Robot.get_configurable_joint_names

Robot.get_configurable_joint_names(group=None)[source]

Get the configurable joint names.

Parameters

group (str, optional) – The name of the planning group. Defaults to the main planning group.

Returns

list of str

Note

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

Examples

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