I recently created a tool to convert EMF Ecore (Eclipse Modeling Project | The Eclipse Foundation) to python classes as well as Json schema: GitHub - ipa-hsd/urdf-model. This ecore model is converted from urdf.xsd
The python classes can be populated by parsing URDF file: see here
The generated Json schema is used for GitHub - redhat-developer/yaml-language-server: Language Server for YAML Files, which can be used for schema validation, code completion, etc.
For future, I will be using the ecore meta-model also to update the schema documentation.
Happy to get some comments and feedback.