Get Started

Welcome to the SDF tutorials! This is a great place to start, especially if you're a new SDF user. Each category to the left presents a collection of relevant tutorials.

Use the Edit button in the upper right corner of a tutorial page to go directly to its source at

Installation instruction.
Quickstart guide to SDF parsing.
Installation instruction.
Quickstart guide to SDF parsing.
Specifying pose in SDFormat.
Specifying model kinematics with links and joints in SDFormat.
Adding shapes to a model with collisions and visuals in SDFormat.
Creating worlds in SDFormat.
Setting the material properties of visuals in SDFormat.
Describing existing behavior for element naming, definition of coordinate frames, referencing parent and child links, and nested model behavior.
Proposing new behavior for SDF 2.0, including semantics for the pose frame attribute, the frame element, new rules for element naming, and corresponding examples.