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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/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

    @cached_property
    def base_joint_names(self):
        return ["wheel_left_joint", "wheel_right_joint"]

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