SDF Use this skill when the deliverable is an SDFormat document. SDFormat describes simulator and world behavior: models, worlds, frames, poses, links, joints, inertials, visuals, collisions, sensors, lights, physics, plugins, includes, and simulator metadata. This skill is for SDFormat , not signed-distance-field geometry. The file is the source of truth: author and edit the XML directly. Setup Run the command ( where is not on your PATH, or where a project's environment puts its own first; on Windows). If is not found and the CAD app was only just added, its server may still be starting: wa…