Link Info

LinkInfo captures information such as name, and parent joint. It is generated through the parsing of the input URDF and is accessible as a property or getter of the solver.

Parameter	Type	Description
name	string	The name of a partiuclar link. Each link has an unique name
parent_joint	string	The parent joint of this link
visuals	array of Shape	The primitive shapes that encapsulate the robotic parts or environmental objects
collisions	array of Shape	The primitive shapes, used in collision detection, that encapsulate the robotic parts or environmental objects