SVG - Export of Points / Coordinates in Python

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I am developing a robotic controlled drawing system and currently are looking for some input regarding the extraction of plain coordinates out of exisitng SVG-files. My question is very similar to this one, which did not get much feedback so far.

-> Is there some simple/established/prebuild way to extract point-coordinates out of existing SVG files within python ?

From my (limited) understanding, existing SVG libraries for python like svg.path and pysvg do not seem to include a function for extracting all points out of an existing file (as they seem to be build more towards writing SVG rather than reading SVG..)

thanks for answers.

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