Not a Kamailio-related question, but.

I want to form SIP-packets with info I need and receive answers.

At first iteration in would be PUBLISH (with XML info) messages (PUBLISH - 200 OK) sent to Kamailio.

I want to use Python (more preferable) or Lua (less preferable). Is there any lib I can create messages with, or forget and just use plain text + UDP socket?