Create a frame graph from a URDF string.
- urdf: TextIO
A text buffer containing the URDF XML.
- 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.
frames[jointName]will return the joint’s frame that is attached to the parent.