Documentation


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 bitbucket.org/osrf/sdf_tutorials.

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.
Setting the material properties of visuals in SDFormat.
Defining semantics of the pose frame attribute.