Documentation


SDF Specification

This series of tutorials describes 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.
Defining semantics of the pose frame attribute.
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.