pyrcf.utils.urdf_utils
======================

.. py:module:: pyrcf.utils.urdf_utils


Functions
---------

.. autoapisummary::

   pyrcf.utils.urdf_utils._convert_to_fixed
   pyrcf.utils.urdf_utils.temp_path_urdf_with_joints_fixed
   pyrcf.utils.urdf_utils.create_new_urdf_with_joints_fixed


Module Contents
---------------

.. py:function:: _convert_to_fixed(urdf: yourdfpy.URDF, joint_names_to_values: Mapping[str, float])

   Hack to modify urdf to fix specific joints to specified values.

   :param urdf: The yourdfpy urdf object to modify.
   :type urdf: yourdfpy.URDF
   :param joint_names_to_values: Dictionary containing name of joints that
                                 should be locked as keys, and the joint values to lock them at as values.
   :type joint_names_to_values: Mapping[str, float]


.. py:function:: temp_path_urdf_with_joints_fixed(urdf_file_path: str, joint_names_to_values: Mapping[str, float])

   Get the context of a temporary URDF file path after modifying the specified joints to be
   "fixed".

   This method only provides a context. This is useful for temporarily writing the URDF to a file
   for consumption by other programs.

   :param urdf_file_path: Path to original urdf file.
   :type urdf_file_path: str
   :param joint_names_to_values: Dictionary containing name of joints that
                                 should be locked as keys, and the joint values to lock them at as values.
   :type joint_names_to_values: Mapping[str, float]

   :Yields: *str* -- Path to new urdf file.

   .. rubric:: Examples

   Use as a context manager:
       >>> with temp_path_urdf_with_joints_fixed(...) as path:
               load_file_from_path(path)  # do something with this urdf


.. py:function:: create_new_urdf_with_joints_fixed(urdf_file_path: str, joint_names_to_values: Mapping[str, float]) -> str

   Creates a new urdf file with the specified joints set to "fixed".

   :param urdf_file_path: Path to original urdf file.
   :type urdf_file_path: str
   :param joint_names_to_values: Dictionary containing name of joints that
                                 should be locked as keys, and the joint values to lock them at as values.
   :type joint_names_to_values: Mapping[str, float]

   :returns: Path to new urdf file.
   :rtype: str