# \#sdformat

**URL:** https://discourse.openrobotics.org/tag/sdformat/432.md

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## [Is making changes to the SDF file allowed?](https://discourse.openrobotics.org/t/is-making-changes-to-the-sdf-file-allowed/53969)

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**Author:** [@MasterChief08](https://discourse.openrobotics.org/u/MasterChief08)\
**Replies:** 1\
**Last updated:** [April 15, 2026, 8:56pm UTC](https://discourse.openrobotics.org/t/is-making-changes-to-the-sdf-file-allowed/53969 "2026-04-15T20:56:24Z")

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I want clarification regarding the SDF file configuration for the qualification phase submission. The AIC toolkit specifies that global illumination can be disabled in the SDF file if hardware resources are limited. Acc…

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## [SDF to URDF conversion in 2025](https://discourse.openrobotics.org/t/sdf-to-urdf-conversion-in-2025/50318)

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**Author:** [@ahb](https://discourse.openrobotics.org/u/ahb)\
**Replies:** 2\
**Last updated:** [September 30, 2025, 8:55pm UTC](https://discourse.openrobotics.org/t/sdf-to-urdf-conversion-in-2025/50318 "2025-09-30T20:55:19Z")

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Hi all, it seems URDF, SDF and the conversion between them is a topic that keeps on giving. When I weekend-project created FusionSDF last year, I didn’t expect to actually still need URDFs anymore as SDFs can now be use…

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## [RobotCAD integrated Dynamic World Generator](https://discourse.openrobotics.org/t/robotcad-integrated-dynamic-world-generator/49815)

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**Author:** [@fenixionsoul](https://discourse.openrobotics.org/u/fenixionsoul)\
**Replies:** 0\
**Last updated:** [August 30, 2025, 11:07am UTC](https://discourse.openrobotics.org/t/robotcad-integrated-dynamic-world-generator/49815 "2025-08-30T11:07:19Z")

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Added “Create custom world” tool based on Dynamic World Generator repo. It let you create Gazebo world with static and dynamic obstacles directly in RobotCAD. RobotCAD - Dynamic world creating — Video | VK - video dem…

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## [FusionSDF: Export Fusion 360 CAD designs to SDF](https://discourse.openrobotics.org/t/fusionsdf-export-fusion-360-cad-designs-to-sdf/39430)

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**Author:** [@ahb](https://discourse.openrobotics.org/u/ahb)\
**Replies:** 6\
**Last updated:** [December 27, 2024, 7:56am UTC](https://discourse.openrobotics.org/t/fusionsdf-export-fusion-360-cad-designs-to-sdf/39430 "2024-12-27T07:56:36Z")

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Hi all, I created a small tool to export Fusion 360 designs to SDF. The tool is called FusionSDF and can be found at GitHub - andreasBihlmaier/FusionSDF: Export Fusion 360 designs to SDF (Simulation Description Format). …

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## [Sdformat14 w Gazebo Harmonic in python](https://discourse.openrobotics.org/t/sdformat14-w-gazebo-harmonic-in-python/49104)

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**Author:** [@James\_Nugent](https://discourse.openrobotics.org/u/James_Nugent)\
**Replies:** 3\
**Last updated:** [December 9, 2024, 6:01pm UTC](https://discourse.openrobotics.org/t/sdformat14-w-gazebo-harmonic-in-python/49104 "2024-12-09T18:01:40Z")

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when trying to use sdformat14 via the python bindings I get this. \>\>\> import sdformat14 Traceback (most recent call last): File "\<stdin\>", line 1, in \<module\> ImportError: /usr/lib/python3/dist-packages/sdformat14.cpy…

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## [ACDC4Robot: a new tool for robot description formats](https://discourse.openrobotics.org/t/acdc4robot-a-new-tool-for-robot-description-formats/38534)

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**Author:** [@Nuofan-SUSTech](https://discourse.openrobotics.org/u/Nuofan-SUSTech)\
**Replies:** 0\
**Last updated:** [July 9, 2024, 7:01pm UTC](https://discourse.openrobotics.org/t/acdc4robot-a-new-tool-for-robot-description-formats/38534 "2024-07-09T19:01:37Z")

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It is an important needs for the community to export robot model for simulation from design. Tools like fusion2urdf, fusion2pybullet lacks of update and maintenance. Otherwise, the format URDF (Unified Robot Description…

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## [Discuss: Tools and Best Practices for 3D Robot Assets (URDF, SDFormat, CAD, etc)](https://discourse.openrobotics.org/t/discuss-tools-and-best-practices-for-3d-robot-assets-urdf-sdformat-cad-etc/36997)

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**Author:** [@Katherine\_Scott](https://discourse.openrobotics.org/u/Katherine_Scott)\
**Replies:** 26\
**Last updated:** [April 18, 2024, 10:32pm UTC](https://discourse.openrobotics.org/t/discuss-tools-and-best-practices-for-3d-robot-assets-urdf-sdformat-cad-etc/36997 "2024-04-18T22:32:29Z")

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Hi Everyone, After answering a question about URDF exporters for the umpteenth time, and having half a dozen relevant tabs open on my desktop, I put together a short guide on URDF exporters for docs.ros.org. There’s som…

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## [GSoC 2023: Automatically Computing Moments of Inertia for SDFormat Links](https://discourse.openrobotics.org/t/gsoc-2023-automatically-computing-moments-of-inertia-for-sdformat-links/49133)

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**Author:** [@jasmeet0915](https://discourse.openrobotics.org/u/jasmeet0915)\
**Replies:** 0\
**Last updated:** [September 13, 2023, 9:13pm UTC](https://discourse.openrobotics.org/t/gsoc-2023-automatically-computing-moments-of-inertia-for-sdformat-links/49133 "2023-09-13T21:13:37Z")

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GSoC 2023: Automatically Computing Moments of Inertia for SDFormat Links Organization: Open Robotics Mentors: Addisu Taddese (@azeey ), Dharini Dutia (@quarkytale) Student: Jasmeet Singh (Github, LinkedIn, Website) L…

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## [Sdformat.org not reachable from Czech Republic](https://discourse.openrobotics.org/t/sdformat-org-not-reachable-from-czech-republic/48924)

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**Author:** [@peci1](https://discourse.openrobotics.org/u/peci1)\
**Replies:** 2\
**Last updated:** [April 5, 2023, 8:27pm UTC](https://discourse.openrobotics.org/t/sdformat-org-not-reachable-from-czech-republic/48924 "2023-04-05T20:27:27Z")

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Hi, I can’t access sdformat.org for at least 4 hours now (it worked last week). Pings to 54.84.92.95 do not respond. I tried from 4 different autonomous systems (all in Czech republic; one cell provider, two home broadba…

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## [Python bindings for SDFormat (2022 Edition)](https://discourse.openrobotics.org/t/python-bindings-for-sdformat-2022-edition/47979)

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**Author:** [@FirefoxMetzger](https://discourse.openrobotics.org/u/FirefoxMetzger)\
**Replies:** 0\
**Last updated:** [March 30, 2022, 9:00am UTC](https://discourse.openrobotics.org/t/python-bindings-for-sdformat-2022-edition/47979 "2022-03-30T09:00:23Z")

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I took a new approach to creating a python interface for SDFormat and I wanted to share it here to get some feedback on the design. Reading and writing is a one-liner and version-agnostic (supports all SDF versions): f…

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## [Reading and Writing SDFormat (SDF) in Python](https://discourse.openrobotics.org/t/reading-and-writing-sdformat-sdf-in-python/48827)

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**Author:** [@FirefoxMetzger](https://discourse.openrobotics.org/u/FirefoxMetzger)\
**Replies:** 0\
**Last updated:** [August 20, 2021, 11:36am UTC](https://discourse.openrobotics.org/t/reading-and-writing-sdformat-sdf-in-python/48827 "2021-08-20T11:36:47Z")

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I wrote a small example/tutorial on how to work with SDF files in python using scikit-bot. It is located here: https://scikit-bot.org/en/latest/\_gallery/plot\_sdformat-read-write.html#sphx-glr-gallery-plot-sdformat-read-…

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## [SDFormat data-bindings for Python (all SDF versions)](https://discourse.openrobotics.org/t/sdformat-data-bindings-for-python-all-sdf-versions/48375)

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**Author:** [@FirefoxMetzger](https://discourse.openrobotics.org/u/FirefoxMetzger)\
**Replies:** 9\
**Last updated:** [August 8, 2021, 3:46pm UTC](https://discourse.openrobotics.org/t/sdformat-data-bindings-for-python-all-sdf-versions/48375 "2021-08-08T15:46:50Z")

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Essentially what it says in the title. I always wanted python-native data bindings for SDFormat XML, and over the last two weeks, I’ve decided to finally made it happen. As a side-effect of this effort, I also created (v…

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## [Simulation Description Format (SDF) support in MATLAB's Robotics System Toolbox R2021b](https://discourse.openrobotics.org/t/simulation-description-format-sdf-support-in-matlabs-robotics-system-toolbox-r2021b/48109)

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**Author:** [@traversaro](https://discourse.openrobotics.org/u/traversaro)\
**Replies:** 0\
**Last updated:** [June 29, 2021, 9:56am UTC](https://discourse.openrobotics.org/t/simulation-description-format-sdf-support-in-matlabs-robotics-system-toolbox-r2021b/48109 "2021-06-29T09:56:20Z")

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Hi everyone! Today I was checking MATLAB R2021b pre-release release notes, and it seems that in Robotics System Toolbox support for Simulation Description Format (SDF) was added. I do not have more details (such as the …

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## [SDFormat moved to the Ignition GitHub organization](https://discourse.openrobotics.org/t/sdformat-moved-to-the-ignition-github-organization/47331)

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**Author:** [@chapulina\_gazebo](https://discourse.openrobotics.org/u/chapulina_gazebo)\
**Replies:** 0\
**Last updated:** [June 28, 2021, 9:30pm UTC](https://discourse.openrobotics.org/t/sdformat-moved-to-the-ignition-github-organization/47331 "2021-06-28T21:30:45Z")

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tl;dr: The SDFormat repository has moved to the Ignition Robotics GitHub organization! No action needed from end users. Brief history The SDFormat specification and parser used to be embedded into Gazebo Classic’s cod…