pub struct FrankaSim {
pub id: BodyId,
pub time_step: Duration,
pub base_pose: Isometry3<f64>,
pub joint_friction_force: f64,
pub robot_joint_indices: [usize; 7],
pub gripper_joint_indices: [usize; 2],
pub end_effector_link_index: usize,
/* private fields */
}Expand description
A struct representing a simulated Panda robot.
Fields§
§id: BodyIdBodyId of the robot in RuBullet
time_step: Durationthe duration of a control loop cycle
base_pose: Isometry3<f64>pose of the robot base relative to the world frame
joint_friction_force: f64§robot_joint_indices: [usize; 7]§gripper_joint_indices: [usize; 2]§end_effector_link_index: usizeAuto Trait Implementations§
impl Freeze for FrankaSim
impl !RefUnwindSafe for FrankaSim
impl !Send for FrankaSim
impl !Sync for FrankaSim
impl Unpin for FrankaSim
impl !UnwindSafe for FrankaSim
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