moveit.core.robot_trajectory

Classes

RobotTrajectory

Maintains a sequence of waypoints and the durations between these waypoints.
class moveit.core.robot_trajectory.RobotTrajectory

Maintains a sequence of waypoints and the durations between these waypoints.

apply_ruckig_smoothing()

Applies Ruckig smoothing to the trajectory.

Parameters:

  • velocity_scaling_factor (float) – The velocity scaling factor.

  • acceleration_scaling_factor (float) – The acceleration scaling factor.

  • mitigate_overshoot (bool) – Whether to mitigate overshoot during smoothing (default: false).

  • overshoot_threshold (float) – The maximum allowed overshoot during smoothing (default: 0.01).

Returns:

bool – True if the trajectory was successfully retimed, false otherwise.

apply_totg_time_parameterization()

Adds time parameterization to the trajectory using the Time-Optimal Trajectory Generation (TOTG) algorithm.

Parameters:

  • velocity_scaling_factor (float) – The velocity scaling factor.

  • acceleration_scaling_factor (float) – The acceleration scaling factor.

  • path_tolerance (float) – The path tolerance to use for time parameterization (default: 0.1).

  • resample_dt (float) – The time step to use for time parameterization (default: 0.1).

  • min_angle_change (float) – The minimum angle change to use for time parameterization (default: 0.001).

Returns:

bool – True if the trajectory was successfully retimed, false otherwise.

property average_segment_duration

The average duration of the segments in the trajectory.

Type:

float

property duration

The duration of the trajectory.

Type:

float

get_robot_trajectory_msg()

Get the trajectory as a moveit_msgs.msg.RobotTrajectory message.

Parameters:

joint_filter (list[string]) – List of joints to consider in creating the message. If empty, uses all joints.

Returns:

moveit_msgs.msg.RobotTrajectory – A ROS robot trajectory message.

get_waypoint_durations()

Get the durations from the previous waypoint in the trajectory.

Returns:

list of float – The duration from previous of each waypoint in the trajectory.

property joint_model_group_name

The name of the joint model group that this trajectory is for.

Type:

str

property robot_model

The robot model that this trajectory is for.

Type:

moveit_py.core.RobotModel

set_robot_trajectory_msg()

Set the trajectory from a moveit_msgs.msg.RobotTrajectory message.

Parameters:

  • robot_state (moveit_py.core.RobotState) – The reference robot starting state.

  • msg (moveit_msgs.msg.RobotTrajectory) – A ROS robot trajectory message.

unwind()

Unwind the trajectory.