Create a frame graph from a sdformat string.
Deprecated since version 0.6.0: This function will be removed in skbot v1.0. Use :func:
skbot.ignition.to_frame_graphinstead. To find frames in the frame graph returned by
skbot.transform.Frame.find_frame. Links/Joints can be obtained from :func:
- sdformat: TextIO
A text buffer containing the SDFormat XML.
- framesDict[str, Frames]
A dict of named frames. Keys and frame names correspond to each element’s xpath. An xpath is a string representing the position of the element in the tree it is constructed from concatenating element tags using
/except for elements that have a
nameattribute. In this case, the respective name is used instead of the tag. Examples: /sdf/spot_light/pose or /sdf/world_1/my_robot/joint_1
- linksDict[str, Frames]
A dict of (named) links in the graph.