Documentation


SDF Specification

Here you’ll find explanations for elements of the SDF specification.

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.
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 1.7, including semantics for the pose frame attribute, the frame element, new rules for element naming, and corresponding examples.