{
  "id": "mujoco-menagerie-artifact-pal-tiago-dual-tiago-dual-xml",
  "name": "MuJoCo Menagerie: pal tiago dual/tiago dual.xml",
  "summary": "Official pinned robot model text for pal tiago dual/tiago dual.xml. Inspect the upstream package and adjacent assets before use.",
  "framework": "mujoco-menagerie",
  "kind": "official_example",
  "source_registry": "official-robot-artifacts-v1",
  "artifact": {
    "kind": "robot_model",
    "format": "mjcf",
    "role": "Source/configuration reference; not an executable Hub skill",
    "structure": {
      "root": "mujoco",
      "references": [
        "./assets/",
        "arm/arm_1.stl",
        "arm/arm_2.stl",
        "arm/arm_3.stl",
        "arm/arm_4.stl",
        "arm/arm_5-wrist-2017.stl",
        "arm/arm_6-wrist-2017.stl",
        "base/base_dock_link.stl",
        "base/base_link.stl",
        "gripper/gripper_finger_link.stl",
        "gripper/gripper_link.stl",
        "head/head_1.stl",
        "head/head_2.stl",
        "objects/antenna.stl",
        "sensors/sick_tim551.stl",
        "torso/torso_fix.stl",
        "torso/torso_lift_dual_arm.stl",
        "wheels/wheel_link.stl"
      ],
      "references_truncated": false
    }
  },
  "capabilities": [
    "mjcf",
    "robot-model",
    "simulation"
  ],
  "robot_types": [
    "mobile-manipulator"
  ],
  "robot_scope": "Labels identify this description/configuration source; they do not establish runtime, controller or physical-robot compatibility.",
  "source": {
    "repository": "https://github.com/google-deepmind/mujoco_menagerie",
    "commit": "62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35",
    "tag": "main",
    "path": "pal_tiago_dual/tiago_dual.xml",
    "url": "https://github.com/google-deepmind/mujoco_menagerie/blob/62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35/pal_tiago_dual/tiago_dual.xml",
    "raw_url": "https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35/pal_tiago_dual/tiago_dual.xml",
    "sha256": "b20f7fc5a208f029ecde7e7932d4bb6c0172c3b3edee36db72f8b7661285bb58",
    "bytes": 15077
  },
  "license": {
    "spdx": "Apache-2.0",
    "url": "https://github.com/google-deepmind/mujoco_menagerie/blob/62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35/pal_tiago_dual/LICENSE",
    "sha256": "c71d239df91726fc519c6eb72d318ec65820627232b2f796219e87dcf35d0ab4",
    "scope": "Model/scene description text in this model directory only. Preserve this model-specific license and upstream notices. Included models, meshes, textures, dependencies and trademarks retain their applicable rights; this index does not redistribute them."
  },
  "access": {
    "mode": "source_reference",
    "hub_prepare": false,
    "instructions": "Inspect this checksum-pinned text in the full upstream checkout. Resolve adjacent definitions/assets and their separate licenses using upstream instructions. The Hub does not load or execute this artifact.",
    "setup_url": "https://github.com/google-deepmind/mujoco_menagerie/blob/62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35/pal_tiago_dual/README.md"
  },
  "requirements": {
    "python": "Not a Python entrypoint; follow the pinned upstream package requirements",
    "packages": [
      "MuJoCo version specified by the pinned model README",
      "Adjacent upstream meshes and included XML definitions"
    ],
    "display": "Model XML often references adjacent meshes or other model XML. Viewer/rendering and MuJoCo/MJX version requirements are model-specific; this index does not fetch those assets or load a model.",
    "execution_domain": "simulation",
    "source_imports": []
  },
  "invocation": {
    "entrypoint": "Data/configuration artifact: pal_tiago_dual/tiago_dual.xml; use its upstream loader or package integration after inspection",
    "notes": "This file is not a standalone program. No Xacro expansion, include resolution, model loading, configuration deployment or robot execution was performed."
  },
  "popularity": {
    "metric": "github_stars",
    "repository_stars": 4209,
    "checked_at": "2026-10-18",
    "meaning": "Dated repository interest, not artifact use or runtime success."
  },
  "evidence": {
    "level": "source_reviewed",
    "runtime_verification": "not_run",
    "checked_at": "2026-10-18",
    "inspection": "Verified exact source and applicable license SHA-256 bytes. Parsed XML syntax and recorded direct file references; includes, Xacro expressions and model dynamics were not evaluated.",
    "inspection_method": "automated_static",
    "artifact_kind": "robot_model"
  },
  "robots": [
    "pal-tiago-dual"
  ]
}