sdf

SDFormat/SDF robot and simulator model generation and validation. Use when creating, editing, regenerating, inspecting, or validating `.sdf` / SDFormat files, `gen_sdf()` sources, SDF models or worlds, links, joints, poses, frames, inertials, visual/collision geometry, mesh URIs, sensors, plugins, or simulator-specific metadata. Use the URDF skill for ROS robot structure; use the SRDF skill for MoveIt planning semantics.