Create a sdf file for a robot and visualize it

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Hello

I want to make the Forward kinematics of a robot that i created using fusion 360, so I tried to make its urdf file, but i learned that we can't make urdf files for closed chain robots, the altenative is the sdf file. I assume that there are some commun points between the URDF and SDF files but I didn't find any tutorials. I also don't know how to visualize it once it's done. ( I have the meshes file where I have all the stl parts of my robot ) Can anyone please help me ?

Thanks