Fetch

Built by:   Fetch Robotics
Licence:    MIT
Source:     https://github.com/openai/roboschool/tree/1.0.49/roboschool/models_robot/fetch_description
Commit:     1.0.49
Collection: openai/roboschool
Packaged:   2026-08-29 by urdfbase.com/models/fetch/

This folder holds the model written as MJCF, with mesh paths rewritten to
meshes/ so they resolve wherever the folder is opened. The original files, with
the paths their authors wrote, are at the source above.

What did not survive the conversion:
  - link "base_link" declares an inertia tensor MuJoCo cannot use (it is not positive definite); the off-diagonal terms were dropped and the moments floored at 7.01294e-05 kg·m², so this link's rotation is approximate
  - joint "r_wheel_joint" has a velocity limit of 17.4, which MJCF does not store on the joint — enforce it in the controller
  - joint "l_wheel_joint" has a velocity limit of 17.4, which MJCF does not store on the joint — enforce it in the controller
  - joint "torso_lift_joint" has a velocity limit of 0.1, which MJCF does not store on the joint — enforce it in the controller
  - joint "head_pan_joint" has a velocity limit of 1.57, which MJCF does not store on the joint — enforce it in the controller
  - joint "head_tilt_joint" has a velocity limit of 1.57, which MJCF does not store on the joint — enforce it in the controller
  - joint "shoulder_pan_joint" has a velocity limit of 1.256, which MJCF does not store on the joint — enforce it in the controller
  - joint "shoulder_lift_joint" has a velocity limit of 1.454, which MJCF does not store on the joint — enforce it in the controller
  - joint "upperarm_roll_joint" has a velocity limit of 1.571, which MJCF does not store on the joint — enforce it in the controller
  - joint "elbow_flex_joint" has a velocity limit of 1.521, which MJCF does not store on the joint — enforce it in the controller
  - joint "forearm_roll_joint" has a velocity limit of 1.571, which MJCF does not store on the joint — enforce it in the controller
  - joint "wrist_flex_joint" has a velocity limit of 2.268, which MJCF does not store on the joint — enforce it in the controller
  - joint "wrist_roll_joint" has a velocity limit of 2.268, which MJCF does not store on the joint — enforce it in the controller
  - joint "r_gripper_finger_joint" has a velocity limit of 0.05, which MJCF does not store on the joint — enforce it in the controller
  - link "r_gripper_finger_link" declares an inertia tensor MuJoCo cannot use (it is not positive definite); the off-diagonal terms were dropped and the moments floored at 7.98e-08 kg·m², so this link's rotation is approximate
  - joint "l_gripper_finger_joint" has a velocity limit of 0.05, which MJCF does not store on the joint — enforce it in the controller
  - link "l_gripper_finger_link" declares an inertia tensor MuJoCo cannot use (it is not positive definite); the off-diagonal terms were dropped and the moments floored at 7.98e-08 kg·m², so this link's rotation is approximate

The robot belongs to the people who built it. Credit the source, not this site.
