RobotModel.iter_joints

RobotModel.iter_joints()

Iterator over the joints that starts with the root link’s children joints.

Returns

Iterator of all joints starting at root.

Examples

>>> robot = RobotModel.ur5()
>>> [j.name for j in robot.iter_joints()]
['world_joint', 'shoulder_pan_joint', 'base_link-base_fixed_joint', 'shoulder_lift_joint',         'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint', 'ee_fixed_joint', 'wrist_3_link-tool0_fixed_joint']