| # 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 | |