Robot.get_link_names

Robot.get_link_names(group=None)[source]

Get the names of the links in the kinematic chain.

Parameters

group (str, optional) – The name of the planning group. Defaults to the main planning group.

Returns

list of str

Examples

>>> robot.get_link_names('manipulator')
['base_link', 'shoulder_link', 'upper_arm_link', 'forearm_link', 'wrist_1_link', 'wrist_2_link', 'wrist_3_link', 'ee_link']