def __init__(self, urdf, *args, **kwargs):
"""
:param urdf:
:type urdf: str
:param joints_to_symbols_map: maps urdfs joint names to symbols
:type joints_to_symbols_map: dict
:param default_joint_vel_limit: all velocity limits which are undefined or higher than this will be set to this
:type default_joint_vel_limit: Symbol
"""
self.original_urdf = hacky_urdf_parser_fix(urdf)
with suppress_stderr():
self._urdf_robot = up.URDF.from_xml_string(self.original_urdf) # type: up.Robot
self._link_to_marker = {}
self.reset_cache()
def __init__(self, urdf, default_joint_vel_limit=0):
"""
:param urdf:
:type urdf: str
:param joints_to_symbols_map: maps urdf joint names to symbols
:type joints_to_symbols_map: dict
:param default_joint_vel_limit: all velocity limits which are undefined or higher than this will be set to this
:type default_joint_vel_limit: float
"""
self.default_joint_velocity_limit = default_joint_vel_limit
self.default_weight = 0.0001
self.fks = {}
self._joint_to_frame = {}
self.joint_to_symbol_map = keydefaultdict(lambda x: spw.Symbol(x))
self.urdf = urdf
with suppress_stderr():
self._urdf_robot = URDF.from_xml_string(
hacky_urdf_parser_fix(self.urdf))