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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<geometry> Element
Required: 1
Type:
Default:
Description: The shape of the visual or collision object.-
<empty> Element
Required: 0
Type:
Default:
Description: You can use the empty tag to make empty geometries. -
<box> Element
Required: 0
Type:
Default:
Description: Box shape -
<capsule> Element
Required: 0
Type:
Default:
Description: Capsule shape -
<cone> Element
Required: 0
Type:
Default:
Description: Cone shape -
<cylinder> Element
Required: 0
Type:
Default:
Description: Cylinder shape -
<ellipsoid> Element
Required: 0
Type:
Default:
Description: Ellipsoid shape -
<heightmap> Element
Required: 0
Type:
Default:
Description: A heightmap based on a 2d grayscale image.-
<uri> Element
Required: 1
Type: string
Default: __default__
Description: URI to a grayscale image file -
<size> Element
Required: 0
Type: vector3
Default: 1 1 1
Description: The size of the heightmap in world units. When loading an image: "size" is used if present, otherwise defaults to 1x1x1. When loading a DEM: "size" is used if present, otherwise defaults to true size of DEM. -
<pos> Element
Required: 0
Type: vector3
Default: 0 0 0
Description: A position offset. -
<texture> Element
Required: *
Type:
Default:
Description: The heightmap can contain multiple textures. The order of the texture matters. The first texture will appear at the lowest height, and the last texture at the highest height. Use blend to control the height thresholds and fade between textures.-
<size> Element
Required: 1
Type: double
Default: 10
Description: Size of the applied texture in meters. -
<diffuse> Element
Required: 1
Type: string
Default: __default__
Description: Diffuse texture image filename -
<normal> Element
Required: 1
Type: string
Default: __default__
Description: Normalmap texture image filename
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-
<blend> Element
Required: *
Type:
Default:
Description: The blend tag controls how two adjacent textures are mixed. The number of blend elements should equal one less than the number of textures. -
<use_terrain_paging> Element
Required: 0
Type: bool
Default: false
Description: Set if the rendering engine will use terrain paging -
<sampling> Element
Required: 0
Type: unsigned int
Default: 1
Description: Samples per heightmap datum. For rasterized heightmaps, this indicates the number of samples to take per pixel. Using a higher value, e.g. 2, will generally improve the quality of the heightmap but lower performance.
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<image> Element
Required: 0
Type:
Default:
Description: Extrude a set of boxes from a grayscale image.-
<uri> Element
Required: 1
Type: string
Default: __default__
Description: URI of the grayscale image file -
<scale> Element
Required: 1
Type: double
Default: 1
Description: Scaling factor applied to the image -
<threshold> Element
Required: 1
Type: int
Default: 200
Description: Grayscale threshold -
<height> Element
Required: 1
Type: double
Default: 1
Description: Height of the extruded boxes -
<granularity> Element
Required: 1
Type: int
Default: 1
Description: The amount of error in the model
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-
<mesh> Element
Required: 0
Type:
Default:
Description: Mesh shape-
optimization Attribute
Required: 0
Type: string
Default:
Description: Set whether to optimize the mesh using one of the specified methods. Values include: "convex_hull" - a single convex hull that encapsulates the mesh, "convex_decomposition" - decompose the mesh into multiple convex hull meshes. Default value is an empty string which means no mesh optimization. -
<convex_decomposition> Element
Required: 0
Type:
Default:
Description: Convex decomposition parameters. Applicable if the mesh optimization attribute is set to convex_decomposition-
<max_convex_hulls> Element
Required: 0
Type: unsigned int
Default: 16
Description: Maximum number of convex hulls to decompose into. This sets the maximum number of submeshes that the final decomposed mesh will contain. -
<voxel_resolution> Element
Required: 0
Type: unsigned int
Default: 200000
Description: The number of voxels to use for representing the source mesh before decomposition. Applicable only to voxel based convex decomposition methods.
-
-
<uri> Element
Required: 1
Type: string
Default: __default__
Description: Mesh uri -
<submesh> Element
Required: 0
Type:
Default:
Description: Use a named submesh. The submesh must exist in the mesh specified by the uri-
<name> Element
Required: 1
Type: string
Default: __default__
Description: Name of the submesh within the parent mesh -
<center> Element
Required: 0
Type: bool
Default: false
Description: Set to true to center the vertices of the submesh at 0,0,0. This will effectively remove any transformations on the submesh before the poses from parent links and models are applied.
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-
<scale> Element
Required: 0
Type: vector3
Default: 1 1 1
Description: Scaling factor applied to the mesh
-
-
<plane> Element
Required: 0
Type:
Default:
Description: Plane shape-
<normal> Element
Required: 1
Type: vector3
Default: 0 0 1
Description: Normal direction for the plane. When a Plane is used as a geometry for a Visual or Collision object, then the normal is specified in the Visual or Collision frame, respectively. -
<size> Element
Required: 1
Type: vector2d
Default: 1 1
Description: Length of each side of the plane. Note that this property is meaningful only for visualizing the Plane, i.e., when the Plane is used as a geometry for a Visual object. The Plane has infinite size when used as a geometry for a Collision object.
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-
<polyline> Element
Required: 0
Type:
Default:
Description: Defines an extruded polyline shape -
<sphere> Element
Required: 0
Type:
Default:
Description: Sphere shape
-
Parent element: <collision> or <visual>
Notes: A collision and visual should contain only one geometry.