import maya.cmds as cmds
# Get all joint nodes
joints = cmds.ls(type="joint")
# Filter out joints that do not have any keys
keyed_joints = [joint for joint in joints if cmds.keyframe(joint, q=True, keyframeCount=True) > 0]
# Print the names of all the keyed joints
for joint in keyed_joints:
print(joint)
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