ToolModel.get_configurable_joints
- ToolModel.get_configurable_joints()[source]
Returns the configurable joints.
Configurable joints are those that are not FIXED or MIMIC.
- Returns:
- list[
Joint
] List of configurable joints.
- list[
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']