Package “udftools” has 4 man pages.

The cdwrtool command can perform certain actions on a CD-R, CD-RW, or DVD-R device. Mainly these are blanking the media, formating it for use with the packet-cd...
wrudf provides an interactive shell with operations on existing UDF filesystem: cp, rm, mkdir, rmdir, ls, cd.Commands
mkudffs is used to create a UDF filesystem on a device (usually a disk). device is the special file corresponding to the device (e.g /dev/hdX). blocks-count is...
Pktsetup is used to associate packet devices with CD or DVD block devices, so that the packet device can then be mounted and potentially used as a read/write...