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husky

Husky

Bases: LocomotionRobot

Husky robot Reference: https://clearpathrobotics.com/, http://wiki.ros.org/Robots/Husky

Source code in robots/husky.py
class Husky(LocomotionRobot):
    """
    Husky robot
    Reference: https://clearpathrobotics.com/, http://wiki.ros.org/Robots/Husky
    """

    def _create_discrete_action_space(self):
        raise ValueError("Husky does not support discrete actions!")

    @property
    def base_control_idx(self):
        return np.array([0, 1, 2, 3])

    @property
    def default_joint_pos(self):
        return np.zeros(self.n_joints)

    @property
    def usd_path(self):
        return os.path.join(omnigibson.assets_path, "models/husky/husky/husky.usd")

    @property
    def urdf_path(self):
        return os.path.join(omnigibson.assets_path, "models/husky/husky.urdf")