Robot.get_position_by_joint_name¶

Robot.get_position_by_joint_name(configuration, joint_name, group=None)[source]¶

Get the position of named joint in given configuration.

Parameters

• configuration (Configuration) – The configuration of the configurable joints.

• joint_name (str) – Name of joint.

• group (str, 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.