I am looking for functions to write a urdf xml file but can't seem to find any. Basically, I am reading joint and body data from another file format, and would like to convert it to URDF.

It looks like this functionality might exist in "urdf_parser_py", but i'm not sure. Other than that, the only other thing i can find that looks like it writes urdf files is "robot_model/collada_urdf/src/collada_to_urdf.cpp".

Thanks