SDF Plugin

Overview

The SDF plugin (SDFPlugin) is a plugin that makes it possible to load model files in SDF (SDFormat, Simulation Description Format), the model description format used in Gazebo and others, into Choreonoid. The loading itself is implemented in a library called SDFBodyLoader, and this plugin makes it possible to load SDF files as body items on the GUI.

The supported file extensions are .sdf and .world.

How to Build

The SDF support corresponds to the CMake option ENABLE_SDF, which is ON by default, so it becomes available with the normal build procedure. The loading process is Choreonoid’s own implementation, and no external SDFormat library needs to be installed.

How to Use

SDF files can be loaded from the main menu with “File” - “Load” - “Body” in the same way as model files in the Body format. Loaded models are handled as normal body items and can be displayed, edited, and simulated. For handling models, see Basics of Robot/Environment Models.