JointInfo

Represents static metadata of a controllable joint.

Properties:

Property	Type	Description
name	str	Joint name
limits	JointLimits	Joint position range
max_torque	float | None	Maximum joint torque
max_velocity	float | None	Maximum joint velocity
extra	dict[str, object]	Extended information

JointInfo

Signature:

JointInfo(
    name: str,
    limits: JointLimits,
    max_torque: float | None,
    max_velocity: float | None,
    extra: dict[str, object] = {},
)

Description:

Constructs a JointInfo instance. This type is an immutable dataclass.

Parameters:

Parameter	Type	Required	Description
name	str	Yes	Joint name
limits	JointLimits	Yes	Joint position range
max_torque	float | None	Yes	Maximum joint torque
max_velocity	float | None	Yes	Maximum joint velocity
extra	dict[str, object]	No	Extended information, defaults to empty dict

Returns:

JointInfo instance.

Raises:

None.