update Semantics.get_all_configurable_joints

Author: romanarust

src/compas_fab/robots/semantics.py

@@ -140,13 +140,9 @@ def get_base_link_name(self, group=None):
 
     def get_all_configurable_joints(self):
         joints = []
-        names = []
-        for group in self.group_names:
-            for name in self._group_dict[group]["joints"]:
-                joint = self.urdf_robot.get_joint_by_name(name)
-                if joint and joint.is_configurable() and name not in (self.passive_joints + names):
-                    joints.append(joint)
-                    names.append(name)
+        for joint in self.urdf_robot.get_configurable_joints():
+            if joint.name not in self.passive_joints:
+                joints.append(joint)
         return joints
 
     def get_configurable_joints(self, group=None):