%HX_ROBOT_INFO Get information from a simulator/robot. % % info = hx_robot_info() % % HX_CONNECT should have been called first. % % Return value: % info: Structure with the following named fields: % motor_count (int) : Number of motors. The number of motors is less than or equal % to the number of joints. For example, one motor may control % several joints through kinematic joint coupling. % joint_count (int) : Number of joints. The number of joints is greater than or equal % to the number of motors. % contact_sensor_count (int) : Number of contact sensors. A contact sensor measures % the magnitude of the force on that sensor. % imu_count (int) : Number of IMUs (inertial measurement units). An IMU or inertial % measurement unit measures the 3-dimensional linear acceleration % vector and the 3-dimensional angular velocity vector experienced by % the sensor. % motor_limit (float array) : An N by 2 array representing % the angular limits of each motor in the robot, where N is the maximum % number of motors (rad). Each 1x2 row/column of the array corresponds to % a motor. The first entry in the row/column is the lower limit of the motor. % The second entry is the upper limit of the motor. % joint_limit (float array) : Minimum and maximum joint angles (rad). An M by 2 % array representing the angular limits of each joint in the robot, % where M is the maximum number of joints. Each 1x2 row/column of the array % corresponds to a joint. The first entry in the row/column is the lower % limit of the joint. The second entry is the upper limit of the joint. % update_rate (float) : Rate at which the device will process new commands % and provide new sensor data (Hz). % % Throws an error if something failed. % % See also HX_CLOSE, HX_CONNECT, HX_READ_SENSORS, and HX_UPDATE % % For more information, see <a href="matlab: % web('http://gazebosim.org/haptix')">the Gazebo HAPTIX site</a> % and/or % <a href="matlab: % web('http://mujoco.org/haptix.html#hxMATLAB')">the MuJoCo HAPTIX site</a>. function info = hx_robot_info() info = hxgz('robot_info'); end