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 link_model_names

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