JointsStamped¶

class pyniryo_nate.models.motion.JointsStamped(joints: Joints, timestamp: float, velocities: list[float] | None, accelerations: list[float] | None)[source]¶

Bases: object

Represents joint positions with associated timing and dynamic information.

Parameters:

joints (Joints) – The joint positions.
timestamp (float) – Time in seconds since the start of the trajectory.
velocities (list[float] | None) – Joint velocities at this timestamp (optional).
accelerations (list[float] | None) – Joint accelerations at this timestamp (optional).

Attributes

`joints`
`timestamp`
`velocities`
`accelerations`

Methods

`from_transport_model`
`to_transport_model`

joints: Joints¶

timestamp: float¶

velocities: list[float] | None¶

accelerations: list[float] | None¶

classmethod from_transport_model(model: JointsStamped) → JointsStamped[source]¶

Parameters:: model (JointsStamped)
Return type:: JointsStamped

to_transport_model() → JointsStamped[source]¶

Return type:: JointsStamped