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Add URDF XML parser #12

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Run time

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Job	Run time
build (ubuntu-latest)	9s
check-code-format	11s
build (windows-latest)	37s
test (ubuntu-latest)	22s
test-package (ubuntu-latest)	12s
test (windows-latest)	56s
test-package (windows-latest)	30s
	2m 57s