RobotModel.get_configurable_joints

RobotModel.get_configurable_joints()

Returns the configurable joints.

Configurable joints are those that are not FIXED or MIMIC.

Returns:

list[Joint]

List of configurable joints.

Examples

>>> robot = RobotModel.ur5()
>>> joints = robot.get_configurable_joints()
>>> [j.name for j in joints]
['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']