Skip to content

TIAGo

Mobile manipulator (PAL Robotics TIAGo). Same four workflows as UR10, adapted for a coupled-wrist end-effector, a mobile base, and (optionally) camera-based eye-hand calibration. → source folder

What's included

  • calibration.py — kinematic calibration (full pipeline flags identical to UR10's)
  • identification.py — dynamic parameter identification
  • optimal_config.py — D-optimal calibration configuration generation (supports both Hey5 and Schunk end-effectors via --end-effector)
  • optimal_trajectory.py — exciting trajectory generation (uses IPOPT)
  • utils/tiago_tools.py — TiagoCalibration / TiagoIdentification / TiagoOptimalCalibration / TiagoOptimalTrajectory
  • utils/simplified_collision_model.py — collision geometry for self-collision constraints during trajectory optimization
  • config/tiago_unified_config.yaml — extends humanoid_robot.yaml (default); legacy tiago_config.yaml / tiago_config_hey5.yaml also present under config/archive/

This is the example new robots are scaffolded from (examples/create_example.sh) — the reference to copy when adding support for a new robot.

Run

cd examples/tiago

# 1. Optimal calibration configurations
python optimal_config.py --end-effector hey5

# 2. Kinematic calibration (full pipeline: calibrate → plot → save → export → viser viz)
python calibration.py
python calibration.py --viz-validation --model urdf/tiago_48_schunk_modified_20260127.urdf

# 3. Optimal identification trajectory (requires IPOPT)
python optimal_trajectory.py

# 4. Dynamic identification (html-report + verify on by default)
python identification.py

All saved files are timestamped: data/calibration/calibration_results_{ts}.npz, urdf/tiago_48_schunk_modified_{ts}.urdf.

Outputs

Archived under results/runs/tiago-<asset>/{calibration,identification}/<timestamp>/ by default (or results/ with --no-archive) — HTML report, verification JSON, and (for calibration) a compare.html for offline before/after comparison. See Reporting & Verification.

See also