I think, generateDS is the solution to your problem.
Starting from chapter 5, the command
python generateDS.py -o people.py -s peoplesubs.py people.xsd
reads the XSD file and creates several classes and subclasses. It generates many data structures and getters and setters for accessing and using data :)
If there is any XML file that complies with that XSD, it can be read straight away by using
import people
rootObject = people.parse('people.xml')
within the code. More information is given in chapter 12.
The aforementioned classes also provide methods to export data as an XML format.
The level of documentation is good and it is highly suggested to use this for any future project.