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No we can't. link I think the only way is to start with URDF and convert it to SDF.

No we can't. Have a look at link

I think the only way is to start with URDF and convert it to SDF.

Some additional Info that might be useful

  • Gazebo will continue to support URDF info.
  • Also, xacro helps you to systematically develop your robot using macros, which I think is not there in SDF. So, it is not a bad idea that you start with URDF