(self, name=None)
Initializes the JacoArm.

    Args:
      name: String, the name of this robot. Used as a prefix in the MJCF name
        name attributes.
Initializes the JacoArm.
Initializes the JacoArm .
def _build(self, name=None):
    """Initializes the JacoArm.

    Args:
      name: String, the name of this robot. Used as a prefix in the MJCF name
        name attributes.
    """
    self._mjcf_root = mjcf.from_path(_JACO_ARM_XML_PATH)
    if name:
      self._mjcf_root.model = name
    # Find MJCF elements that will be exposed as attributes.
    self._joints = [self._mjcf_root.find('joint', name) for name in _ALL_JOINTS]
    self._wrist_site = self._mjcf_root.find('site', _WRIST_SITE)
    self._bodies = self.mjcf_model.find_all('body')
    # Add actuators.
    self._actuators = [_add_velocity_actuator(joint) for joint in self._joints]
    # Add torque sensors.
    self._joint_torque_sensors = [
        _add_torque_sensor(joint) for joint in self._joints]
def _build ( self , name = None ) : self . _mjcf_root = mjcf . from_path ( _JACO_ARM_XML_PATH ) if name : self . _mjcf_root . model = name # Find MJCF elements that will be exposed as attributes. self . _joints = [ self . _mjcf_root . find ( 'joint' , name ) for name in _ALL_JOINTS ] self . _wrist_site = self . _mjcf_root . find ( 'site' , _WRIST_SITE ) self . _bodies = self . mjcf_model . find_all ( 'body' ) # Add actuators. self . _actuators = [ _add_velocity_actuator ( joint ) for joint in self . _joints ] # Add torque sensors. self . _joint_torque_sensors = [ _add_torque_sensor ( joint ) for joint in self . _joints ]