Robot.get_configurable_joint_types

Robot.get_configurable_joint_types(group=None)[source]

Get the configurable joint types.

Parameters:
groupstr, optional

The name of the planning group. Defaults to the main planning group.

Returns:
list of compas_robots.Joint.SUPPORTED_TYPES

Notes

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

Examples

>>> robot = RobotLibrary.ur5()
>>> robot.get_configurable_joint_types('manipulator')
[0, 0, 0, 0, 0, 0]