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Another motivation of xacro was to save us from retyping repeated URDF blocks. For example the PR2 caster xacro is defined once and referred to 4 times.

Also, if you find yourself working with subcomponents of a robot a lot, having xacro modules means not having to copy and paste the particular component you are working with from the master URDF file into your own project. Plus, by referring to xacros instead of copy/pasting URDF blocks, any updates to the master URDF is automatically reflected in your project.