Is there a function to load a URDF to a DHRobot? Or alternatively a function to back out the DH parameters from an ERobot loaded from a URDF?

[jpenaloza1211]

Describe the bug
I am working on loading custom robots using URDFs and would like to be able to create both versions from a single URDF for my work.

Version information
PyPI roboticstoolbox-python 1.1.0

To Reproduce
I've tried to load in a URDF as an ERobot and then convert to DHRobot by passing in the links but the DHRobot class expects DHLinks.

`
robot_path = os.path.join(os.getcwd(), 'models')

UR5 = UR5eCustom(robot_path)

UR5_dh = DHRobot(UR5.links)`

I've also tried to create my robot class based on the DHRobot class but the DHRobot class doesn't take in the URDF and convert it to DHLinks.

Expected behavior
Just looking for a function to be able to easily switch between a DHRobot and an ERobot or a way to create both types of robots from the same URDF.

Environment (please complete the following information):

• Ubuntu 22.04
• Python 3.10

Additional comment
I've seen the Peter Corke paper for switching between ets and dh, but want to ask if that functionality exists in this library before resorting to implementing it myself.