Robot.get_configurable_joints

Robot.get_configurable_joints(group=None)

Get the robot’s configurable joints.

Parameters:

groupstr, optional

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

Returns:

list of compas_robots.Joint

Notes

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

Examples

>>> robot = RobotLibrary.ur5()
>>> 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']