skbot.ros.create_frame_graph

skbot.ros.create_frame_graph(urdf)[source]

Create a frame graph from a URDF string.

Parameters
urdf: TextIO

A text buffer containing the URDF XML.

Returns
framesDict[str, Frames]

A dict of frames (links and joints) contained in the file.

linksDict[str, Frames]

A dict of links in the graph. Names are chosen based on joint names.

See also

skbot.transform

Notes

frames[jointName] will return the joint’s frame that is attached to the parent.

Return type

Tuple[Dict[str, Frame], Dict[str, Link]]