Here you'll find explanations for elements of the SDFormat
specification. This is a great place for new and experienced SDFormat
users to start.
Each category to the left presents a collection of relevant
Use the Edit button in the upper right corner of a tutorial page to
go directly to its source at
Specifying pose in SDFormat.
Specifying model kinematics with links and joints in SDFormat.
Adding shapes to a model with collisions and visuals in SDFormat.
Setting the material properties of visuals in SDFormat.
Creating worlds in SDFormat.
Describing existing behavior for element naming, definition of
coordinate frames, referencing parent and child links,
and nested model behavior.
Describing existing behavior of composition in SDFormat.