Importing URDF from using script w/o using the editor

[Kai-X-Org]

Does the current importer support importing urdf with code? i.e. is there a function I can call in a script that can just import the urdf? I am currently working on interfacing Unity to a Python-based scenario description language and would like to be able to rapidly spawn/delete robots across scenes directly from code without the user having to touch the editor. Thank you so much!