Robot profile

Create one with pixi run dwarl robot init. The profile lives in your robot repository.

Download an example · Manual conventions

??? marks required measurements. A null default means unset; conditional requirements (such as wheel joints for URDF) are checked by the loader.

Field	Default
`schema`	`"dwarl_robot/1"`
`id`	`"???"`
`description.urdf`	`null`
`description.mjcf`	`null`
`description.base_link`	`"base_link"`
`drive.type`	`"diff"`
`drive.left_wheel_joint`	`null`
`drive.right_wheel_joint`	`null`
`drive.wheel_radius`	`null`
`drive.actuator.kv`	`1.0`
`drive.actuator.max_wheel_speed`	`30.0`
`drive.actuator.max_torque`	`5.0`
`limits.v_min`	`"???"`
`limits.v_max`	`"???"`
`limits.w_max`	`"???"`
`limits.a_max`	`"???"`
`limits.alpha_max`	`"???"`
`lidar.link`	`null`
`lidar.num_rays`	`"???"`
`lidar.fov_deg`	`"???"`
`lidar.min_range`	`"???"`
`lidar.max_range`	`"???"`
`lidar.noise_std`	`0.01`
`lidar.dropout_prob`	`0.005`
`footprint.polygon`	`null`
`footprint.radius`	`null`
`collision.remove_links`	`[]`
`collision.keep_collision_links`	`[]`
`collision.keep_visuals`	`false`
`collision.chassis_z`	`null`
`collision.chassis_mass`	`0.0`
`collision.supports`	`[]`
`physics.friction`	`null`
`physics.link_friction`	`[]`
`physics.joints`	`[]`
`ros.base_frame`	`"base_link"`
`ros.odom_frame`	`"odom"`
`ros.map_frame`	`"map"`
`ros.scan_topic`	`"scan"`
`ros.cmd_vel_topic`	`"cmd_vel"`
`ros.cmd_vel_stamped`	`true`
`ros.odom_topic`	`"odom"`
`ros.sim_launch`	`null`
`deployment.policy_directory`	`"policies"`
`deployment.selected_policy`	`"selected_policy.yaml"`
`deployment.launch`	`null`

YAML schema

schema: dwarl_robot/1
id: ???
description:
  urdf: null
  mjcf: null
  base_link: base_link
  xacro_args: {}
drive:
  type: diff
  left_wheel_joint: null
  right_wheel_joint: null
  wheel_radius: null
  actuator:
    kv: 1.0
    max_wheel_speed: 30.0
    max_torque: 5.0
limits:
  v_min: ???
  v_max: ???
  w_max: ???
  a_max: ???
  alpha_max: ???
lidar:
  link: null
  num_rays: ???
  fov_deg: ???
  min_range: ???
  max_range: ???
  noise_std: 0.01
  dropout_prob: 0.005
footprint:
  polygon: null
  radius: null
collision:
  remove_links: []
  keep_collision_links: []
  keep_visuals: false
  chassis_z: null
  chassis_mass: 0.0
  supports: []
physics:
  friction: null
  link_friction: []
  joints: []
ros:
  base_frame: base_link
  odom_frame: odom
  map_frame: map
  scan_topic: scan
  cmd_vel_topic: cmd_vel
  cmd_vel_stamped: true
  odom_topic: odom
  sim_launch: null
datagen: {}
deployment:
  policy_directory: policies
  selected_policy: selected_policy.yaml
  launch: null