Skip to content

freight

Freight

Bases: TwoWheelRobot

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

Source code in omnigibson/robots/freight.py 
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
class Freight(TwoWheelRobot):
    """
    Freight Robot
    Reference: https://fetchrobotics.com/robotics-platforms/freight-base/
    Uses joint velocity control
    """

    def _post_load(self):
        super()._post_load()

        # Set the wheels back to using sphere approximations
        for wheel_name in ["l_wheel_link", "r_wheel_link"]:
            log.warning(
                "Freight wheel links are post-processed to use sphere approximation collision meshes. "
                "Please ignore any previous errors about these collision meshes."
            )
            wheel_link = self.links[wheel_name]
            assert set(wheel_link.collision_meshes) == {"collisions"}, "Wheel link should only have 1 collision!"
            wheel_link.collision_meshes["collisions"].set_collision_approximation("boundingSphere")

    @property
    def wheel_radius(self):
        return 0.0613

    @property
    def wheel_axle_length(self):
        return 0.372

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

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

    @property
    def usd_path(self):
        return os.path.join(gm.ASSET_PATH, "models/fetch/freight/freight.usd")

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