mimic joints are not configurable

Author: beverlylytle

CHANGELOG.md

@@ -12,6 +12,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 
+* Fixed bug where mimic joints were considered configurable.
+
 ### Removed
 
 

src/compas/robots/model/joint.py

@@ -835,7 +835,7 @@ def calculate_transformation(self, position):
 
     def is_configurable(self):
         """Returns ``True`` if the joint can be configured, otherwise ``False``."""
-        return self.type != Joint.FIXED
+        return self.type != Joint.FIXED and self.mimic is None
 
     def is_scalable(self):
         """Returns ``True`` if the joint can be scaled, otherwise ``False``."""

tests/compas/robots/test_model.py

@@ -604,6 +604,21 @@ def test_unknown_axis_attribute_data(urdf_with_unknown_attr):
     assert r.joints[0].axis.attr['rpy'] == '0 0 0'
 
 
+def test_get_configurable_joints(urdf_file):
+    model = RobotModel.from_urdf_file(urdf_file)
+    expected_joints = [
+        'panda_joint1',
+        'panda_joint2',
+        'panda_joint3',
+        'panda_joint4',
+        'panda_joint5',
+        'panda_joint6',
+        'panda_joint7',
+        'panda_finger_joint1',
+    ]
+    assert model.get_configurable_joint_names() == expected_joints
+
+
 def test_ensure_geometry(urdf_file, urdf_file_with_shapes_only):
     robot = RobotModel.from_urdf_file(urdf_file)
     with pytest.raises(Exception):