The .xacro (XML Macros) file format is an extension of the Unified Robot Description Format (URDF). It is commonly used in the Robot Operating System (ROS) to create modular and reusable robot descriptions. By allowing parameterization and the use of macros, .xacro files simplify the creation and maintenance of complex robot models.

Docker is a powerful platform for developing, shipping, and running applications inside lightweight, portable containers. In the field of robotics, Docker provides an efficient way to set up and manage complex environments, ensuring consistency across development, testing, and deployment stages.

The Unified Robot Description Format (URDF) is an XML-based file format used in robotics to describe the physical and kinematic structure of a robot. URDF is primarily used in the Robot Operating System (ROS) to model robots for simulation, visualization, and control. It allows users to define the various elements that make up a robot, such as its links (rigid bodies), joints (connections between links), sensors, actuators, and physical properties.