I would also like to chime in and say I have partially implemented a URDF parser in Python which you can find here: <a href="http://www.ros.org/wiki/urdf_parser_python">http://www.ros.org/wiki/urdf_parser_python</a>  I&#39;m not sure if it is extensive as David&#39;s since there are several sections like the geometry components which haven&#39;t been fully implemented.  I have been successfully using this package for several months now in conjunction with the KDL parser you can find in the same stack.  If either of you decide to officially release your packages, I&#39;d be happy to get my KDL parser working with the released version.<br>

<br>-Kelsey Hawkins<br>