JointTrajectoryPoint

trajectory_msgs/JointTrajectoryPoint; t is ROS's time_from_start.

Import

from robot_msgs.trajectory import JointTrajectoryPoint

ROS 2no ROS equivalent

Fields

Name	Type	Default
`t`	`float`	`required`
`channels`	`Mapping[str, Any]`	`{}`
`header`	`Header`	`Header()`
`positions`	`Array \| None`	`None`
`velocities`	`Array \| None`	`None`
`accelerations`	`Array \| None`	`None`
`effort`	`Array \| None`	`None`

Example

One instance from the package's own test catalog; the output is its real repr().

JointTrajectoryPoint(t=0.4, channels={'kp': [40., 40., 40.], 'mode': 1}, header=Header(stamp=12.0, frame_id='base_link'), positions=[-0.2813, -0.668 , -1.0552], velocities=[-0.0527,  1.4056,  0.7474])

to_dict() as JSON

{
  "_type": "trajectory/JointTrajectoryPoint",
  "t": 0.4,
  "channels": {
    "kp": {
      "dtype": "<f8",
      "shape": [3],
      "data": [40.0, 40.0, 40.0]
    },
    "mode": 1
  },
  "header": {
    "_type": "std/Header",
    "stamp": 12.0,
    "frame_id": "base_link",
    "meta": {}
  },
  "positions": {
    "dtype": "<f8",
    "shape": [3],
    "data": [-0.2812874181513504, -0.6680463461089501, -1.0551505512051214]
  },
  "velocities": {
    "dtype": "<f8",
    "shape": [3],
    "data": [-0.05274730824287927, 1.4055981660180925, 0.7474079874793504]
  },
  "accelerations": null,
  "effort": null
}