def get_properties(self):
    '\n        construct 3 dictionaries:\n        - joint index to joint name x2 (1 for revolute, 1 for fixed joints)\n        - link name to link index dictionary\n        '
    rev_joint_index_name_dic = {}
    fixed_joint_index_name_dic = {}
    prismatic_joint_index_name_dic = {}
    link_names_to_ids_dic = {}
    for joint_index in range(0, self.pb.getNumJoints(self.robot)):
        info = self.pb.getJointInfo(self.robot, joint_index)
        link_names_to_ids_dic[info[12].decode('utf-8')] = joint_index
        if (info[2] == self.pb.JOINT_REVOLUTE):
            rev_joint_index_name_dic[joint_index] = info[1].decode('utf-8')
        elif (info[2] == self.pb.JOINT_FIXED):
            fixed_joint_index_name_dic[joint_index] = info[1].decode('utf-8')
        elif (info[2] == self.pb.JOINT_PRISMATIC):
            prismatic_joint_index_name_dic[joint_index] = info[1].decode('utf-8')
    return (rev_joint_index_name_dic, prismatic_joint_index_name_dic, fixed_joint_index_name_dic, link_names_to_ids_dic)
construct 3 dictionaries:
- joint index to joint name x2 (1 for revolute, 1 for fixed joints)
- link name to link index dictionary
def get_properties(self):
    '\n        construct 3 dictionaries:\n        - joint index to joint name x2 (1 for revolute, 1 for fixed joints)\n        - link name to link index dictionary\n        '
    rev_joint_index_name_dic = {}
    fixed_joint_index_name_dic = {}
    prismatic_joint_index_name_dic = {}
    link_names_to_ids_dic = {}
    for joint_index in range(0, self.pb.getNumJoints(self.robot)):
        info = self.pb.getJointInfo(self.robot, joint_index)
        link_names_to_ids_dic[info[12].decode('utf-8')] = joint_index
        if (info[2] == self.pb.JOINT_REVOLUTE):
            rev_joint_index_name_dic[joint_index] = info[1].decode('utf-8')
        elif (info[2] == self.pb.JOINT_FIXED):
            fixed_joint_index_name_dic[joint_index] = info[1].decode('utf-8')
        elif (info[2] == self.pb.JOINT_PRISMATIC):
            prismatic_joint_index_name_dic[joint_index] = info[1].decode('utf-8')
    return (rev_joint_index_name_dic, prismatic_joint_index_name_dic, fixed_joint_index_name_dic, link_names_to_ids_dic)