SDFormat is an XML file format that describes environments, objects, and robots in a manner suitable for robotic applications. SDFormat is capable of representing and describing different physic engines, lighting properties, terrain, static or dynamic objects, and articulated robots with various sensors, and acutators. The format of SDFormat is also described by XML, which facilitates updates and allows conversion from previous versions. See the SDFormat Website for a more comprehensive description of the specification, proposals for modifications, developer information, etc. This website is published using some information from the sdf_tutorials repository.