RobotSemantics.get_configurable_joints

RobotSemantics.get_configurable_joints(group=None)

Get all configurable compas_robots.model.Joint of a planning group.

Configurable joints are joints that can be controlled, i.e., not Joint.FIXED, not mimicking another joint and not a passive joint. See compas_robots.model.Joint.is_configurable() for more details.

Parameters:

groupstr, optional

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

Returns:

list of compas_robots.model.Joint

A list of configurable joints.