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Add URDF XML parser #5

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Run time

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Job	Run time
build (windows-latest)	31s
check-code-format	8s
build (ubuntu-latest)	10s
test (windows-latest)	41s
test (ubuntu-latest)	17s
test-package (windows-latest)	29s
test-package (ubuntu-latest)	7s
	2m 23s