sdf content---the key to open the door of gazebo plugin

Toggle navigation 

• Specification
• API
• Documentation
• Download

Documentation

• Categories
• Browse

Get Started beginner SDFormat Specification beginner SDFormat Proposals advanced For Developers beginner

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 github.com/osrf/sdf_tutorials.

Convention documentation

Describing syntax conventions used in newer tutorials and proposals.

• 1.7

Specifying pose documentation

Specifying pose in SDFormat.

• 1.4

Model kinematics documentation

Specifying model kinematics with links and joints in SDFormat.

• 1.4

Collisions and Visuals documentation

Adding shapes to a model with collisions and visuals in SDFormat.

• 1.4

Material properties of a Visual documentation

Setting the material properties of visuals in SDFormat.

• 1.4

Creating Worlds documentation

Creating worlds in SDFormat.

• 1.4

Pose frame semantics documentation

Describing existing behavior for element naming, definition of coordinate frames, referencing parent and child links, and nested model behavior.

• 1.5
• 1.7

Composition documentation

Describing existing behavior of composition in SDFormat.

• 1.5
• 1.7

Tutorial for parameter passing tutorial

Tutorial for parameter passing when including models.

• 1.7

SDFormat extensions to URDF (the 'gazebo' tag) tutorial

Describes how the "gazebo" tag can be used to extend URDF to include SDFormat content.

• 1.6

Installtutorial

Installation instructions for libsdformat.

• 2.0
• 6.x
• >= 9
• >= 12

Quickstarttutorial

Quickstart guide to SDFormat parsing with libsdformat.

• X.0

Specifying posedocumentation

Specifying pose in SDFormat.

• 1.4

Proposal for a better poseproposal

Specifying pose in SDFormat using different rotation representations.

• 1.9

Model kinematicsdocumentation

Specifying model kinematics with links and joints in SDFormat.

• 1.4

Collisions and Visualsdocumentation

Adding shapes to a model with collisions and visuals in SDFormat.

• 1.4

Creating Worldsdocumentation

Creating worlds in SDFormat.

• 1.4

Material properties of a Visualdocumentation

Setting the material properties of visuals in SDFormat.

• 1.4

Pose frame semanticsdocumentation

Describing existing behavior for element naming, definition of coordinate frames, referencing parent and child links, and nested model behavior.

• 1.5
• 1.7

Pose frame semanticsdocumentation

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.

• 1.7

Conventiondocumentation

Describing syntax conventions used in newer tutorials and proposals.

• 1.7

Interoperability with other modeling formatsdocumentation

Interoperability with other modeling formats

• 12

Python bindingsdocumentation

How to use SDFormat Python bindings

• 1.6

Custom elements and attributesproposal

Proposal for supporting custom elements and attributes in SDFormat and libsdformat.

• 1.7

Roadmapdocumentation

Proposal for supporting custom elements and attributes in SDFormat and libsdformat.

• 1.7

Compositiondocumentation

Describing existing behavior of composition in SDFormat.

• 1.5
• 1.7

Composition: Proposed behaviorproposal

Propose new behavior for model level composition.

• 1.8

Merging for Composition: Proposed behaviorproposal

Proposed new behavior for merging models via composition, rather than purely scoped nesting.

• 1.9

Proposal for parameter passingproposal

Proposal for additional parameter passing when including models.

• 1.7

Tutorial for parameter passingtutorial

Tutorial for parameter passing when including models.

• 1.7

SDFormat extensions to URDF (the 'gazebo' tag)tutorial

Describes how the "gazebo" tag can be used to extend URDF to include SDFormat content.

• 1.6

Proposal Procedure and Formatdocumentation

Provides procedure and guidelines for writing proposals for SDFormat (specification) / libsdformat (implementation).

• 1.7

Proposal for added massproposal

Setting fluid added mass inertial parameters.

• 1.9

Mimic constraint to replace the Gearbox joint typeproposal

Proposal for a mimic constraint between joint axes to replace the Gearbox joint type.

• 1.11

Proposal for Automatic Moments of Inertia Calculationsproposal

Enabling automatic calculations for inertial parameters

• 1.11

©2020 Open Source Robotics Foundation

SDFormat is open-source licensed under Apache 2.0