python/example_robot_data/robots_loader.py

@@ -512,6 +512,11 @@ class TiagoNoHandLoader(TiagoLoader):
     urdf_filename = "tiago_no_hand.urdf"
 
 
+class TiagoProLoader(RobotLoader):
+    path = "tiago_pro_description"
+    urdf_filename = "tiago_pro.urdf"
+
+
 class ICubLoader(RobotLoader):
     path = "icub_description"
     urdf_filename = "icub.urdf"
@@ -777,6 +782,7 @@ ROBOTS = {
     "tiago": TiagoLoader,
     "tiago_dual": TiagoDualLoader,
     "tiago_no_hand": TiagoNoHandLoader,
+    "tiago_pro": TiagoProLoader,
     "ur3": UR5Loader,
     "ur3_gripper": UR3GripperLoader,
     "ur3_limited": UR3LimitedLoader,

robots/tiago_pro_description/README.md

+# Tiago Pro Description
+
+upstream: https://pal-robotics.com/es/robot/tiago-pro/
+license: CC-BY-NC-ND 3.0

robots/tiago_pro_description/config/collision/collision_parameters.yaml

+collision_model_parameters:
+  padding: 0.025
+  links_with_padding: [arm_4_link,
+  arm_5_link, arm_6_link, arm_7_link, gripper_link, gripper_right_finger_link,
+  gripper_left_finger_link]
+  blacklist:
+    default:
+      - first: arm_2_link
+        second: torso_lift_link
+      - first: arm_5_link
+        second: wrist_ft_link
+      - first: arm_5_link
+        second: wrist_ft_tool_link
+      - first: arm_6_link
+        second: wrist_ft_link
+      - first: arm_6_link
+        second: wrist_ft_tool_link
+      - first: arm_tool_link
+        second: wrist_ft_link
+      - first: ground_plane
+        second: base_link
+      - first: ground_plane
+        second: caster_back_left_1_link
+      - first: ground_plane
+        second: caster_back_left_1_link
+      - first: ground_plane
+        second: caster_back_left_2_link
+      - first: ground_plane
+        second: caster_back_right_1_link
+      - first: ground_plane
+        second: caster_back_right_2_link
+      - first: ground_plane
+        second: caster_front_left_1_link
+      - first: ground_plane
+        second: caster_front_left_2_link
+      - first: ground_plane
+        second: caster_front_right_1_link
+      - first: ground_plane
+        second: caster_front_right_2_link
+      - first: ground_plane
+        second: wheel_right_link
+      - first: ground_plane
+        second: wheel_left_link
+      - first: wrist_ft_link
+        second: wrist_ft_tool_link
+      - first: gripper_link
+        second: gripper_tool_link
+      - first: gripper_link
+        second: wrist_ft_tool_link
+      - first: gripper_link
+        second: wrist_ft_link
+      - first: gripper_tool_link
+        second: gripper_right_finger_link
+      - first: gripper_tool_link
+        second: gripper_left_finger_link
+      - first: gripper_tool_link
+        second: wrist_ft_tool_link