Struct rubullet::JointInfo

pub struct JointInfo {

    pub joint_index: usize,
    pub joint_name: String,
    pub joint_type: JointType,
    pub q_index: i32,
    pub u_index: i32,
    pub joint_damping: f64,
    pub joint_friction: f64,
    pub joint_lower_limit: f64,
    pub joint_upper_limit: f64,
    pub joint_max_force: f64,
    pub joint_max_velocity: f64,
    pub link_name: String,
    pub joint_axis: Vector3<f64>,
    pub parent_frame_pose: Isometry3<f64>,
    pub parent_index: Option<usize>,
    // some fields omitted
}

Contains basic information about a joint like its type and name. It can be obtained via get_joint_info()

Example

use rubullet::{PhysicsClient, UrdfOptions};
use nalgebra::Isometry3;
use rubullet::Mode::Direct;
use anyhow::Result;
fn main() -> Result<()> {

    let mut client = PhysicsClient::connect(Direct)?;
    client.set_additional_search_path(
        "../rubullet-sys/bullet3/libbullet3/examples/pybullet/gym/pybullet_data",
        )?;
    let panda_id = client.load_urdf("franka_panda/panda.urdf", UrdfOptions::default())?;
    let joint_info = client.get_joint_info(panda_id,4);
    assert_eq!("panda_joint5",joint_info.joint_name);
    Ok(())
}

See also

• JointState - For information about the current state of the joint.

Fields

joint_index: usize

the same joint index as the input parameter

joint_name: String

the name of the joint, as specified in the URDF (or SDF etc) file

joint_type: JointType

type of the joint, this also implies the number of position and velocity variables.

q_index: i32

the first position index in the positional state variables for this body

u_index: i32

the first velocity index in the velocity state variables for this body

joint_damping: f64

the joint damping value, as specified in the URDF file

joint_friction: f64

the joint friction value, as specified in the URDF file

joint_lower_limit: f64

Positional lower limit for slider and revolute (hinge) joints.

joint_upper_limit: f64

Positional upper limit for slider and revolute joints. Values ignored in case upper limit <lower limit.

joint_max_force: f64

Maximum force specified in URDF (possibly other file formats) Note that this value is not automatically used. You can use maxForce in ‘setJointMotorControl2’.

joint_max_velocity: f64

Maximum velocity specified in URDF. Note that the maximum velocity is not used in actual motor control commands at the moment.

link_name: String

the name of the link, as specified in the URDF (or SDF etc.) file

joint_axis: Vector3<f64>

joint axis in local frame (ignored for fixed joints)

parent_frame_pose: Isometry3<f64>

joint pose in parent frame

parent_index: Option<usize>

parent link index. None means that the base is the parent link

Trait Implementations

impl Debug for JointInfo

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl From<b3JointInfo> for JointInfo

fn from(b3: b3JointInfo) -> Self

Performs the conversion.