//TODO: check if it works
public IO.Swagger.Model.ProjectRobotJoints GetFirstJoints(string robot_id = null, bool valid_only = false)
{
foreach (IO.Swagger.Model.ProjectRobotJoints robotJoint in Data.RobotJoints)
{
if ((robot_id != null && robot_id != robotJoint.RobotId) ||
(valid_only && !robotJoint.IsValid))
{
continue;
}
return(robotJoint);
}
if (!string.IsNullOrEmpty(Data.Parent))
{
ActionPoint parent = ProjectManager.Instance.GetActionPoint(Data.Parent);
return(parent.GetFirstJoints());
}
throw new ItemNotFoundException();
}