal_tiago/tiago.xml

+                      <inertial pos="-0.000173894 0.000176395 0.0817355"
+                        quat="0.997803 -0.00177536 -0.00128747 0.0662101" mass="1.00276"
+                        diaginertia="0.0025841 0.0022568 0.000746434"/>
+                      <joint name="arm_7_joint" pos="0 0 0" axis="0 0 1" range="-2.0944 2.0944" damping="1"


Remove all the pos="0 0 0" in joint definitions.

kevinzakka · 2023-10-03T17:43:11Z

Hi @saikishor, I left some review comments.

…e go

kevinzakka · 2024-08-02T12:01:30Z

Hi @saikishor, we should try to get this submitted again. Let me know when I should review.

saikishor · 2024-08-02T12:04:58Z

Hi @saikishor, we should try to get this submitted again. Let me know when I should review.

Hello @kevinzakka!

Thanks for responding. We are currently working on the changes. Sorry for the delay. My colleague @thomaspeyrucain is working on it. We will get back to you, once we have it ready. I will mark it as a draft until then.

Thank you

…_lift_link since it was colliding due to the convexhull but not possible in reality

saikishor · 2024-09-04T10:35:08Z

Hello @kevinzakka!

This PR is also ready for review now! We have addressed most of the comments.

Thank you!

kevinzakka

Thank @saikishor, we're working on merging the other models and hope to have everything merged by end of week!

saikishor · 2024-09-04T20:20:45Z

Thank @saikishor, we're working on merging the other models and hope to have everything merged by end of week!

Amazing! Thank you so much for all the help! 😊

kevinzakka assigned kevinzakka and saran-t Aug 7, 2023

saran-t approved these changes Sep 20, 2023

View reviewed changes

saikishor force-pushed the pal_menagerie branch from dfe4ca6 to 0546e8c Compare September 25, 2023 11:16

saikishor force-pushed the pal_menagerie branch from 0546e8c to d802e41 Compare September 26, 2023 08:09

kevinzakka reviewed Oct 2, 2023

View reviewed changes

kevinzakka requested changes Oct 2, 2023

View reviewed changes

Victor Lutz and others added 11 commits August 2, 2024 12:25

Fixed wheel collision mesh

f7e43f9

move different TIAGo control modes into separate xml files

3afa344

move different TIAGo++ control modes into separate xml files

1f9b86b

added some changes for contacts and other minor changes

7c842ec

change integrator to implicitfast

fed570b

remove all zero pos from bodies and joints

8387d4f

update the quaternions to a format for MuJoCo to normalize them on th…

a3b6d75

…e go

remove name attributes for the mesh asset

ac99b38

move all rgba encodings into materials and reuse them

c5c602c

Add default classes to reduce worldbody definitions (TIAGo)

62791a8

Add default classes to reduce worldbody definitions (TIAGo++)

8bf1fa0

saikishor force-pushed the pal_menagerie branch from 57819f5 to 8bf1fa0 Compare August 2, 2024 10:25

saikishor marked this pull request as draft August 2, 2024 12:05

thomaspeyrucain and others added 9 commits August 19, 2024 14:25

Improve inertia of PAL TIAGo robot

ab25ed1

Remove suspension of the base + improve inertia of the wheels

7349c03

Add TIAGo camera

7606fbb

Fix inertia for TIAGo + remove collision between arm_3_link and torso…

460e48d

…_lift_link since it was colliding due to the convexhull but not possible in reality

Fix inertia for TIAGo dual

133cba3

Switch to new wrist

f6e3924

Update force range and damping for the motors

cc78108

Remove inheritrange for velocity

4084a4c

remove images in the README.md

6e2b598

saikishor marked this pull request as ready for review September 4, 2024 10:33

kevinzakka approved these changes Sep 4, 2024

View reviewed changes

saikishor mentioned this pull request Sep 6, 2024

Add TIAGo and TIAGo++ Robots from PAL Robotics (updated) #94

Open

kevinzakka closed this Sep 6, 2024


		<compiler angle="radian" meshdir="./assets/" autolimits="true"/>

		<option timestep="0.001" integrator="implicit" />

Add TIAGo and TIAGo++ Robot from PAL Robotics to menagerie #20

Add TIAGo and TIAGo++ Robot from PAL Robotics to menagerie #20

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saikishor commented Aug 7, 2023

google-cla bot commented Aug 7, 2023

saran-t commented Sep 20, 2023

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kevinzakka commented Oct 3, 2023

kevinzakka commented Aug 2, 2024

saikishor commented Aug 2, 2024

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saikishor commented Sep 20, 2023 •

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