SDF

Use this skill for SDFormat/SDF outputs that must describe simulation or visualization semantics: models, worlds, links, joints, frames, poses, inertials, collision/visual geometry, sensors, lights, physics, plugins, and simulator metadata.

SDF correctness is primarily a

pose, frame, unit, and simulator-compatibility

problem. Well-formed XML is not enough. Because language models are weak at spatial reasoning, never generate or edit SDF poses, joint axes, mesh scales, inertials, or plugin parameters from visual impression alone. Derive them from CAD transforms, drawings, simulator documentation, measured dimensions, or an explicit assumption recorded in the design ledger.

Format boundary

URDF

ROS robot structure: links, joints, visual/collision geometry, inertials, limits, and robot-state publishing.

SDF

simulator/world semantics: model/world layout, physics, surfaces, sensors, lights, plugins, includes, and simulator-specific behavior.

SRDF

MoveIt planning semantics: planning groups, end effectors, group states, disabled collisions, virtual/passive planning metadata. Do not use SDF to patch an incorrect URDF unless the task is explicitly simulator-specific. Do not use SDF to define MoveIt planning groups. Required workflow Show more