Robot.get_link_names_with_collision_geometry

Robot.get_link_names_with_collision_geometry()

Get the names of the links with collision geometry.

Returns

list of str

Examples

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