Mobile Robots

Mobile platforms registered in the Space Robotics Bench include wheeled rovers, legged robots, aerial vehicles, landers, spacecraft, and a surface vessel for navigation and locomotion tasks.

Overview

Landers

Apollo Lander (`apollo_lander`)

apollo_lander


DoF	runtime-resolved
End Effector	None
Base Frame	`base`
Sensors	2
Action Modes	default: `thrust`
Mass	4280 kg

Action Modes

Mode	Controller	Dims	Scale
`thrust` *	Thrust	17	1.0

Sensors

Name	Type	Location
imu_robot	Imu	`base`
cam_onboard	Camera	`base/camera_onboard`

Peregrine Lander (`peregrine_lander`)

peregrine_lander


DoF	runtime-resolved
End Effector	None
Base Frame	`base`
Sensors	2
Action Modes	default: `thrust`
Mass	825 kg

Action Modes

Mode	Controller	Dims	Scale
`thrust` *	Thrust	17	1.0

Sensors

Name	Type	Location
imu_robot	Imu	`base`
cam_onboard	Camera	`base/camera_onboard`

Random Lander (`random_lander`)

random_lander


DoF	runtime-resolved
End Effector	None
Base Frame	`base`
Sensors	2
Action Modes	default: `thrust`

Action Modes

Mode	Controller	Dims	Scale
`thrust` *	Thrust	3	1.0

Sensors

Name	Type	Location
imu_robot	Imu	`base`
cam_onboard	Camera	`base/camera_onboard`

Resilience Lander (`resilience_lander`)

resilience_lander


DoF	runtime-resolved
End Effector	None
Base Frame	`base`
Sensors	2
Action Modes	default: `thrust`
Mass	340 kg

Action Modes

Mode	Controller	Dims	Scale
`thrust` *	Thrust	9	1.0

Sensors

Name	Type	Location
imu_robot	Imu	`base`
cam_onboard	Camera	`base/camera_onboard`

Vikram Lander (`vikram_lander`)

vikram_lander


DoF	runtime-resolved
End Effector	None
Base Frame	`base`
Sensors	2
Action Modes	default: `thrust`
Mass	626 kg

Action Modes

Mode	Controller	Dims	Scale
`thrust` *	Thrust	13	1.0

Sensors

Name	Type	Location
imu_robot	Imu	`base`
cam_onboard	Camera	`base/camera_onboard`

Legged Robots

Anymal C (`anymal_c`)

anymal_c


DoF	runtime-resolved
End Effector	None
Base Frame	`base`
Sensors	3
Action Modes	default: `joint_pos`

Action Modes

Mode	Controller	Dims	Scale
`joint_pos` *	Joint Position To Limits	runtime-resolved	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
legs	`.HAA`, `.HFE`, `.*KFE`	80 N·m	7.5 rad/s	–	–

Sensors

Name	Type	Location
imu_robot	Imu	`base`
contacts_feet	Contact Sensor	`.*FOOT`
cam_front	Camera	`base/camera_front`

Initial Joint Configuration

Joint	Position
`.*HAA`	0.0 rad
`.*F_HFE`	0.4 rad (22.918312 deg)
`.*H_HFE`	-0.4 rad (-22.918312 deg)
`.*F_KFE`	-0.8 rad (-45.836624 deg)
`.*H_KFE`	0.8 rad (45.836624 deg)

Anymal D (`anymal_d`)

anymal_d


DoF	runtime-resolved
End Effector	None
Base Frame	`base`
Sensors	3
Action Modes	default: `joint_pos`

Action Modes

Mode	Controller	Dims	Scale
`joint_pos` *	Joint Position To Limits	runtime-resolved	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
legs	`.HAA`, `.HFE`, `.*KFE`	80 N·m	7.5 rad/s	–	–

Sensors

Name	Type	Location
imu_robot	Imu	`base`
contacts_feet	Contact Sensor	`.*FOOT`
cam_front	Camera	`base/camera_front`

Initial Joint Configuration

Joint	Position
`.*HAA`	0.0 rad
`.*F_HFE`	0.4 rad (22.918312 deg)
`.*H_HFE`	-0.4 rad (-22.918312 deg)
`.*F_KFE`	-0.8 rad (-45.836624 deg)
`.*H_KFE`	0.8 rad (45.836624 deg)

Cassie (`cassie`)

cassie


DoF	12
End Effector	None
Base Frame	`pelvis`
Sensors	3
Action Modes	default: `joint_pos`

Action Modes

Mode	Controller	Dims	Scale
`joint_pos` *	Joint Position To Limits	12	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
legs	`hip_.`, `thigh_.`, `ankle_.*`	200 N·m	10 rad/s	100–200	3–6
toes	`toe_.*`	20 N·m	10 rad/s	20	1

Sensors

Name	Type	Location
imu_robot	Imu	`pelvis`
contacts_feet	Contact Sensor	`(left\|right)_toe`
cam_front	Camera	`pelvis/camera_front`

Initial Joint Configuration

Joint	Position
hip_abduction_left	0.1 rad (5.729578 deg)
hip_rotation_left	0.0 rad
hip_flexion_left	1 rad (57.29578 deg)
thigh_joint_left	-1.8 rad (-103.132403 deg)
ankle_joint_left	1.57 rad (89.954374 deg)
toe_joint_left	-1.57 rad (-89.954374 deg)
hip_abduction_right	-0.1 rad (-5.729578 deg)
hip_rotation_right	0.0 rad
hip_flexion_right	1 rad (57.29578 deg)
thigh_joint_right	-1.8 rad (-103.132403 deg)
ankle_joint_right	1.57 rad (89.954374 deg)
toe_joint_right	-1.57 rad (-89.954374 deg)

Random Anymal Quadruped (`random_anymal_quadruped`)

random_anymal_quadruped


DoF	runtime-resolved
End Effector	None
Base Frame	`base`
Sensors	3
Action Modes	default: `joint_pos`

Action Modes

Mode	Controller	Dims	Scale
`joint_pos` *	Joint Position To Limits	runtime-resolved	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
legs	`.HAA`, `.HFE`, `.*KFE`	80 N·m	7.5 rad/s	–	–

Sensors

Name	Type	Location
imu_robot	Imu	`base`
contacts_feet	Contact Sensor	`.*FOOT`
cam_front	Camera	`base/camera_front`

Initial Joint Configuration

Joint	Position
`.*HAA`	0.0 rad
`.*F_HFE`	0.4 rad (22.918312 deg)
`.*H_HFE`	-0.4 rad (-22.918312 deg)
`.*F_KFE`	-0.8 rad (-45.836624 deg)
`.*H_KFE`	0.8 rad (45.836624 deg)

Random Unitree Quadruped (`random_unitree_quadruped`)

random_unitree_quadruped


DoF	runtime-resolved
End Effector	None
Base Frame	`trunk`
Sensors	3
Action Modes	default: `joint_pos`

Action Modes

Mode	Controller	Dims	Scale
`joint_pos` *	Joint Position To Limits	runtime-resolved	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
base_legs	`._hip_joint`, `._thigh_joint`, `.*_calf_joint`	33.5 N·m	21 rad/s	25	0.5

Sensors

Name	Type	Location
imu_robot	Imu	`trunk`
contacts_feet	Contact Sensor	`.*foot`
cam_front	Camera	`trunk/camera_front`

Initial Joint Configuration

Joint	Position
`.*L_hip_joint`	0.1 rad (5.729578 deg)
`.*R_hip_joint`	-0.1 rad (-5.729578 deg)
`F[L,R]_thigh_joint`	0.8 rad (45.836624 deg)
`R[L,R]_thigh_joint`	1 rad (57.29578 deg)
`.*_calf_joint`	-1.5 rad (-85.943669 deg)

Spot (`spot`)

spot


DoF	runtime-resolved
End Effector	None
Base Frame	`body`
Sensors	3
Action Modes	default: `joint_pos`

Action Modes

Mode	Controller	Dims	Scale
`joint_pos` *	Joint Position	runtime-resolved	0.2

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
spot_hip	`.*_h[xy]`	45 N·m	–	60	1.5
spot_knee	`.*_kn`	–	–	60	1.5

Sensors

Name	Type	Location
imu_robot	Imu	`body`
contacts_feet	Contact Sensor	`.*foot`
cam_front	Camera	`body/camera_front`

Initial Joint Configuration

Joint	Position
`[fh]l_hx`	0.1 rad (5.729578 deg)
`[fh]r_hx`	-0.1 rad (-5.729578 deg)
`f[rl]_hy`	0.9 rad (51.566202 deg)
`h[rl]_hy`	1.1 rad (63.025357 deg)
`.*_kn`	-1.5 rad (-85.943669 deg)

Unitree A1 (`unitree_a1`)

unitree_a1


DoF	runtime-resolved
End Effector	None
Base Frame	`trunk`
Sensors	3
Action Modes	default: `joint_pos`

Action Modes

Mode	Controller	Dims	Scale
`joint_pos` *	Joint Position To Limits	runtime-resolved	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
base_legs	`._hip_joint`, `._thigh_joint`, `.*_calf_joint`	33.5 N·m	21 rad/s	25	0.5

Sensors

Name	Type	Location
imu_robot	Imu	`trunk`
contacts_feet	Contact Sensor	`.*foot`
cam_front	Camera	`trunk/camera_front`

Initial Joint Configuration

Joint	Position
`.*L_hip_joint`	0.1 rad (5.729578 deg)
`.*R_hip_joint`	-0.1 rad (-5.729578 deg)
`F[L,R]_thigh_joint`	0.8 rad (45.836624 deg)
`R[L,R]_thigh_joint`	1 rad (57.29578 deg)
`.*_calf_joint`	-1.5 rad (-85.943669 deg)

Unitree Go1 (`unitree_go1`)

unitree_go1


DoF	runtime-resolved
End Effector	None
Base Frame	`trunk`
Sensors	3
Action Modes	default: `joint_pos`

Action Modes

Mode	Controller	Dims	Scale
`joint_pos` *	Joint Position To Limits	runtime-resolved	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
base_legs	`._hip_joint`, `._thigh_joint`, `.*_calf_joint`	23.7 N·m	30 rad/s	–	–

Sensors

Name	Type	Location
imu_robot	Imu	`trunk`
contacts_feet	Contact Sensor	`.*foot`
cam_front	Camera	`trunk/camera_front`

Initial Joint Configuration

Joint	Position
`.*L_hip_joint`	0.1 rad (5.729578 deg)
`.*R_hip_joint`	-0.1 rad (-5.729578 deg)
`F[L,R]_thigh_joint`	0.8 rad (45.836624 deg)
`R[L,R]_thigh_joint`	1 rad (57.29578 deg)
`.*_calf_joint`	-1.5 rad (-85.943669 deg)

Unitree Go2 (`unitree_go2`)

unitree_go2


DoF	runtime-resolved
End Effector	None
Base Frame	`base`
Sensors	3
Action Modes	default: `joint_pos`

Action Modes

Mode	Controller	Dims	Scale
`joint_pos` *	Joint Position To Limits	runtime-resolved	1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
base_legs	`._hip_joint`, `._thigh_joint`, `.*_calf_joint`	33.5 N·m	21 rad/s	25	0.5

Sensors

Name	Type	Location
imu_robot	Imu	`base`
contacts_feet	Contact Sensor	`.*foot`
cam_front	Camera	`base/camera_front`

Initial Joint Configuration

Joint	Position
`.*L_hip_joint`	0.1 rad (5.729578 deg)
`.*R_hip_joint`	-0.1 rad (-5.729578 deg)
`F[L,R]_thigh_joint`	0.8 rad (45.836624 deg)
`R[L,R]_thigh_joint`	1 rad (57.29578 deg)
`.*_calf_joint`	-1.5 rad (-85.943669 deg)

Multicopters

Crazyflie (`crazyflie`)

crazyflie


DoF	runtime-resolved
End Effector	None
Base Frame	`body`
Sensors	2
Action Modes	default: `body_acc`

Action Modes

Mode	Controller	Dims	Scale
`body_acc` *	Multicopter Body Acceleration	4	0.5

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
dummy	`.*`	–	–	0	0

Sensors

Name	Type	Location
imu_robot	Imu	`body`
cam_onboard	Camera	`body/camera_onboard`

Ingenuity (`ingenuity`)

ingenuity


DoF	2
End Effector	None
Base Frame	`body`
Sensors	3
Action Modes	default: `body_acc`

Action Modes

Mode	Controller	Dims	Scale
`body_acc` *	Multicopter Body Acceleration	4	0.5

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
rotors	`rotor_joint_[1-2]`	7.5 N·m	261.799388 rad/s	0	1000

Sensors

Name	Type	Location
imu_robot	Imu	`body`
cam_onboard	Camera	`body/camera_onboard`
altimeter	Heightmap Sensor	`body`

Orbital Robots

Cubesat (`cubesat`)

cubesat


DoF	runtime-resolved
End Effector	None
Base Frame	`cubesat`
Sensors	2
Action Modes	default: `thrust`

Action Modes

Mode	Controller	Dims	Scale
`thrust` *	Thrust	12	1.0

Sensors

Name	Type	Location
imu_robot	Imu	`cubesat`
cam_onboard	Camera	`cubesat/camera_onboard`

Floating Platform (`floating_platform`)

floating_platform


DoF	1
End Effector	None
Base Frame	`base_link`
Sensors	2
Action Modes	2 (default: `thrust_only`)

Action Modes

Mode	Controller	Dims	Scale
`thrust_only` *	Thrust	8	1.0
`thrust_and_reaction`	Thrust	9	`thrust`=1.0; `reaction_wheel_torque`=0.05

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
reaction_wheel	`rw_revolute_joint`	1 N·m	100 rad/s	0	0

Sensors

Name	Type	Location
imu_robot	Imu	`base_link`
cam_onboard	Camera	`base_link/camera_onboard`

Gateway (`gateway`)

gateway


DoF	runtime-resolved
End Effector	None
Base Frame	`gateway`
Sensors	2
Action Modes	default: `body_acc`

Action Modes

Mode	Controller	Dims	Scale
`body_acc` *	Body Acceleration	6	2.5

Sensors

Name	Type	Location
imu_robot	Imu	`gateway`
cam_onboard	Camera	`gateway/camera_onboard`

Int Ball1 (`int_ball1`)

int_ball1


DoF	runtime-resolved
End Effector	None
Base Frame	`base_link`
Sensors	2
Action Modes	default: `thrust`
Mass	1 kg

Action Modes

Mode	Controller	Dims	Scale
`thrust` *	Thrust	6	1.0

Sensors

Name	Type	Location
imu_robot	Imu	`base_link`
cam_onboard	Camera	`base_link/camera_onboard`

Int Ball2 (`int_ball2`)

int_ball2


DoF	runtime-resolved
End Effector	None
Base Frame	`base_link`
Sensors	2
Action Modes	default: `thrust`
Mass	1.5 kg

Action Modes

Mode	Controller	Dims	Scale
`thrust` *	Thrust	6	1.0

Sensors

Name	Type	Location
imu_robot	Imu	`base_link`
cam_onboard	Camera	`base_link/camera_onboard`

Iss (`iss`)

iss


DoF	runtime-resolved
End Effector	None
Base Frame	`base`
Sensors	2
Action Modes	default: `body_acc`

Action Modes

Mode	Controller	Dims	Scale
`body_acc` *	Body Acceleration	6	2.5

Sensors

Name	Type	Location
imu_robot	Imu	`base`
cam_onboard	Camera	`base/camera_onboard`

Satellite Mockup (`satellite_mockup`)

satellite_mockup


DoF	runtime-resolved
End Effector	None
Base Frame	`satellite_mockup`
Sensors	2
Action Modes	default: `thrust`

Action Modes

Mode	Controller	Dims	Scale
`thrust` *	Thrust	12	1.0

Sensors

Name	Type	Location
imu_robot	Imu	`satellite_mockup`
cam_onboard	Camera	`satellite_mockup/camera_onboard`

Starship (`starship`)

starship


DoF	runtime-resolved
End Effector	None
Base Frame	`base`
Sensors	2
Action Modes	default: `thrust`
Mass	100000 kg

Action Modes

Mode	Controller	Dims	Scale
`thrust` *	Thrust	18	1.0

Sensors

Name	Type	Location
imu_robot	Imu	`base`
cam_onboard	Camera	`base/camera_onboard`

Super Heavy (`super_heavy`)

super_heavy


DoF	runtime-resolved
End Effector	None
Base Frame	`base`
Sensors	2
Action Modes	default: `thrust`
Mass	200000 kg

Action Modes

Mode	Controller	Dims	Scale
`thrust` *	Thrust	59	1.0

Sensors

Name	Type	Location
imu_robot	Imu	`base`
cam_onboard	Camera	`base/camera_onboard`

Venus Express (`venus_express`)

venus_express


DoF	runtime-resolved
End Effector	None
Base Frame	`base`
Sensors	2
Action Modes	default: `thrust`

Action Modes

Mode	Controller	Dims	Scale
`thrust` *	Thrust	19	1.0

Sensors

Name	Type	Location
imu_robot	Imu	`base`
cam_onboard	Camera	`base/camera_onboard`

Surface Vehicles

Heron (`heron`)

heron


DoF	runtime-resolved
End Effector	None
Base Frame	`base_link`
Sensors	2
Action Modes	default: `thrust`

Action Modes

Mode	Controller	Dims	Scale
`thrust` *	Thrust	2	1.0

Sensors

Name	Type	Location
imu_robot	Imu	`base_link`
cam_onboard	Camera	`base_link/camera_onboard`

Wheeled Robots

Cadre (`cadre`)

cadre


DoF	runtime-resolved
End Effector	None
Base Frame	`chassis`
Sensors	3
Action Modes	default: `drive`

Action Modes

Mode	Controller	Dims	Scale
`drive` *	Wheeled Drive	2	lin=0.4, ang=0.7853981633974483

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
wheel_joints	`wheel_joint_.*`	250 N·m	6.28 rad/s	0	2000
suspension_joints	`suspension_joint.*`	500 N·m	0.25 rad/s	400	5

Sensors

Name	Type	Location
imu_robot	Imu	`chassis`
contacts_wheels	Contact Sensor	`.wheel.`
cam_front	Camera	`chassis/camera_front`

Husky (`husky`)

husky


DoF	runtime-resolved
End Effector	None
Base Frame	`chassis`
Sensors	3
Action Modes	default: `drive`

Action Modes

Mode	Controller	Dims	Scale
`drive` *	Wheeled Drive	2	lin=0.1, ang=0.7853981633974483

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
wheel_joints	`wheel_joint_.*`	250 N·m	6.28 rad/s	0	2000

Sensors

Name	Type	Location
imu_robot	Imu	`chassis`
contacts_wheels	Contact Sensor	`.wheel.`
cam_front	Camera	`chassis/camera_front`

Leo Rover (`leo_rover`)

leo_rover


DoF	runtime-resolved
End Effector	None
Base Frame	`chassis`
Sensors	3
Action Modes	default: `drive`

Action Modes

Mode	Controller	Dims	Scale
`drive` *	Wheeled Drive	2	lin=0.4, ang=1.0471975511965976

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
drive	`wheel_joint_.*`	80 N·m	30 rad/s	0	5000
rocker	`rocker_joint_.*`	500 N·m	2 rad/s	2	0.5

Sensors

Name	Type	Location
imu_robot	Imu	`chassis`
contacts_wheels	Contact Sensor	`.wheel.`
cam_front	Camera	`chassis/camera_front`

Mars Rover (`mars_rover`)

mars_rover


DoF	runtime-resolved
End Effector	None
Base Frame	`Body`
Sensors	3
Action Modes	default: `drive`

Action Modes

Mode	Controller	Dims	Scale
`drive` *	Wheeled Drive	2	lin=0.5, ang=0.7853981633974483

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
base_steering	`.Steer.`	12 N·m	6 rad/s	8000	1000
base_drive	`.Drive.`	12 N·m	6 rad/s	100	4000
passive_joints_boogie	`.*RevoluteJoint`	0 N·m	15 rad/s	0	0
passive_joints_rocker	`.Rocker.`	0 N·m	15 rad/s	0	0
passive_joints_differential	`.Differential.`	0 N·m	15 rad/s	0	0

Sensors

Name	Type	Location
imu_robot	Imu	`Body`
contacts_wheels	Contact Sensor	`.[Dd]rive.`
cam_front	Camera	`Body/camera_front`

Nifty (`nifty`)

nifty


DoF	12
End Effector	None
Base Frame	`chassis`
Sensors	3
Action Modes	default: `nifty`

Action Modes

Mode	Controller	Dims	Scale
`nifty` *	Joint Velocity	12	`joint_vel_wheel_drive`=1.5707963267948966; `joint_pos_steer`=0.7853981633974483; `joint_pos_suspension_yaw`=0.5235987755982988; `joint_pos_suspension_roll`=0.2617993877991494

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
wheel_joints	`wheel_joint_fl`, `wheel_joint_fr`, `wheel_joint_rl`, `wheel_joint_rr`	80 N·m	1.570796 rad/s	0	80
steer_joints	`steer_joint_fl`, `steer_joint_fr`, `steer_joint_rl`, `steer_joint_rr`	200 N·m	0.523599 rad/s	100	50
suspension_joint_yaw	`suspension_joint_yaw_f`, `suspension_joint_yaw_r`	200 N·m	0.261799 rad/s	1250	750
suspension_joint_roll	`suspension_joint_roll_f`, `suspension_joint_roll_r`	200 N·m	0.261799 rad/s	15000	5000

Sensors

Name	Type	Location
imu_robot	Imu	`chassis`
contacts_wheels	Contact Sensor	`.wheel.`
cam_front	Camera	`chassis`

Open Source Rover (`open_source_rover`)

open_source_rover


DoF	runtime-resolved
End Effector	None
Base Frame	`chassis`
Sensors	3
Action Modes	default: `drive`

Action Modes

Mode	Controller	Dims	Scale
`drive` *	Wheeled Drive	2	lin=0.2, ang=0.3490658503988659

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
joint_wheel	`joint_wheel_.*`	50 N·m	40 rad/s	0	2000
joints_steer	`joint_steer_.*`	500 N·m	0.5 rad/s	100	80
joints_rocker	`joint_rocker_.*`	1500 N·m	0.3 rad/s	25	2
joints_bogie	`joint_bogie_.*`	750 N·m	0.6 rad/s	1	4
joint_linkage	`joint_linkage`	25 N·m	0.2 rad/s	0.05	0.1

Sensors

Name	Type	Location
imu_robot	Imu	`chassis`
contacts_wheels	Contact Sensor	`.wheel.`
cam_front	Camera	`chassis/camera_front`

Perseverance (`perseverance`)

perseverance


DoF	runtime-resolved
End Effector	None
Base Frame	`body`
Sensors	3
Action Modes	default: `drive`

Action Modes

Mode	Controller	Dims	Scale
`drive` *	Wheeled Drive	2	lin=0.7, ang=1.3089969389957472

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
drive_joints	`drive_joint.*`	150 N·m	40 rad/s	0	25000
steer_joints	`steer_joint.*`	400 N·m	2 rad/s	500	200
rocker_joints	`suspension_joint_rocker.*`	2500 N·m	5 rad/s	4000	400
bogie_joints	`suspension_joint_bogie.*`	500 N·m	4 rad/s	200	25

Sensors

Name	Type	Location
imu_robot	Imu	`body`
contacts_wheels	Contact Sensor	`.wheel.`
cam_front	Camera	`body/camera_front`

Pragyan (`pragyan`)

pragyan


DoF	runtime-resolved
End Effector	None
Base Frame	`body`
Sensors	3
Action Modes	default: `drive`

Action Modes

Mode	Controller	Dims	Scale
`drive` *	Wheeled Drive	2	lin=0.35, ang=1.3962634015954636

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
drive_joints	`wheel_drive_joint_.*`	150 N·m	40 rad/s	0	5000
rocker_joints	`rocker_joint_.*`	2500 N·m	5 rad/s	1000	400
bogie_joints	`boogie_joint_.*`	500 N·m	4 rad/s	250	200

Sensors

Name	Type	Location
imu_robot	Imu	`body`
contacts_wheels	Contact Sensor	`.wheel.`
cam_front	Camera	`body/camera_front`

Raph Rover (`raph_rover`)

raph_rover


DoF	runtime-resolved
End Effector	None
Base Frame	`chassis`
Sensors	3
Action Modes	2 (default: `drive`)

Action Modes

Mode	Controller	Dims	Scale
`drive` *	Wheeled Drive	2	lin=0.4, ang=1.0471975511965976
`drive_filtered`	Filtered Wheeled Drive	2	lin=0.4, ang=1.0

Actuators

Group	Joints	Effort	Velocity	Stiffness	Damping
drive	`drive_joint_.*`	80 N·m	30 rad/s	0	500
steer	`steer_joint_.*`	500 N·m	2 rad/s	400	50

Sensors

Name	Type	Location
imu_robot	Imu	`chassis`
contacts_wheels	Contact Sensor	`wheel.*`
cam_front	Camera	`chassis/camera_front`

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Space Robotics Bench