The flexibility of URDF reduces when we work with complex robot models. Some of the main features that URDF is missing are the simplicity, reusability, modularity, and programmability.
If someone wants to reuse a URDF block ten times in his robot description, he can copy and paste the block ten 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 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 simplicity too.
Also, if there is some programmability, such as adding variable, constants, mathematical expressions, conditional statement, and so on, in the description language, it will be more user friendly.
The robot modeling using xacro meets all these conditions and some of the main features of xacro are as follows:
Simplify...