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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
- 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
- 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
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