JointTrajectoryPoint

Represents a single frame of joint data in a trajectory.

Properties:

Property	Type	Description
time_from_start	Duration	Time elapsed from trajectory start to current frame
joints	list[JointState]	Joint values at current frame

Read-only properties:

Property	Type	Description
joint_names	list[str]	Joint names at current frame, derived from joints

JointTrajectoryPoint

Signature:

JointTrajectoryPoint(
    *,
    time_from_start: Duration,
    joints: list[JointState],
)

Description:

Construct a JointTrajectoryPoint instance. All parameters must be passed as keyword arguments.

Parameters:

Parameter	Type	Required	Description
time_from_start	Duration	Yes	Time elapsed from trajectory start to current frame
joints	list[JointState]	Yes	Joint values at current frame

Returns:

JointTrajectoryPoint instance.

Raises:

None.

get_joint

Signature:

JointTrajectoryPoint.get_joint(name: str) -> JointState | None

Description:

Find joint at current frame by name; returns None if not found.

Parameters:

Parameter	Type	Required	Description
name	str	Yes	Joint name

Returns:

JointState or None.

Raises:

None.

to_dict

Signature:

JointTrajectoryPoint.to_dict() -> dict[str, Any]

Description:

Convert to dictionary; time_from_start is serialized as nanoseconds (integer).

Parameters:

No parameters.

Returns:

dict[str, Any].

Raises:

None.