├── LICENSE ├── README.md ├── assets ├── asset.xml ├── body.xml ├── gripper_pos_act.xml ├── gripper_torque_act.xml ├── jnt_pos_act.xml ├── jnt_torque_act.xml └── mocap_ee_act.xml ├── box ├── asset.xml └── chain.xml ├── door ├── asset.xml ├── chain0.xml └── chain1.xml ├── fetch_maneuver.xml ├── fetch_pole.xml ├── gallery ├── boxes.JPG ├── maneuver.JPG ├── objects.JPG └── pole.JPG ├── meshes ├── base_link_collision.stl ├── bellows_link_collision.stl ├── elbow_flex_link_collision.stl ├── estop_link.stl ├── forearm_roll_link_collision.stl ├── gripper_link.stl ├── head_pan_link_collision.stl ├── head_tilt_link_collision.stl ├── l_gripper_finger_link.stl ├── l_wheel_link.stl ├── l_wheel_link_collision.stl ├── laser_link.stl ├── main.xml ├── r_gripper_finger_link.stl ├── r_wheel_link_collision.stl ├── shoulder_lift_link_collision.stl ├── shoulder_pan_link_collision.stl ├── torso_fixed_link.stl ├── torso_lift_link_collision.stl ├── upperarm_roll_link_collision.stl ├── wrist_flex_link_collision.stl └── wrist_roll_link_collision.stl ├── shelf └── chain.xml ├── table ├── asset.xml └── chain.xml ├── teleOp_boxes.xml ├── teleOp_objects.xml └── texture ├── marble.png ├── small_placeholder_2d.png ├── small_placeholder_cube.png └── wood.png /LICENSE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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-------------------------------------------------------------------------------- 1 | # Fetch 2 | Mujoco Models for Fetch Robot 3 | 4 | # Environments 5 | 6 | fetch_pole.xml | fetch_maneuver.xml |teleOp_boxes.xml | teleOp_objects.xml 7 | :-------------------------:|:-------------------------:|:-------------------------:|:-------------------------: 8 | ![Alt text](gallery/pole.JPG?raw=false "Fetch Pole") | ![Alt text](gallery/maneuver.JPG?raw=false "fetch maneuver") | ![Alt text](gallery/boxes.JPG?raw=false "teleOp Boxes") | ![Alt text](gallery/objects.JPG?raw=false "teleOp objects") 9 | 10 | 11 | 12 | # TeleOp Video 13 | ([Click to play](https://www.youtube.com/watch?v=2qEf5TkFXpQ)) 14 | 15 | [![TeleOp](https://img.youtube.com/vi/2qEf5TkFXpQ/0.jpg)](https://www.youtube.com/watch?v=2qEf5TkFXpQ) 16 | -------------------------------------------------------------------------------- /assets/asset.xml: -------------------------------------------------------------------------------- 1 | 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 | 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 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | -------------------------------------------------------------------------------- /assets/body.xml: -------------------------------------------------------------------------------- 1 | 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 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | -------------------------------------------------------------------------------- /assets/gripper_pos_act.xml: -------------------------------------------------------------------------------- 1 | 2 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /assets/gripper_torque_act.xml: -------------------------------------------------------------------------------- 1 | 2 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /assets/jnt_pos_act.xml: -------------------------------------------------------------------------------- 1 | 2 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /assets/jnt_torque_act.xml: -------------------------------------------------------------------------------- 1 | 2 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /assets/mocap_ee_act.xml: -------------------------------------------------------------------------------- 1 | 2 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /box/asset.xml: -------------------------------------------------------------------------------- 1 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /box/chain.xml: -------------------------------------------------------------------------------- 1 | 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 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 181 | 182 | 183 | 184 | 185 | 186 | 187 | 188 | 189 | 190 | 191 | 192 | 193 | 194 | 195 | 196 | 197 | 198 | 199 | 200 | 201 | 202 | 203 | 204 | 205 | 206 | 207 | 208 | 209 | 210 | 211 | 212 | 213 | 214 | 215 | 216 | 217 | 218 | 219 | 220 | 221 | 222 | 223 | 224 | 225 | 226 | 227 | 228 | 229 | 230 | 231 | 232 | 233 | 234 | 235 | 236 | 237 | 238 | 239 | 240 | -------------------------------------------------------------------------------- /door/asset.xml: -------------------------------------------------------------------------------- 1 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /door/chain0.xml: -------------------------------------------------------------------------------- 1 | 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 | 48 | 49 | -------------------------------------------------------------------------------- /door/chain1.xml: -------------------------------------------------------------------------------- 1 | 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 | 48 | 49 | 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