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 Required: +
http://sdformat.org/spec?ver=1.7&elem=world#road_point
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.