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For URDF files what alternatives to xml are there?

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I find that working directly with XML is unpleasant at best. What alternatives exist for creating URDF files either graphically or otherwise? What I have found so far: - [SimMechanics to URDF](https://github.com/robotology/simmechanics-to-urdf) - [SW URDF](http://wiki.ros.org/sw_urdf_exporter)

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