Documentation


SDFormat Specification

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 documentation.

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.

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.
Installation instructions for libsdformat.
Quickstart guide to SDFormat parsing with libsdformat.
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 SDFormat 1.7, including semantics for the pose frame attribute, the frame element, new rules for element naming, and corresponding examples.
Proposal for supporting custom elements and attributes in SDFormat and libsdformat.
Proposal for supporting custom elements and attributes in SDFormat and libsdformat.
Describing existing behavior of composition in SDFormat.
Propose new behavior for model level composition.
Provides guidelines for writing proposals for SDFormat / libsdformat.