Robot.get_configurable_joint_names

Robot.get_configurable_joint_names(group=None)[source]

Get the configurable joint names.

Parameters:

groupstr, optional: The name of the planning group. Defaults to the main planning group.

Returns:

list of str

Notes

If semantics is set and no group is passed, it returns all configurable joints of all groups.

Examples

>>> robot = RobotLibrary.ur5()
>>> robot.get_configurable_joint_names('manipulator')
['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint',         'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']