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Any detailed tutorial for sdf format?

It seems that the only documentation for sdf format writing is But I think the explanation in this official website is not very detailed and clear. For example, I just cannot figure out the meaning of <state> element inside the <world> element. There is no explanation of the <state> element. And the tutorial in this website is only for installation. There are so many elements in it and I find it hard to learn. Any suggestion?