42 namespace bind_robot_model
53 py::module robot_model = m.def_submodule(
"robot_model");
55 py::class_<moveit::core::JointModelGroup>(robot_model,
"JointModelGroup",
57 Representation of a group of joints that are part of a robot model.
62 str: The name of the joint model group.
68 list[str]: The names of the joint models in the group.
72 py::return_value_policy::reference_internal)
73 .def_property_readonly(
"eef_name",
75 const auto eef =
self->getOnlyOneEndEffectorTip();
78 throw std::runtime_error(
"Error getting the end effector name - see log for details");
80 return eef->getName();
83 py::arg(
"margin") = 0.0);
const std::vector< std::string > & getLinkModelNames() const
Get the names of the links that are part of this joint group.
const std::string & getName() const
Get the name of the joint group.
const std::vector< std::string > & getJointModelNames() const
Get the names of the joints in this group. These are the names of the joints returned by getJointMode...
bool satisfiesPositionBounds(const double *state, double margin=0.0) const
const JointBoundsVector & getActiveJointModelsBounds() const
Get the bounds for all the active joints.
unsigned int getActiveVariableCount() const
Get the number of variables that describe the active joints in this joint group. This excludes variab...
const std::vector< std::string > & getActiveJointModelNames() const
Get the names of the active joints in this group. These are the names of the joints returned by getJo...
void initJointModelGroup(py::module &m)
bool satisfiesPositionBounds(const moveit::core::JointModelGroup *jmg, const Eigen::VectorXd &joint_positions, const double margin)