Ground Plane
[Models]

The GroundPlane model simulates a flat infinite plane.

libgazebo interfaces

This model has no libgazebo interfaces.

Player drivers

No Player drivers are available.

Attributes

The following attributes are supported.

id (string)
- The model ID string (used by libgazebo to identify models).
- Default: (empty)

xyz (float tuple, meters)
- Model position (x, y, z, in meters).
- Default: 0 0 0

rpy (float tuple, degrees)
- Model orientation in Euler angles: roll, pitch, yaw.
- Default: 0 0 0

gravity (bool)
- Enable/disable effect of gravity on this model
- Default: true

enable (bool)
- Enable/disable the model's bodies (so it doesn't fall, for example)
- Default: true

normal (float tuple, unit vector)
- Direction of the normal vector.
- Default: 0 0 1

height (float, meters)
- Distance along the z-axis to place the plane.
- Default: 0

size (float tuple, meters)
- Size of the rendered plane (the plane is infinite, but only part of it is rendered in cameras).
- Default: 100 100

color (float tuple)
- RGB color.
- Default: 0 0 0

textureFile (string, filename)
- Texture image filename.
- Default: empty

textureSize (float tuple, meters)
- Size of the texture image when projected onto the ground plane (m).
- Default: 2.0 2.0

surfaceHardness (float tuple)
- Set spring-damper parameters for contact joints.
- Default: dInfinity 0

surfaceFriction (float tuple)
- Set friction coefficients
- Default: 1 1

Bodies

The following bodies are created by this model.

canonical
- The canonical (default) body.

Example

<model:GroundPlane>
  <xyz>0 0 0</xyz>
</model:GroundPlane>

Authors

Andrew Howard, Nate Koenig

Last updated 12 September 2005 21:38:45