    def get_joint_bounds(self):
        '''
        Get joint bounds.
        By default, read from pybullet
        '''
        for i, joint_id in enumerate(self.joint_idx):
            joint_info = p.getJointInfo(self.id, joint_id)
            low = joint_info[8] # low bounds
            high = joint_info[9] # high bounds
            if low < high:
                self.joint_bounds.append([low, high])
        print("Joint bounds: {}".format(self.joint_bounds))
        return self.joint_bounds
Get joint bounds.
By default, read from pybullet
pybullet_ompl/pb_ompl.py