You are an expert in writing code in many different languages. Your goal is to perform code completion for the following code, keeping in mind the rest of the code and the file meta data.
    Metadata details:
    filename: urdf2robot.m
    path of file: ./repos/SPART/src/robot_model
    
    the code of the file until where you have to start completion: function [robot,robot_keys]=urdf2robot(filename,verbose_flag)
% Creates a SPART robot model from a URDF file.
%
% [robot,robot_keys] = urdf2robot(filename,verbose_flag)
% 
% :parameters: 
%   * filename -- Path to the URDF file.
%   * verbose_flag -- True for verbose output (default False).
%
% :return:
%   * robot -- Robot model (see :doc:`/Tutorial_Robot`).
%   * robot_keys -- Links/Joints name map (see :doc:`/Tutorial_Robot`).
%
% This function was inspired by:
% https://github.com/jhu-lcsr/matlab_urdf/blob/master/load_ne_id.m

%{  
    LICENSE


    
function [robot,robot_keys]=urdf2robot(filename,verbose_flag)
% Creates a SPART robot model from a URDF file.
%
% [robot,robot_keys] = urdf2robot(filename,verbose_flag)
% 
% :parameters: 
%   * filename -- Path to the URDF file.
%   * verbose_flag -- True for verbose output (default False).
%
% :return:
%   * robot -- Robot model (see :doc:`/Tutorial_Robot`).
%   * robot_keys -- Links/Joints name map (see :doc:`/Tutorial_Robot`).
%
% This function was inspired by:
% https://github.com/jhu-lcsr/matlab_urdf/blob/master/load_ne_id.m

%{  
    LICENSE

    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU Lesser General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU Lesser General Public License for more details.

    You should have received a copy of the GNU Lesser General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
%}

%=== CODE ===%

%Verbose flag defaults to false
if nargin<2
    verbose_flag=false;
end