Simulation

Pal provided two physics simulators that are integrated in ROS and good for testing your code before applying it on the robot. We are also working on MJX/IsaacSim environments that are more suitable for machine learning.

Using Pal Physics Simulator (ROS)Using Gazebo (ROS)MuJoCo / MJXIsaac Sim

The talos_pal_physics_simulator focuses on accuracy by modeling the actuator dynamics and is recommended for testing torque controllers in simulation.

The simulator can be started with actuator noise (more realistic)

roslaunch talos_pal_physics_simulator talos_pal_physics_simulator_with_actuators.launch

... or without it:

roslaunch talos_pal_physics_simulator talos_pal_physics_simulator.launch

The Gazebo simulation can be started with

roslaunch talos_gazebo talos_gazebo.launch

For running MPC with Gazebo, see Reactive Walk MPC Controller.

TODO

Talos Isaac Sim repository

.usd file of Talos for Isaac Sim

To open the .usd file in Isaac Sim, click file - open, then type the file path.

TODO