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Refactor the `from_urdf` function from RobotLibrary to Robot #871

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Job	Run time
build (ubuntu-latest, 3.8)	1m 4s
build (ubuntu-latest, 3.9)	1m 14s
build (ubuntu-latest, 3.10)	1m 9s
build (macos-latest, 3.8)	3m 49s
build (macos-latest, 3.9)	3m 9s
build (macos-latest, 3.10)	3m 8s
build (windows-latest, 3.8)	8m 1s
build (windows-latest, 3.9)	8m 10s
build (windows-latest, 3.10)	7m 8s
	36m 52s