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Configuration

Robot Configuration

fetch

The Fetch robot's bundled description.

This module collects every concrete value that describes the one robot this project ships: joint groupings, the home pose, the URDF chains TRAC-IK and Pinocchio operate on, the VAMP planning subgroups, the Reeds-Shepp / Dubins base parameters, and the top-level RobotConfig instance.

The dataclass types themselves live in :mod:fetch_planning.types.robot — this file holds values of those types.

The full configuration vector is 11-DOF:

  • [0:3] — mobile base (x, y, theta), nonholonomic diff-drive
  • [3:4] — torso_lift_joint
  • [4:11] — 7-DOF arm (shoulder_pan → wrist_roll)

When the active subgroup contains any base joint the planner plans in SE2 × R^N, where the SE(2) space is either DubinsStateSpace (forward-only) or ReedsSheppStateSpace (reverse allowed), selected by BASE_REVERSE_ENABLE. When only arm joints are active a plain RealVectorStateSpace is used. See :mod:fetch_planning.planning.motion_planner.