moveit.core.robot_model

Classes

JointModelGroup

Representation of a group of joints that are part of a robot model.

RobotModel

Representation of a kinematic model.

VariableBounds

class moveit.core.robot_model.JointModelGroup

Representation of a group of joints that are part of a robot model.

property active_joint_model_bounds
property active_joint_model_names
property eef_name
property joint_model_names

The names of the joint models in the group.

Type

list[str]

property name

The name of the joint model group.

Type

str

satisfies_position_bounds()
class moveit.core.robot_model.RobotModel

Representation of a kinematic model.

property end_effectors

TODO

get_joint_model_group()

Gets a joint model group instance by name. :Parameters: joint_model_group_name (str) – The name of the joint model group to return.

Returns

moveit_py.core.JointModelGroup – joint model group instance that corresponds with joint_model_group_name parameter.

get_model_info()

Gets a formatted string containing a summary of relevant information from the robot model. :returns: str – Formatted string containing generic robot model information.

has_joint_model_group()

Checks if a joint model group with the given name exists in the robot model. :returns: bool – true if joint model group exists.

property joint_model_group_names

The names of the joint model groups in the robot model.

Type

list of str

property joint_model_groups

The joint model groups available in the robot model.

Type

list of moveit_py.core.JointModelGroup

property model_frame

Get the frame in which the transforms for this model are computed (when using a moveit_py.core.RobotState). This frame depends on the root joint. As such, the frame is either extracted from SRDF, or it is assumed to be the name of the root link.

Type

str

property name

The name of the robot model.

Type

str

property root_joint_name

The name of the root joint.

Type

str

class moveit.core.robot_model.VariableBounds
property acceleration_bounded
property jerk_bounded
property max_acceleration
property max_jerk
property max_position
property max_velocity
property min_acceleration
property min_jerk
property min_position
property min_velocity
property position_bounded
property velocity_bounded