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Fix get_link_names exception for single-link groups (#160) #465

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Fix get_link_names exception for single-link groups (#160) #465

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1 change: 1 addition & 0 deletions AUTHORS.md
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Original file line number Diff line number Diff line change
Expand Up @@ -17,3 +17,4 @@
- Edvard Bruun <<ebruun@princeton.edu>> [@ebruun](https://github.com/ebruun)
- Victor Pok Yin Leung <<leung@arch.ethz.ch>> [@yck011522](https://github.com/yck011522)
- Begüm Saral <<begum.saral@tum.de>> [@begums](https://github.com/begums)
- Swastik Verma <<swastikjee09@gmail.com>> [@Swastik-Verma](https://github.com/Swastik-Verma)
7 changes: 5 additions & 2 deletions src/compas_fab/robots/robot_cell.py
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Expand Up @@ -450,8 +450,11 @@ def get_link_names(self, group: Optional[str] = None) -> list[str]:
base_link_name = self.get_base_link_name(group)
end_effector_link_name = self.get_end_effector_link_name(group)
link_names = []
for link in self.robot_model.iter_link_chain(base_link_name, end_effector_link_name):
link_names.append(link.name)
if base_link_name is not None and base_link_name == end_effector_link_name:
link_names.append(base_link_name)
else:
for link in self.robot_model.iter_link_chain(base_link_name, end_effector_link_name):
link_names.append(link.name)
return link_names

def get_link_names_with_collision_geometry(self) -> list[str]:
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3 changes: 3 additions & 0 deletions tests/robots/test_robot_cell.py
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Expand Up @@ -178,6 +178,9 @@ def _test(rc: RobotCell, rcs: RobotCellState):
_test(*rfl)
_test(*ur10e_gripper_one_beam)
_test(*abb_irb4600_40_255_gripper_one_beam)
robot_cell, robot_cell_state = ur10e_gripper_one_beam
link_names = robot_cell.get_link_names("endeffector")
assert link_names == ["tool0"]
Comment on lines +181 to +183

@gonzalocasas gonzalocasas Aug 6, 2026

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This doesn't really test that the fix works. You'd need to add a test that has a robot with a single link group.

@Swastik-Verma Swastik-Verma Aug 6, 2026

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Thanks for the feedback! I'm a bit busy right now but will address both points soon.



def test_default_touch_links_returns_first_geometry_bearing_link():
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