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 visuals.

<visual> Element

Required: *
Type:
Default:

Description: The visual properties of the link. This element specifies the shape of the object (box, cylinder, etc.) for visualization purposes.

Example

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

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

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

Versions

Tree Key

<visual> Element

name Attribute

<cast_shadows> Element

<laser_retro> Element

<transparency> Element

<meta> Element

<layer> Element

<frame> Element

name Attribute

<pose> Element

frame Attribute

<pose> Element

frame Attribute

<material> Element

<geometry> Element

<plugin> Element

Example