Robot.get_configurable_joints

Robot.get_configurable_joints(group=None)[source]

Returns the configurable joints.

Parameters

group (str) – The name of the group. Defaults to None.

Returns

list of (class: 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']