Bases: TwoWheelRobot
Locobot robot
Reference: https://www.trossenrobotics.com/locobot-pyrobot-ros-rover.aspx
Source code in omnigibson/robots/locobot.py
| class Locobot(TwoWheelRobot):
"""
Locobot robot
Reference: https://www.trossenrobotics.com/locobot-pyrobot-ros-rover.aspx
"""
@property
def model_name(self):
return "Locobot"
@property
def wheel_radius(self):
return 0.038
@property
def wheel_axle_length(self):
return 0.230
@property
def base_control_idx(self):
"""
Returns:
n-array: Indices in low-level control vector corresponding to [Left, Right] wheel joints.
"""
return np.array([1, 0])
@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/locobot/locobot/locobot.usd")
@property
def urdf_path(self):
return os.path.join(gm.ASSET_PATH, "models/locobot/locobot.urdf")
|
base_control_idx
property
Returns:
Type |
Description |
|
n-array: Indices in low-level control vector corresponding to [Left, Right] wheel joints. |