This class is autogenerated. More detailed documentation can be found in the SDFormat spec.

class v16.sdf.Sdf(world=<factory>, model=<factory>, actor=<factory>, light=<factory>, version=None)

SDFormat base element that can include 0-N models, actors, lights, and/or worlds.

A user of multiple worlds could run parallel instances of simulation, or offer selection of a world at runtime.

world: The world element encapsulates an entire world description

including: models, scene, physics, joints, and plugins.

model: The model element defines a complete robot or any other

physical object.

actor: A special kind of model which can have a scripted motion.

This includes both global waypoint type animations and skeleton animations.

light: The light element describes a light source.
version: Version number of the SDFormat specification.