SDFormat


 * 1) Simulation Description Format (SDF)

Gazebo uses XML to store world and model descriptions. A world file contains a description of the world, and a model file contains a description of a physical entity in the world.

Older versions of SDF are automatically translated to the version of SDF used by Gazebo.

URDF models are automatically parsed into SDFormat data structures by the [sdformat library](https://bitbucket.org/osrf/sdformat).


 * 1) Related Links

- SDFormat Roadmap - [SDF Doxygen Documentation](http://gazebosim.org/sdf.html) - [SDFormat Project Page](https://bitbucket.org/osrf/sdformat) - [URDF Wiki](http://ros.org/wiki/urdf) - [urdfdom_headers Project Page](https://github.com/ros/urdfdom_headers) - [urdfdom Project Page](https://github.com/ros/urdfdom)