URDF was already discussed in some detail in Section I.
Its application to kinematics, collision detection and visualization make it a powerful and indispensable tool for robot development.
However, URDF is not designed for specifying robot components such as sensors, actuators, and control programs
and matching those to action descriptions. In contrast, SRDL exactly addresses these issues and thereby aims at
filling the gap between low- and high-level descriptions.