Understanding robot modeling using xacro

The flexibility of URDF reduces when we work with complex robot models. Some of the main features that URDF is missing include simplicity, reusability, modularity, and programmability.

If someone wants to reuse a URDF block 10 times in their robot description, they can copy and paste the block 10 times. If there is an option to use this code block and make multiple copies with different settings, it will be very useful while creating the robot description.

The URDF is a single file and we can't include other URDF files inside it. This reduces the modular nature of the code. All code should be in a single file, which reduces the code's simplicity.

Also, if there is some programmability, such as adding variables, constants, mathematical expressions, and conditional statements in the description language, it will be more user-friendly.

Robot modeling using xacro meets all of these conditions. Some of the main features of xacro...