SDFormat Specification

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.

Parent element: <link>
Notes: A link may contain many collisions.

<collision> Element

Required: *
Type:
Default:

Description: The collision properties of a link. Note that this can be different from the visual properties of a link, for example, simpler collision models are often used to reduce computation time.

Example

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="box">
    <link name="link">

      <collision name="collision">
        <pose>0 0 0.5 0 0 0</pose>
        <geometry>
          <box>
            <size>1 1 1</size>
          </box>
        </geometry>
      </collision>

    </link>
  </model>
</sdf>

Versions

Tree Key

<collision> Element

name Attribute

<laser_retro> Element

<max_contacts> Element

<density> Element

<auto_inertia_params> Element

<pose> Element

relative_to Attribute

rotation_format Attribute

degrees Attribute

<geometry> Element

<surface> Element

<bounce> Element

<restitution_coefficient> Element

<threshold> Element

<friction> Element

<torsional> Element

<coefficient> Element

<use_patch_radius> Element

<patch_radius> Element

<surface_radius> Element

<ode> Element

<slip> Element

<ode> Element

<mu> Element

<mu2> Element

<fdir1> Element

<slip1> Element

<slip2> Element

<bullet> Element

<friction> Element

<friction2> Element

<fdir1> Element

<rolling_friction> Element

<contact> Element

<collide_without_contact> Element

<collide_without_contact_bitmask> Element

<collide_bitmask> Element

<category_bitmask> Element

<poissons_ratio> Element

<elastic_modulus> Element

<ode> Element

<soft_cfm> Element

<soft_erp> Element

<kp> Element

<kd> Element

<max_vel> Element

<min_depth> Element

<bullet> Element

<soft_cfm> Element

<soft_erp> Element

<kp> Element

<kd> Element

<split_impulse> Element

<split_impulse_penetration_threshold> Element

<soft_contact> Element

<dart> Element

<bone_attachment> Element

<stiffness> Element

<damping> Element

<flesh_mass_fraction> Element

Example