Improve TIAGo model

[stefaniapedrazzi]

Update the TIAGo model to the latest PAL Robotics version:

• add a custom RGB-D camera (specifications https://shop.orbbec3d.com/Astra-S)
• change name of models from iron/steel/etc. to "TIAGo lite" (no arms), "TIAGo" (1 arm + gripper) and TIAGo ++ (2 arms + gripper)
• Add TIAGo omni base
• Add TIAGo robotiq grippers

[thomaspeyrucain]

Hello Webots team,

The robotiq models are missing the coupling link that PAL added to interface the robotiq gripper with the arm of the robot

Expected behavior
The gripper should look like that for all robotiq gripper equipped on TIAGo:

You can find the model for the coupling link here:

• With eletronics
• Without electronics

And in this urdf

The coupling link stl model is the same for the 3 robotiq grippers

Affected package:

• projects/robots/pal_robotics/tiago_extensions/protos/TiagoRobotiqGripper.proto

System

• Webots Version: R2023b
• ROS Version: Humble
• Operating System: Linux Ubuntu 20.04
• Graphics Card: Nvidia

[thomaspeyrucain]

We also updated the stl of the omni_base to remove the unnecessary inside components here:

[BenjaminDeleze]

Dear @thomaspeyrucain,

I added the couple link to the robotiq grippers, you can check it in this PR

However, I am affraid we will not be able to use the new mesh you provided for the omni_base as it does not meet the Webots quality standard:

• The mesh is still to big: in Webots no mesh should exceed 21845 triangles. Dividing a large mesh into several smaller ones is a possible solution, but simplifying each mesh should be done whenever possible.
• Also, the mesh contains some artifacts like on the picture below.

[thomaspeyrucain]

Hello @BenjaminDeleze ,
Thank you I will see internally what we can do about this