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Read WRF Intermediate Format data files for analysis in Python or R

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I am wondering if anyone has ever dealt with the WRF Intermediate Format data files, which are for the input of the metgrid.exe program.
I am doing future projections of the climate data using the NCAR CESM Global Bias-Corrected CMIP5 Output to Support WRF/MPAS Research dataset ( as the boundary inputs.
Before the simulation in WRF, I would like to analyze these boundary conditions first to select which year for the simulation.
But I notice that the files provided by the CESM dataset are in the BINARY format.
I normally use Python and R to process the data in NetCDF format, but I am not familiar with these BINARY format files.
Could anyone please let me know if there is any tool/package to read the BINARY file and extract data from it?

Thanks in advance for sharing your experience on this type of BINARY files,