Struct franka_interface::FrankaSim

source · [−]

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: BodyId

BodyId of the robot in RuBullet

time_step: Duration

the duration of a control loop cycle

base_pose: Isometry3<f64>

pose of the robot base relative to the world frame

joint_friction_force: f64robot_joint_indices: [usize; 7]gripper_joint_indices: [usize; 2]end_effector_link_index: usize

Auto Trait Implementations

impl !RefUnwindSafe for FrankaSim

impl !Send for FrankaSim

impl !Sync for FrankaSim

impl Unpin for FrankaSim

impl !UnwindSafe for FrankaSim

Blanket Implementations

impl<T> Any for Twhere
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