Init gym

world/commons/Joint_Info.py

@@ -0,0 +1,24 @@
+import numpy as np
+
+class Joint_Info():
+    def __init__(self, xml_element) -> None:
+        self.perceptor = xml_element.attrib['perceptor']
+        self.effector =  xml_element.attrib['effector']
+        self.axes =      np.array([
+                            float(xml_element.attrib['xaxis']), 
+                            float(xml_element.attrib['yaxis']), 
+                            float(xml_element.attrib['zaxis'])])
+        self.min =       int(xml_element.attrib['min'])
+        self.max =       int(xml_element.attrib['max'])
+
+        self.anchor0_part = xml_element[0].attrib['part']
+        self.anchor0_axes = np.array([
+                        float(xml_element[0].attrib['y']), 
+                        float(xml_element[0].attrib['x']), 
+                        float(xml_element[0].attrib['z'])]) #x and y axes are switched
+
+        self.anchor1_part = xml_element[1].attrib['part']
+        self.anchor1_axes_neg = np.array([
+                        -float(xml_element[1].attrib['y']), 
+                        -float(xml_element[1].attrib['x']), 
+                        -float(xml_element[1].attrib['z'])]) #x and y axes are switched