Getting joint names from robot class

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Hello,

In my current application, I need to know the joints names and order of my

jacobi.Robot

.
For example, something like this:

robot = jacobi.robots.FrankaPanda()
robot.get_joints_names()  # --> ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7']

I didn't find any way to do it currently (v0.0.23). Would that be possible to add such a feature?

Alban Laflaquiere

1 year ago

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Yahav changed status to Not approved

8 months ago

Yahav changed status to 👍 Gathering votes

1 year ago

Yahav

Thanks! At the moment, the user can get the joints as an array (organized chronologically), and then create a variable per joint independently. Can you clarify when having the joint names in the API is necessary?

0 1 year ago Reply

Alban Laflaquiere

Sure.

In my current system, the trajectory generated by the jacobi planner is passed to a larger system that handles more degrees of freedom. So I need to map the values of --for instance-- the

trajectory.positions

array to the proper joints in the larger system. For this, I need to know the joint names corresponding to the values provided in

trajectory

0 1 year ago Reply

Getting joint names from robot class

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