Versions
The SDFormat version shown in the dropdown above defines the specification version. This version number may be different from the release version of libsdformat, which contains the C++ library used to parse SDFormat files. See http://sdformat.org/tutorials?tut=roadmap to find out which specification version goes with which libsdformat version.
Tree Key
: An SDFormat element. Click the box to get a link.
: An SDFormat attribute. Click on the box to get a link.
: An element with children. Click the icon to toggle the children.
: The element has no children.
: An element defined in another tab. Click icon to open the tab.
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<actor> Element
Required: *
Type:
Default:
Description: A special kind of model which can have a scripted motion. This includes both global waypoint type animations and skeleton animations.-
name Attribute
Required: 1
Type: string
Default: __default__
Description: A unique name for the actor. -
<skin> Element
Required: 0
Type:
Default:
Description: Skin file which defines a visual and the underlying skeleton which moves it. -
<animation> Element
Required: *
Type:
Default:
Description: Animation file defines an animation for the skeleton in the skin. The skeleton must be compatible with the skin skeleton.-
name Attribute
Required: 1
Type: string
Default: __default__
Description: Unique name for animation. -
<filename> Element
Required: 1
Type: string
Default: __default__
Description: Path to animation file. Accepted formats: COLLADA, BVH. -
<scale> Element
Required: 0
Type: double
Default: 1
Description: Scale for the animation skeleton. -
<interpolate_x> Element
Required: 0
Type: bool
Default: false
Description: Set to true so the animation is interpolated on X.
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<script> Element
Required: 1
Type:
Default:
Description: Adds scripted trajectories to the actor.-
<loop> Element
Required: 0
Type: bool
Default: true
Description: Set this to true for the script to be repeated in a loop. For a fluid continuous motion, make sure the last waypoint matches the first one. -
<delay_start> Element
Required: 0
Type: double
Default: 0
Description: This is the time to wait before starting the script. If running in a loop, this time will be waited before starting each cycle. -
<auto_start> Element
Required: 0
Type: bool
Default: true
Description: Set to true if the animation should start as soon as the simulation starts playing. It is useful to set this to false if the animation should only start playing only when triggered by a plugin, for example. -
<trajectory> Element
Required: *
Type:
Default:
Description: The trajectory contains a series of keyframes to be followed.-
id Attribute
Required: 1
Type: int
Default: 0
Description: Unique id for a trajectory. -
type Attribute
Required: 1
Type: string
Default: __default__
Description: If it matches the type of an animation, they will be played at the same time. -
tension Attribute
Required: 0
Type: double
Default: 0
Description: The tension of the trajectory spline. The default value of zero equates to a Catmull-Rom spline, which may also cause the animation to overshoot keyframes. A value of one will cause the animation to stick to the keyframes. -
<waypoint> Element
Required: *
Type:
Default:
Description: Each point in the trajectory.
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<pose> Element
Required: 0
Type: pose
Default: 0 0 0 0 0 0
Description: A pose (translation, rotation) expressed in the frame named by @relative_to. The first three components (x, y, z) represent the position of the element's origin (in the @relative_to frame). The rotation component represents the orientation of the element as either a sequence of Euler rotations (r, p, y), see http://sdformat.org/tutorials?tut=specify_pose, or as a quaternion (x, y, z, w), where w is the real component.-
relative_to Attribute
Required: 0
Type: string
Default:
Description: If specified, this pose is expressed in the named frame. The named frame must be declared within the same scope (world/model) as the element that has its pose specified by this tag. If missing, the pose is expressed in the frame of the parent XML element of the element that contains the pose. For exceptions to this rule and more details on the default behavior, see http://sdformat.org/tutorials?tut=pose_frame_semantics. Note that @relative_to merely affects an element's initial pose and does not affect the element's dynamic movement thereafter. New in v1.8: @relative_to may use frames of nested scopes. In this case, the frame is specified using `::` as delimiter to define the scope of the frame, e.g. `nested_model_A::nested_model_B::awesome_frame`. -
rotation_format Attribute
Required: 0
Type: string
Default: euler_rpy
Description: 'euler_rpy' by default. Supported rotation formats are 'euler_rpy', Euler angles representation in roll, pitch, yaw. The pose is expected to have 6 values. 'quat_xyzw', Quaternion representation in x, y, z, w. The pose is expected to have 7 values. -
degrees Attribute
Required: 0
Type: bool
Default: false
Description: Whether or not the euler angles are in degrees, otherwise they will be interpreted as radians by default.
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<link> Element
Required: *
Type:
Default:
Description: A physical link with inertia, collision, and visual properties. A link must be a child of a model, and any number of links may exist in a model. -
<joint> Element
Required: *
Type:
Default:
Description: A joint connects two links with kinematic and dynamic properties. By default, the pose of a joint is expressed in the child link frame. -
<plugin> Element
Required: *
Type:
Default:
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.-
name Attribute
Required: 0
Type: string
Default:
Description: A name for the plugin. -
filename Attribute
Required: 1
Type: string
Default: __default__
Description: Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. -
Elements
Description: Arbitrary elements and attributes that can be used to configure the plugin
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Parent element: <sdf> or <world>
Notes: An SDFormat file can consist of just an actor. A world can contain many actors.