Parse a URDF document into its robot name, link names, and revolute/prismatic
joints. continuous joints become revolute with a full -180..180 range;
fixed/floating/planar joints are skipped (their links are still listed).
A non-zero <origin rpy> is folded into the joint axis direction; its
residual frame rotation is not represented (URDF's pre-motion frame offset has
no single-joint brepjs equivalent).
Parse a URDF document into its robot name, link names, and revolute/prismatic joints.
continuousjoints become revolute with a full -180..180 range;fixed/floating/planarjoints are skipped (their links are still listed). A non-zero<origin rpy>is folded into the joint axis direction; its residual frame rotation is not represented (URDF's pre-motion frame offset has no single-joint brepjs equivalent).