Robot.get_configurable_joints

Robot.get_configurable_joints(group=None)[source]

Get the robot’s configurable joints.

Parameters

group (str, optional) – The name of the planning group. Defaults to the main planning group.

Returns

list of compas.robots.Joint

Note

If semantics is set and no group is passed, it returns all configurable joints of all groups.

Examples

>>> joints = robot.get_configurable_joints('manipulator')
>>> [j.name for j in joints]
['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']