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turtlebot

Turtlebot

Bases: TwoWheelRobot

Turtlebot robot Reference: http://wiki.ros.org/Robots/TurtleBot Uses joint velocity control

Source code in omnigibson/robots/turtlebot.py 
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class Turtlebot(TwoWheelRobot):
    """
    Turtlebot robot
    Reference: http://wiki.ros.org/Robots/TurtleBot
    Uses joint velocity control
    """

    @property
    def wheel_radius(self):
        return 0.038

    @property
    def wheel_axle_length(self):
        return 0.23

    @property
    def base_control_idx(self):
        """
        Returns:
            n-array: Indices in low-level control vector corresponding to [Left, Right] wheel joints.
        """
        return np.array([0, 1])

    @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/turtlebot/turtlebot/turtlebot.usd")

    @property
    def urdf_path(self):
        return os.path.join(gm.ASSET_PATH, "models/turtlebot/turtlebot.urdf")

base_control_idx property

Returns:

Type Description

n-array: Indices in low-level control vector corresponding to [Left, Right] wheel joints.