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freight

Freight

Bases: TwoWheelRobot

Freight Robot Reference: https://fetchrobotics.com/robotics-platforms/freight-base/ Uses joint velocity control

Source code in OmniGibson/omnigibson/robots/freight.py 
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class Freight(TwoWheelRobot):
    """
    Freight Robot
    Reference: https://fetchrobotics.com/robotics-platforms/freight-base/
    Uses joint velocity control
    """

    @property
    def wheel_radius(self):
        return 0.0613

    @property
    def wheel_axle_length(self):
        return 0.372

    @cached_property
    def base_joint_names(self):
        return ["l_wheel_joint", "r_wheel_joint"]

    @property
    def _default_joint_pos(self):
        return th.zeros(self.n_joints)