def find_link_joints(model, link_name):
    """Find the joints attached to a given link

    Parameters
    ----------
    model : <ModelSDF>
        SDF model

    link_name : <str>
        Name of the link in the sdf

    Returns
    -------
    out : <tuple>
        Tuple of joint names attached to the link
    """
    return tuple([
        joint.name
        for joint in model.joints
        if joint.parent == link_name
    ])