Fetch Freight Mujoco

Mujoco models for the Fetch Robotics Freight robot. In particular, we have integrated a Panda arm from Mujoco Menagerie with the mobile base in support of embodied robotics research.

Prerequisites

Mujoco

pip install mujoco

View Model

Freight base + Panda arm

python -m mujoco.viewer --mjcf xml/mobile_manipulator.xml

Notes

Organization

The robot model is organized hierarchically. Our main entrypoint for the file is mobile_manipulator.xml. Inside the main file, we include the Mujoco files containing the mobile base, the Panda arm, and common attributes like collision, meshes, etc.

Conversion

The conversion did not handle the wheels very well. Therefore I swapped them for ellipsoids primitives.

I just want the mobile base??

You can simply remove the <include> for the panda arm in freight_panda.xml.

Credit

Dual-UR5-Husky-MuJoCo

Mujoco Menagerie