Thank you for your insight, @peci1!
Yes, I have been looking at Xacro and have always felt its syntax is non-intuitive and has a difficult ramp-up for new users. That was the main reason for trying to build a toolkit that takes away some of that pain in having to understand xacro along with the urdf structure.
My end goal is to make a graphical editor that avoids having to edit the urdf file manually and treat urdf files as a final output which can be directly without having to go through an additional step of xacro compilation.
I am also planning to use the in-memory robot counterpart of the loaded urdf as the basis for developing further analytical tools.