Robot.get_link_names

Robot.get_link_names(group=None)

Get the names of the links in the kinematic chain.

Parameters:

groupstr, optional

The name of the planning group. Defaults to the main planning group.

Returns:

list of str

Examples

>>> robot = RobotLibrary.ur5()
>>> robot.get_link_names('manipulator')
['base_link', 'base_link_inertia', 'shoulder_link', 'upper_arm_link', 'forearm_link', 'wrist_1_link', 'wrist_2_link', 'wrist_3_link', 'flange', 'tool0']