# Fetch Mobile Manipulator Robot UID: `fetch` Agent Class Code: [https://github.com/haosulab/ManiSkill/blob/main/mani_skill/agents/robots/fetch/fetch.py](https://github.com/haosulab/ManiSkill/blob/main/mani_skill/agents/robots/fetch/fetch.py) Quality: B (Stable, but some values are unrealistic) Degrees of Freedom: 15 Controllers: `pd_joint_delta_pos`, `pd_joint_pos`, `pd_ee_delta_pos`, `pd_ee_delta_pose`, `pd_ee_delta_pose_align`, `pd_joint_target_delta_pos`, `pd_ee_target_delta_pos`, `pd_ee_target_delta_pose`, `pd_joint_vel`, `pd_joint_pos_vel`, `pd_joint_delta_pos_vel`, `pd_joint_delta_pos_stiff_body` ## Visuals and Collision Models
fetch fetch

Visual Meshes


fetch fetch

Collision Meshes (Green = Convex Mesh, Blue = Primitive Shape Mesh)