RobotModel.iter_chain

RobotModel.iter_chain(start=None, end=None)

Iterator over the chain of all elements between a pair of start and end elements.

Parameters:

startstr, optional

Name of the starting element of the chain. Defaults to the root link name.

endstr, optional

Name of the final element of the chain. Defaults to the name of the last element.

Returns:

Iterator of the chain of links and joints (names).

Examples

>>> robot = RobotModel.ur5()
>>> list(robot.iter_chain("world", "forearm_link"))
['world', 'world_joint', 'base_link', 'shoulder_pan_joint', 'shoulder_link', 'shoulder_lift_joint', 'upper_arm_link', 'elbow_joint', 'forearm_link']