Current joint positions and velocities of a robot, in SI base units (metres or radians for position, m/s or rad/s for velocity).
Read via bb://robots/{robot}/joints.
A joint with more than one degree of freedom carries more than one number, so its value is an object rather than a scalar, shaped to the joint's type:
| Type | Position | Velocity |
|---|---|---|
:revolute, :continuous, :prismatic | a number | a number |
:planar | x, y, theta | vx, vy, omega |
:floating | xyz, quat | linear, angular |
A planar joint's numbers are in the plane its axis is normal to — read the
topology resource for that axis. theta is about the normal, right-handed.