RobotModel.iter_joint_chain

RobotModel.iter_joint_chain(link_start_name=None, link_end_name=None)[source]

Iterator over the chain of joints between a pair of start and end links.

Parameters

• link_start_name (str, optional) – Name of the starting link of the chain. Defaults to the root link name.

• link_end_name (str, optional) – Name of the final link of the chain. Defaults to the last link’s name.

Returns

Iterator of the chain of joints.

Notes

This method differs from iter_joints() in that it returns the chain respecting the tree structure, hence if one link branches into two or more joints, only the branch matching the end link will be returned.

Examples

>>> robot = RobotModel.ur5()
>>> [j.name for j in robot.iter_joint_chain('world', 'forearm_link')]
['world_joint', 'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint']