diff --git a/CHANGELOG.md b/CHANGELOG.md
index 482b0d86cbef..053d5454dfed 100644
--- a/CHANGELOG.md
+++ b/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
 
 
diff --git a/src/compas/robots/model/joint.py b/src/compas/robots/model/joint.py
index 5e382c71e5c5..9c88599750ea 100644
--- a/src/compas/robots/model/joint.py
+++ b/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``."""
diff --git a/tests/compas/robots/test_model.py b/tests/compas/robots/test_model.py
index 7cf4299c81ea..f52707de0242 100644
--- a/tests/compas/robots/test_model.py
+++ b/tests/compas/robots/test_model.py
@@ -604,6 +604,11 @@ def test_unknown_axis_attribute_data(urdf_with_unknown_attr):
     assert r.joints[0].axis.attr['rpy'] == '0 0 0'
 
 
+def test_get_configurable_joint_names(urdf_file):
+    model = RobotModel.from_urdf_file(urdf_file)
+    assert 'panda_finger_joint2' not in model.get_configurable_joint_names()
+
+
 def test_ensure_geometry(urdf_file, urdf_file_with_shapes_only):
     robot = RobotModel.from_urdf_file(urdf_file)
     with pytest.raises(Exception):