cyberbotics · stefaniapedrazzi · Apr 19, 2023 · Apr 19, 2023 · Apr 20, 2023 · Apr 20, 2023
@@ -54,7 +54,8 @@ CONTROLLERS=\
   nex/controllers.Makefile \
   niryo/ned/controllers.Makefile \
   nvidia/jetbot/controllers.Makefile \
-  pal_robotics/tiago_base/controllers/tiago_base.Makefile \
+  pal_robotics/tiago_pmb2_base/controllers/tiago_pmb2_base.Makefile \
+  pal_robotics/tiago_omni_base/controllers/tiago_omni_base.Makefile \
   pal_robotics/tiago_lite/controllers/tiago_lite.Makefile \
   pal_robotics/tiago/controllers/tiago.Makefile \
   pal_robotics/tiagopp/controllers/tiago++.Makefile \

@@ -4,32 +4,39 @@
 # documentation url: https://webots.cloud/run?url=https://github.com/cyberbotics/webots/blob/released/projects/robots/pal_robotics/tiago/protos/Tiago.proto
 # keywords: robot/wheeled
 # TIAGo robot from PAL Robotics.
-# The robot is composed by the TIAGo base and a body with the front arm.
+# The robot is composed by the TIAGo base (PMB2 or OMNI) and a body with the front arm.
+# template language: javascript
 
 EXTERNPROTO "webots://projects/devices/hokuyo/protos/HokuyoUrg04lxug01.proto"
 EXTERNPROTO "webots://projects/devices/orbbec/protos/Astra.proto"
-EXTERNPROTO "webots://projects/robots/pal_robotics/tiago_base/protos/TiagoBase.proto"
+EXTERNPROTO "webots://projects/robots/pal_robotics/tiago_pmb2_base/protos/TiagoPmb2Base.proto"
+EXTERNPROTO "webots://projects/robots/pal_robotics/tiago_omni_base/protos/TiagoOmniBase.proto"
 EXTERNPROTO "webots://projects/robots/pal_robotics/tiago_extensions/protos/TiagoBody.proto"
 EXTERNPROTO "webots://projects/robots/pal_robotics/tiago_extensions/protos/TiagoFrontArm.proto"
 EXTERNPROTO "webots://projects/robots/pal_robotics/tiago_extensions/protos/TiagoGripper.proto"
 
 PROTO Tiago [
-  field  SFVec3f     translation      0 0 0.095
-  field  SFRotation  rotation         0 0 1 0
-  field  SFString    name             "TIAGo"
-  field  SFString    controller       "tiago"
-  field  MFString    controllerArgs   []
-  field  SFString    window           "<generic>"
-  field  SFString    customData       ""
-  field  SFBool      supervisor       FALSE
-  field  SFBool      synchronization  TRUE
-  field  SFBool      selfCollision    FALSE                                                             # Enables/disables the detection of collisions within the robot.
+  field  SFVec3f     translation       0 0 0
+  field  SFRotation  rotation          0 0 1 0
+  field  SFString    name              "TIAGo"
+  field  SFString    controller        "tiago"
+  field  MFString    controllerArgs    []
+  field  SFString    window            "<generic>"
+  field  SFString    customData        ""
+  field  SFBool      supervisor        FALSE
+  field  SFBool      synchronization   TRUE
+  field  SFBool      selfCollision     FALSE                                                            # Enables/disables the detection of collisions within the robot.
+  field  SFString{"PMB2", "OMNI"} base "PMB2"                                                           # Defines the base robot.
   field  SFNode      endEffectorSlot  TiagoGripper {}                                                   # Defines the robot end effector.
   field  MFNode      cameraSlot       Astra { translation -0.028 -0.035 -0.009 rotation 1 0 0 -1.5708}  # Extends the robot with a camera at head level.
   field  MFNode      lidarSlot        HokuyoUrg04lxug01 {}                                              # Extends the robot with a lidar sensor (such as Sick TIM551 or Hokuyo URG 04LX_UG01 for example).
 ]
 {
-  TiagoBase {
+  %< if (fields.base.value == 'PMB2') { >%
+  TiagoPmb2Base {
+  %< } else { >%
+  TiagoOmniBase {
+  %< } >%
     translation IS translation
     rotation IS rotation
     controller IS controller

@@ -9,24 +9,26 @@ Derived from [Robot](https://cyberbotics.com/doc/reference/robot).
 
 ```
 Tiago {
-  SFVec3f     translation      0 0 0.095
-  SFRotation  rotation         0 0 1 0
-  SFString    name             "TIAGo"
-  SFString    controller       "tiago"
-  MFString    controllerArgs   []
-  SFString    window           "<generic>"
-  SFString    customData       ""
-  SFBool      supervisor       FALSE
-  SFBool      synchronization  TRUE
-  SFBool      selfCollision    FALSE
-  SFNode      endEffectorSlot  TiagoGripper {}
-  MFNode      cameraSlot       Astra { translation -0.028 -0.035 -0.009 rotation 1 0 0 -1.5708}
-  MFNode      lidarSlot        HokuyoUrg04lxug01 {}
+  SFVec3f                translation      0 0 0
+  SFRotation             rotation         0 0 1 0
+  SFString               name             "TIAGo"
+  SFString               controller       "tiago"
+  MFString               controllerArgs   []
+  SFString               window           "<generic>"
+  SFString               customData       ""
+  SFBool                 supervisor       FALSE
+  SFBool                 synchronization  TRUE
+  SFBool                 selfCollision    FALSE
+  SFString{"PMB2, OMNI"} base             "PMB2"
+  SFNode                 endEffectorSlot  TiagoGripper {}
+  MFNode                 cameraSlot       Astra { translation -0.028 -0.035 -0.009 rotation 1 0 0 -1.5708}
+  MFNode                 lidarSlot        HokuyoUrg04lxug01 {}
 }
 ```
 
 #### Tiago Field Summary
 
+- `base`: Defines if the robot is using the TIAGo PMB2 or the OMNI base robot.
 - `endEffectorSlot`:  Defines the robot end effector.
 - `cameraSlot`:  Extends the robot with a camera at head level.
 - `lidarSlot`: Extends the robot with a lidar.

@@ -83,7 +83,7 @@ DEF ROOF RectangleArena {
   }
 }
 Tiago {
-  translation -4.416 1.063 0.095
+  translation -4.416 1.063 0
 }
 WoodenBox {
   translation -6.2 7 0.405

@@ -78,7 +78,7 @@ DEF ROOF RectangleArena {
   }
 }
 Tiago {
-  translation -4.416 1.063 0.095
+  translation -4.416 1.063 0
   controller "tiago_hey5_hand"
   endEffectorSlot TiagoRightHey5 {
   }

@@ -4,29 +4,35 @@
 # documentation url: https://webots.cloud/run?url=https://github.com/cyberbotics/webots/blob/released/projects/robots/pal_robotics/tiago_lite/protos/TiagoLite.proto
 # keywords: robot/wheeled
 # LITE version of the TIAGo robot from PAL Robotics.
-# The robot is composed by the TIAGo base and a body without arm.
+# The robot is composed by the TIAGo base (PMB2 or OMNI) and a body without arm.
 
 EXTERNPROTO "webots://projects/devices/hokuyo/protos/HokuyoUrg04lxug01.proto"
 EXTERNPROTO "webots://projects/devices/orbbec/protos/Astra.proto"
-EXTERNPROTO "webots://projects/robots/pal_robotics/tiago_base/protos/TiagoBase.proto"
+EXTERNPROTO "webots://projects/robots/pal_robotics/tiago_pmb2_base/protos/TiagoPmb2Base.proto"
+EXTERNPROTO "webots://projects/robots/pal_robotics/tiago_omni_base/protos/TiagoOmniBase.proto"
 EXTERNPROTO "webots://projects/robots/pal_robotics/tiago_extensions/protos/TiagoBody.proto"
 
 PROTO TiagoLite [
-  field  SFVec3f     translation      0 0 0.095
-  field  SFRotation  rotation         0 0 1 0
-  field  SFString    name             "TIAGo LITE"
-  field  SFString    controller       "tiago_lite"
-  field  MFString    controllerArgs   []
-  field  SFString    window           "<generic>"
-  field  SFString    customData       ""
-  field  SFBool      supervisor       FALSE
-  field  SFBool      synchronization  TRUE
-  field  SFBool      selfCollision    FALSE                                                             # Enables/disables the detection of collisions within the robot.
-  field  MFNode      cameraSlot       Astra { translation -0.028 -0.035 -0.009 rotation 1 0 0 -1.5708}  # Extends the robot with a camera at head level.
-  field  MFNode      lidarSlot        HokuyoUrg04lxug01 {}                                              # Extends the robot with a lidar sensor (such as Sick TIM551 or Hokuyo URG 04LX_UG01 for example).
+  field  SFVec3f     translation       0 0 0
+  field  SFRotation  rotation          0 0 1 0
+  field  SFString    name              "TIAGo LITE"
+  field  SFString    controller        "tiago_lite"
+  field  MFString    controllerArgs    []
+  field  SFString    window            "<generic>"
+  field  SFString    customData        ""
+  field  SFBool      supervisor        FALSE
+  field  SFBool      synchronization   TRUE
+  field  SFBool      selfCollision     FALSE                                                             # Enables/disables the detection of collisions within the robot.
+  field  SFString{"PMB2", "OMNI"} base "PMB2"                                                            # Defines the base robot.
+  field  MFNode      cameraSlot        Astra { translation -0.028 -0.035 -0.009 rotation 1 0 0 -1.5708}  # Extends the robot with a camera at head level.
+  field  MFNode      lidarSlot         HokuyoUrg04lxug01 {}                                              # Extends the robot with a lidar sensor (such as Sick TIM551 or Hokuyo URG 04LX_UG01 for example).
 ]
 {
-  TiagoBase {
+  %< if (fields.base.value == 'PMB2') { >%
+  TiagoPmb2Base {
+  %< } else { >%
+  TiagoOmniBase {
+  %< } >%
     translation IS translation
     rotation IS rotation
     controller IS controller

@@ -10,23 +10,25 @@ Derived from [Robot](https://cyberbotics.com/doc/reference/robot).
 
 ```
 TiagoLite {
-  SFVec3f     translation      0 0 0.095
-  SFRotation  rotation         0 0 1 0
-  SFString    name             "TIAGo LITE"
-  SFString    controller       "tiago_lite"
-  MFString    controllerArgs   []
-  SFString    window           "<generic>"
-  SFString    customData       ""
-  SFBool      supervisor       FALSE
-  SFBool      synchronization  TRUE
-  SFBool      selfCollision    FALSE
-  MFNode      cameraSlot       Astra { translation -0.028 -0.035 -0.009 rotation 1 0 0 -1.5708}
-  MFNode      lidarSlot        HokuyoUrg04lxug01 {}   
+  SFVec3f                translation      0 0 0
+  SFRotation             rotation         0 0 1 0
+  SFString               name             "TIAGo LITE"
+  SFString               controller       "tiago_lite"
+  MFString               controllerArgs   []
+  SFString               window           "<generic>"
+  SFString               customData       ""
+  SFBool                 supervisor       FALSE
+  SFBool                 synchronization  TRUE
+  SFBool                 selfCollision    FALSE
+  SFString{"PMB2, OMNI"} base             "PMB2"
+  MFNode                 cameraSlot       Astra { translation -0.028 -0.035 -0.009 rotation 1 0 0 -1.5708}
+  MFNode                 lidarSlot        HokuyoUrg04lxug01 {}   
 }
 ```
 
 #### TiagoLite Field Summary
 
+- `base`: Defines if the robot is using the TIAGo PMB2 or the OMNI base robot.
 - `cameraSlot`:  Extends the robot with a camera at head level.
 - `lidarSlot`: Extends the robot with a lidar sensor (such as Sick TIM551 or Hokuyo URG 04LX_UG01 for example).
 

@@ -79,7 +79,7 @@ DEF ROOF RectangleArena {
   }
 }
 TiagoLite {
-  translation -4.416 1.063 0.095
+  translation -4.416 1.063 0
 }
 WoodenBox {
   translation -6.2 7 0.405

@@ -0,0 +1 @@
+/tiago_omni_base