I’m new to Gazebo and SDFormat and I’m trying to use the spec to understand what’s needed for minimal SDF files. So I go to double-check the question “does a link require a collision geometry?” and the answer seems to be
<collision> Element Required: *
I thought from context of other elements,
* means “optional, but many such tags are allowed.” But then I find
<state> and that does not seem to be correct.
In trying to figure out what it means I also stumbled on
<road> -> <point> which is
I don’t want to belabor the point for
<collision> which is easy enough to find out from other sources, just wanted to flag this quirk in case the non-numeric values for
Required: are something weird and unintended going on in the backend or informative values that might be included in the Tree Key.