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husky

Husky

Bases: LocomotionRobot

Husky robot Reference: https://clearpathrobotics.com/, http://wiki.ros.org/Robots/Husky

Source code in omnigibson/robots/husky.py 
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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 wheel_radius(self):
        return 0.165

    @property
    def wheel_axle_length(self):
        return 0.670

    @property
    def base_joint_names(self):
        return ["front_left_wheel", "front_right_wheel", "rear_left_wheel", "rear_right_wheel"]

    @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/husky/husky/husky.usd")

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