diff --git a/sdf/1.12/CMakeLists.txt b/sdf/1.12/CMakeLists.txt
index 2aa996610..2f00219f9 100644
--- a/sdf/1.12/CMakeLists.txt
+++ b/sdf/1.12/CMakeLists.txt
@@ -49,6 +49,7 @@ set (sdfs
   population.sdf
   pose.sdf
   projector.sdf
+  range.sdf
   ray.sdf
   rfidtag.sdf
   rfid.sdf
diff --git a/sdf/1.12/air_pressure.sdf b/sdf/1.12/air_pressure.sdf
index 07fe5b564..9f1485a5a 100644
--- a/sdf/1.12/air_pressure.sdf
+++ b/sdf/1.12/air_pressure.sdf
@@ -10,6 +10,7 @@
       Noise parameters for the pressure data.
     </description>
     <include filename="noise.sdf" required="0"/>
+    <include filename="range.sdf" required="0"/>
   </element>
 
 </element>
diff --git a/sdf/1.12/air_speed.sdf b/sdf/1.12/air_speed.sdf
index 1313f705a..1207e31f4 100644
--- a/sdf/1.12/air_speed.sdf
+++ b/sdf/1.12/air_speed.sdf
@@ -6,6 +6,7 @@
       Noise parameters for the pressure data.
     </description>
     <include filename="noise.sdf" required="0"/>
+    <include filename="range.sdf" required="0"/>
   </element>
 
 </element>
diff --git a/sdf/1.12/altimeter.sdf b/sdf/1.12/altimeter.sdf
index 66ddee579..e63c6dc8e 100644
--- a/sdf/1.12/altimeter.sdf
+++ b/sdf/1.12/altimeter.sdf
@@ -6,6 +6,7 @@
       Noise parameters for vertical position
     </description>
     <include filename="noise.sdf" required="0"/>
+    <include filename="range.sdf" required="0"/>
   </element>
 
   <element name="vertical_velocity" required="0">
@@ -13,6 +14,7 @@
       Noise parameters for vertical velocity
     </description>
     <include filename="noise.sdf" required="0"/>
+    <include filename="range.sdf" required="0"/>
   </element>
 
 </element>
diff --git a/sdf/1.12/forcetorque.sdf b/sdf/1.12/forcetorque.sdf
index 5a1846951..fc360a5d2 100644
--- a/sdf/1.12/forcetorque.sdf
+++ b/sdf/1.12/forcetorque.sdf
@@ -24,14 +24,17 @@
     <element name="x" required="0">
       <description>Force along the X axis</description>
       <include filename="noise.sdf" required="0"/>
+    <include filename="range.sdf" required="0"/>
     </element>
     <element name="y" required="0">
       <description>Force along the Y axis</description>
       <include filename="noise.sdf" required="0"/>
+    <include filename="range.sdf" required="0"/>
     </element>
     <element name="z" required="0">
       <description>Force along the Z axis</description>
       <include filename="noise.sdf" required="0"/>
+    <include filename="range.sdf" required="0"/>
     </element>
   </element>
 
@@ -41,14 +44,17 @@
     <element name="x" required="0">
       <description>Torque about the X axis</description>
       <include filename="noise.sdf" required="0"/>
+    <include filename="range.sdf" required="0"/>
     </element>
     <element name="y" required="0">
       <description>Force about the Y axis</description>
       <include filename="noise.sdf" required="0"/>
+    <include filename="range.sdf" required="0"/>
     </element>
     <element name="z" required="0">
       <description>Torque about the Z axis</description>
       <include filename="noise.sdf" required="0"/>
+    <include filename="range.sdf" required="0"/>
     </element>
   </element>
 </element>
diff --git a/sdf/1.12/imu.sdf b/sdf/1.12/imu.sdf
index 25690c8f1..9b9349832 100644
--- a/sdf/1.12/imu.sdf
+++ b/sdf/1.12/imu.sdf
@@ -86,14 +86,17 @@
     <element name="x" required="0">
       <description>Angular velocity about the X axis</description>
       <include filename="noise.sdf" required="0"/>
+      <include filename="range.sdf" required="0"/>
     </element>
     <element name="y" required="0">
       <description>Angular velocity about the Y axis</description>
       <include filename="noise.sdf" required="0"/>
+      <include filename="range.sdf" required="0"/>
     </element>
     <element name="z" required="0">
       <description>Angular velocity about the Z axis</description>
       <include filename="noise.sdf" required="0"/>
+      <include filename="range.sdf" required="0"/>
     </element>
   </element>
 
@@ -103,14 +106,17 @@
     <element name="x" required="0">
       <description>Linear acceleration about the X axis</description>
       <include filename="noise.sdf" required="0"/>
+      <include filename="range.sdf" required="0"/>
     </element>
     <element name="y" required="0">
       <description>Linear acceleration about the Y axis</description>
       <include filename="noise.sdf" required="0"/>
+      <include filename="range.sdf" required="0"/>
     </element>
     <element name="z" required="0">
       <description>Linear acceleration about the Z axis</description>
       <include filename="noise.sdf" required="0"/>
+      <include filename="range.sdf" required="0"/>
     </element>
   </element>
 
diff --git a/sdf/1.12/lidar.sdf b/sdf/1.12/lidar.sdf
index f0100a9a3..4556490d1 100644
--- a/sdf/1.12/lidar.sdf
+++ b/sdf/1.12/lidar.sdf
@@ -45,18 +45,7 @@
     </element> <!-- End Vertical -->
   </element> <!-- End Scan -->
 
-  <element name="range" required="1">
-    <description>specifies range properties of each simulated lidar</description>
-    <element name="min" type="double" default="0" required="1">
-      <description>The minimum distance for each lidar ray.</description>
-    </element>
-    <element name="max" type="double" default="0" required="1">
-      <description>The maximum distance for each lidar ray.</description>
-    </element>
-    <element name="resolution" type="double" default="0" required="0">
-      <description>Linear resolution of each lidar ray.</description>
-    </element>
-  </element> <!-- End Range -->
+  <include filename="range.sdf" required="1"/>
 
   <element name="noise" required="0">
     <description>The properties of the noise model that should be applied to generated scans</description>
diff --git a/sdf/1.12/magnetometer.sdf b/sdf/1.12/magnetometer.sdf
index 2f3bfeeee..350cd2ac5 100644
--- a/sdf/1.12/magnetometer.sdf
+++ b/sdf/1.12/magnetometer.sdf
@@ -5,17 +5,20 @@
       Parameters related to the body-frame X axis of the magnetometer
     </description>
     <include filename="noise.sdf" required="0"/>
+    <include filename="range.sdf" required="0"/>
   </element>
   <element name="y" required="0">
     <description>
       Parameters related to the body-frame Y axis of the magnetometer
     </description>
     <include filename="noise.sdf" required="0"/>
+    <include filename="range.sdf" required="0"/>
   </element>
   <element name="z" required="0">
     <description>
       Parameters related to the body-frame Z axis of the magnetometer
     </description>
     <include filename="noise.sdf" required="0"/>
+    <include filename="range.sdf" required="0"/>
   </element>
 </element>
\ No newline at end of file
diff --git a/sdf/1.12/range.sdf b/sdf/1.12/range.sdf
new file mode 100644
index 000000000..94ac5c2b5
--- /dev/null
+++ b/sdf/1.12/range.sdf
@@ -0,0 +1,12 @@
+<element name="range" required="0">
+  <description>Specifies range properties of a measurement</description>
+  <element name="min" type="double" default="0" required="1">
+    <description>The minimum measured value.</description>
+  </element>
+  <element name="max" type="double" default="0" required="1">
+    <description>The maximum measured value.</description>
+  </element>
+  <element name="resolution" type="double" default="0" required="0">
+    <description>Linear resolution of the measurements (quantization).</description>
+  </element>
+</element> <!-- End Range -->
diff --git a/sdf/1.12/ray.sdf b/sdf/1.12/ray.sdf
index 58cf68b39..cb0f68304 100644
--- a/sdf/1.12/ray.sdf
+++ b/sdf/1.12/ray.sdf
@@ -45,18 +45,8 @@
     </element> <!-- End Vertical -->
   </element> <!-- End Scan -->
 
-  <element name="range" required="1">
-    <description>specifies range properties of each simulated ray</description>
-    <element name="min" type="double" default="0" required="1">
-      <description>The minimum distance for each ray.</description>
-    </element>
-    <element name="max" type="double" default="0" required="1">
-      <description>The maximum distance for each ray.</description>
-    </element>
-    <element name="resolution" type="double" default="0" required="0">
-      <description>Linear resolution of each ray.</description>
-    </element>
-  </element> <!-- End Range -->
+  
+  <include filename="range.sdf" required="1"/>
 
   <element name="noise" required="0">
     <description>The properties of the noise model that should be applied to generated scans</description>