def __init__(
        self,
        robot: Robot = None,
        build_scene_graph: bool = True,
        build_collision_scene_graph: bool = False,
        load_meshes: bool = True,
        load_collision_meshes: bool = False,
        filename_handler=None,
        mesh_dir: str = "",
        force_mesh: bool = False,
        force_collision_mesh: bool = True,
        build_tree: bool = False,
    ):
        """A URDF model.

        Args:
            robot (Robot): The robot model. Defaults to None.
            build_scene_graph (bool, optional): Wheter to build a scene graph to enable transformation queries and forward kinematics. Defaults to True.
            build_collision_scene_graph (bool, optional): Wheter to build a scene graph for <collision> elements. Defaults to False.
            load_meshes (bool, optional): Whether to load the meshes referenced in the <mesh> elements. Defaults to True.
            load_collision_meshes (bool, optional): Whether to load the collision meshes referenced in the <mesh> elements. Defaults to False.
            filename_handler ([type], optional): Any function f(in: str) -> str, that maps filenames in the URDF to actual resources. Can be used to customize treatment of `package://` directives or relative/absolute filenames. Defaults to None.
            mesh_dir (str, optional): A root directory used for loading meshes. Defaults to "".
            force_mesh (bool, optional): Each loaded geometry will be concatenated into a single one (instead of being turned into a graph; in case the underlying file contains multiple geometries). This might loose texture information but the resulting scene graph will be smaller. Defaults to False.
            force_collision_mesh (bool, optional): Same as force_mesh, but for collision scene. Defaults to True.
            build_tree (bool, optional): Build the tree structure for global kinematics computation
        """
        if filename_handler is None:
            self._filename_handler = partial(filename_handler_magic, dir=mesh_dir)
        else:
            self._filename_handler = filename_handler

        self.robot = robot
        self._create_maps()
        self._update_actuated_joints()

        self._cfg = self.zero_cfg

        if build_scene_graph or build_collision_scene_graph:
            self._base_link = self._determine_base_link()
        else:
            self._base_link = None

        self._errors = []

        if build_scene_graph:
            self._scene = self._create_scene(
                use_collision_geometry=False,
                load_geometry=load_meshes,
                force_mesh=force_mesh,
                force_single_geometry_per_link=force_mesh,
            )
        else:
            self._scene = None

        if build_collision_scene_graph:
            self._scene_collision = self._create_scene(
                use_collision_geometry=True,
                load_geometry=load_collision_meshes,
                force_mesh=force_collision_mesh,
                force_single_geometry_per_link=force_collision_mesh,
            )
        else:
            self._scene_collision = None

        if build_tree:
            self.tree_root = self.build_tree()
        else:
            self.tree_root = None
A URDF model.

        Args:
            robot (Robot): The robot model. Defaults to None.
            build_scene_graph (bool, optional): Wheter to build a scene graph to enable transformation queries and forward kinematics. Defaults to True.
            build_collision_scene_graph (bool, optional): Wheter to build a scene graph for <collision> elements. Defaults to False.
            load_meshes (bool, optional): Whether to load the meshes referenced in the <mesh> elements. Defaults to True.
            load_collision_meshes (bool, optional): Whether to load the collision meshes referenced in the <mesh> elements. Defaults to False.
            filename_handler ([type], optional): Any function f(in: str) -> str, that maps filenames in the URDF to actual resources. Can be used to customize treatment of `package://` directives or relative/absolute filenames. Defaults to None.
            mesh_dir (str, optional): A root directory used for loading meshes. Defaults to "".
            force_mesh (bool, optional): Each loaded geometry will be concatenated into a single one (instead of being turned into a graph; in case the underlying file contains multiple geometries). This might loose texture information but the resulting scene graph will be smaller. Defaults to False.
            force_collision_mesh (bool, optional): Same as force_mesh, but for collision scene. Defaults to True.
            build_tree (bool, optional): Build the tree structure for global kinematics computation
        
deploy/teleop/robot_control/dex_retargeting/yourdfpy.py