Arena model_params.yaml registrations for robots in fiveages-sim/robot_usds.
A USD in robot_usds is not enough to spawn a robot in Arena. Each name used as robot:=... needs a folder here:
arena_robots/robots/<Name>/model_params.yaml
robot:= |
USD |
|---|---|
FiveAges_W2 |
deps/robot_usds/humanoid/FiveAges_W2 (fa-w2-usds) |
To add another org robot, copy FiveAges_W2/model_params.yaml, point usd_redirect at that robot's USD, and fill footprint, base frame, lidar topic, and camera prim.