Joint Info

JointInfo contains information about a joint such as name, type, lower bound, upper bound, parent link, or child link. It is generated through the parsing of the input URDF and is accessible as a property or getter of the solver.

Parameter	Type	Description
name	string	The name of a partiuclar joint. Each joint has an unique name
joint type	string	The types of joints are consisted of Revolute, Prismatic,and Spherical
lower_bound	float	The lowerest value of the joint space
upper_bound	float	The highest value of the joint spac
max_velocity	float	The max speed of a joint
axis	float array of length 3	The coordinate system/motion axis
mimic	optional MimicInfo	The mimic joint
parent_link	string	The parent link of the joint
child_link	string	The child link of the joint