removed a bit the nesting

Author: romanarust

src/compas_fab/robots/robot.py

@@ -460,7 +460,7 @@ def merge_group_with_full_configuration(self, group_configuration, full_configur
         if not len(group_configuration.joint_names):
             group_configuration.joint_names = self.get_configurable_joint_names(group)
 
-        full_configuration, full_configuration_scaled = self._check_full_configuration_and_scale(full_configuration)  # adds joint_names to full_configuration and makes copy
+        full_configuration = self._check_full_configuration_and_scale(full_configuration)[0]  # adds joint_names to full_configuration and makes copy
 
         full_joint_state = dict(zip(full_configuration.joint_names, full_configuration.values))
         group_joint_state = dict(zip(group_configuration.joint_names, group_configuration.values))

src/compas_fab/robots/semantics.py

@@ -69,6 +69,11 @@ def __get_group_link_names(self, group):
                                 link_names.append(name)
         return link_names
 
+    def __get_group_elem_by_name(self, group_name):
+        for group_elem in self.root.findall('group'):
+            if group_elem.attrib['name'] == group_name:
+                return group_name
+
     def __get_group_joint_names(self, group):
         joint_names = []
         for link in group.findall('link'):
@@ -86,12 +91,11 @@ def __get_group_joint_names(self, group):
         for subgroup in group.findall('group'):
             if subgroup.attrib['name'] != group.attrib['name']:
                 # find group element at top level
-                for top_group_elem in self.root.findall('group'):
-                    if top_group_elem.attrib['name'] == subgroup.attrib['name']:
-                        subgroup_joint_names = self.__get_group_joint_names(top_group_elem)
-                        for name in subgroup_joint_names:
-                            if name not in joint_names:
-                                joint_names.append(name)
+                top_group_elem = self.__get_group_elem_by_name(subgroup.attrib['name'])
+                subgroup_joint_names = self.__get_group_joint_names(top_group_elem)
+                for name in subgroup_joint_names:
+                    if name not in joint_names:
+                        joint_names.append(name)
         return joint_names
 
     def __source_attributes(self):