robots/fetch/robots/FETCH_MODIFICATIONS.md

Original code taken from:

https://github.com/fetchrobotics/fetch_ros

Modifications:

• Comment out bellows_link and bellows_joint. You can push off the ground using this strange thing!

• Set moments of inertia of r_gripper_finger_link and l_gripper_finger_link to non-zero.

• Set moments of inertia of base_link to zero, except for Z-axis, to disable rotation other than around Z axis.

• Added <gazebo reference="head_camera_rgb_optical_frame"> for camera, turn head_camera_rgb_optical_frame 180 degrees as camera was facing backwards.

• Spheres are now collision shape for wheels (fixes jumping).

• Boxes for fingers collision shape.