File size: 3,772 Bytes
393dd2a | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 | # Absolute path to URDF
urdf_path: fetch_source.urdf # (str) Absolute path to robot URDF to import
name: fetch # (str) Name to assign to robot
headless: false # (bool) if set, run without GUI
overwrite: true # (bool) if set, overwrite any existing files
merge_fixed_joints: true
base_motion:
wheel_links: # (list of str): links corresponding to wheels
- l_wheel_link
- r_wheel_link
wheel_joints: # (list of str): joints corresponding to wheel motion
- l_wheel_joint
- r_wheel_joint
use_sphere_wheels: true # (bool) whether to use sphere approximation for wheels (better stability)
use_holonomic_joints: false # (bool) whether to use joints to approximate a holonomic base. In this case, all
# wheel-related joints will be made into fixed joints, and 6 additional
# "virtual" joints will be added to the robot's base capturing 6DOF movement,
# with the (x,y,rz) joints being controllable by motors
collision:
decompose_method: coacd # (str) [coacd, convex, or null] collision decomposition method
hull_count: 8 # (int) per-mesh max hull count to use during decomposition, only relevant for coacd
coacd_links: [] # (list of str): links that should use CoACD to decompose collision meshes
convex_links: # (list of str): links that should use convex hull of visual meshes to decompose collision meshes
- base_link
- torso_fixed_link
- head_pan_link
- head_tilt_link
- wrist_roll_link
- gripper_link
no_decompose_links: # (list of str): links that should not have any post-processing done to them
- l_wheel_link
- r_wheel_link
- l_gripper_finger_link
- r_gripper_finger_link
no_collision_links: # (list of str) links that will have any associated collision meshes removed
- laser_link
- estop_link
eef_vis_links: # (list of dict) information for adding cameras to robot
- link: eef_link # same format as @camera_links
parent_link: wrist_roll_link
offset:
position: [0.16645, 0, 0]
orientation: [0.707, 0, 0.707, 0]
camera_links: # (list of dict) information for adding cameras to robot
- link: eyes # (str) link name to add camera. Must exist if @parent_link is null, else will be
# added as a child of the parent
parent_link: head_tilt_link # (str) optional parent link to use if adding new link
offset: # (dict) local pos,ori offset values. if @parent_link is specified, defines offset
# between @parent_link and @link specified in @parent_link's frame.
# Otherwise, specifies offset of generated prim relative to @link's frame
position: [0.055, 0, 0.0225] # (3-tuple) (x,y,z) offset -- this is done BEFORE the rotation
orientation: [0.5, -0.5, -0.5, 0.5] # (4-tuple) (x,y,z,w) offset
- link: eef_link
parent_link: null
offset:
position: [0.05, 0, -0.05]
orientation: [-0.7011, -0.7011, -0.0923, -0.0923]
lidar_links: # (list of dict) information for adding cameras to robot
- link: laser_link # same format as @camera_links
parent_link: base_link
offset:
position: [0.235, 0, 0.2878]
orientation: [1.0, 0, 0, 0]
curobo: null
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