https://www.dotnetzone.gr:443/cs/blogs/birbilis/archive/2017/06/17/robot-modelling-formats-for-simulation.aspxSeveral XML-based formats have surfaced over the years that can be used to describe a robot. Apart from URDF (and SRDF) of ROS origin, the Gazebo simulator has been promoting SDF (an evolution of URDF with emphasis on physics simulation), while MJCF apartelCommunityServer 2.1 SP3 (Build: 20423.1)