Through code, we can also get some valuable data that we may require for our code. Let's see some examples.

We can get the reference frame for a certain group by executing this line:

print "Reference frame: %s" % group.get_planning_frame() 

We can get the end-effector link for a certain group by executing this line:

print "End effector: %s" % group.get_end_effector_link() 

We can get a list with all of the groups of the robot, like this:

print "Robot Groups:" 
print robot.get_group_names() 

We can get the current values of the joints, like this:

print "Current Joint Values:" 
print group.get_current_joint_values() 

We can also get the current pose of the end-effector of the robot, like this:

print "Current Pose:" 
print group.get_current_pose() 

Finally, we can check the general status of the robot, like this:

print "Robot State:" 
print robot.get_current_state() 

We can create a new file inside the package called get_data.py and add all the new code we've learned previously and check what results we get.