Using particular joints from subgroups

[tkele...@gmail.com]

Hello all,

I have a robot model that has two subgroups namely, base and arm and a whole_body group that is the combination of arm and base. 

The arm has 5 DoF and the base has 3. I can plan motion for arm, base and the whole_body individually. However, I would like to plan a motion using particular joints from arm and base. 

Let's say I want to use only wrist joints from arm group and rotation joint from the base (the base is omni).

Is there a way to do this without touching SRDF of the robot?

Thanks,