URDF Desk - will your robot description plan and simulate?

Paste one robot description - a URDF, and where you have them the MoveIt 2 SRDF and the SDFormat SDF beside it - and get a robotics engineer's review in three lanes over that same description: a structure and physics audit of the kinematic tree, inertials, joint limits and mesh references; a MoveIt 2 planning review of the groups, chains, group states, end effectors, virtual joint and self-collision matrix, which authors the SRDF when none was pasted; and a Gazebo simulation handoff review of the SDFormat version, inertials, collisions, mesh URI schemes, sensors and physics. A free in-browser reader parses the XML first, walks the tree, checks every inertia tensor for positive definiteness and the triangle inequality, and cross-references the SRDF and SDF against the URDF - then the review must reconcile every flag it raised. A derived work built on three agent skills by @earthtojake: @earthtojake/urdf (URDF generation and validation), @earthtojake/srdf (MoveIt 2 SRDF and planning semantics) and @earthtojake/sdf (SDFormat models, worlds and simulator handoff). Not a republication of those skills.

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