Bases: LocomotionRobot
Husky robot
Reference: https://clearpathrobotics.com/, http://wiki.ros.org/Robots/Husky
Source code in omnigibson/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(gm.ASSET_PATH, "models/husky/husky/husky.usd")
@property
def urdf_path(self):
return os.path.join(gm.ASSET_PATH, "models/husky/husky.urdf")
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