Robot.get_position_by_joint_name

Robot.get_position_by_joint_name(configuration, joint_name, group=None)

Get the position of named joint in given configuration.

Parameters:

configurationcompas_robots.Configuration

The configuration of the configurable joints.

joint_namestr

Name of joint.

groupstr, optional

The name of the planning group. Defaults to the main planning group.

Returns:

float

Joint position for the given joint.

Raises:

ValueError

If the number of joints in the configuration parameter does not match the configurable joints of the given group.