RobotModel.iter_link_chain

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

Iterator over the chain of links 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 links.

Notes

This method differs from iter_links() 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()
>>> [l.name for l in robot.iter_link_chain('world', 'forearm_link')]
['world', 'base_link', 'shoulder_link', 'upper_arm_link', 'forearm_link']