def get_solution_for_config_id(self, solution, config_id):
    if (config_id == 0):
        return solution.solution_shoulder_left.solution_wrist_up.solution_elbow_up.thetas
    elif (config_id == 1):
        return solution.solution_shoulder_left.solution_wrist_up.solution_elbow_down.thetas
    elif (config_id == 2):
        return solution.solution_shoulder_left.solution_wrist_down.solution_elbow_up.thetas
    elif (config_id == 3):
        return solution.solution_shoulder_left.solution_wrist_down.solution_elbow_down.thetas
    elif (config_id == 4):
        return solution.solution_shoulder_right.solution_wrist_up.solution_elbow_up.thetas
    elif (config_id == 5):
        return solution.solution_shoulder_right.solution_wrist_up.solution_elbow_down.thetas
    elif (config_id == 6):
        return solution.solution_shoulder_right.solution_wrist_down.solution_elbow_up.thetas
    elif (config_id == 7):
        return solution.solution_shoulder_right.solution_wrist_down.solution_elbow_down.thetas
    else:
        raise Exception('invalid config solution id')
def get_solution_for_config_id(self, solution, config_id):
    if (config_id == 0):
        return solution.solution_shoulder_left.solution_wrist_up.solution_elbow_up.thetas
    elif (config_id == 1):
        return solution.solution_shoulder_left.solution_wrist_up.solution_elbow_down.thetas
    elif (config_id == 2):
        return solution.solution_shoulder_left.solution_wrist_down.solution_elbow_up.thetas
    elif (config_id == 3):
        return solution.solution_shoulder_left.solution_wrist_down.solution_elbow_down.thetas
    elif (config_id == 4):
        return solution.solution_shoulder_right.solution_wrist_up.solution_elbow_up.thetas
    elif (config_id == 5):
        return solution.solution_shoulder_right.solution_wrist_up.solution_elbow_down.thetas
    elif (config_id == 6):
        return solution.solution_shoulder_right.solution_wrist_down.solution_elbow_up.thetas
    elif (config_id == 7):
        return solution.solution_shoulder_right.solution_wrist_down.solution_elbow_down.thetas
    else:
        raise Exception('invalid config solution id')