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Simple Solid [Models] The SimpleSolid model creates simple solid objects, such as spheres and boxes. The solids have mass, and will interact with other objects. libgazebo interfaces This model does not have any interfaces. Player drivers There are no player drivers for this model 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 shape (string) The shape of solid; can be "box", "cylinder" or "sphere". Default: box size (float tuple, meters) The size of the solid; the exact meaning depends upon the shape: box: x, y and z dimensions of the box. cylinder: cylinder diameter and height (along z-axis). sphere: diameter of the sphere Default: 1.0 1.0 1.0 mass (float, kg) Object mass Default: 1 color (float tuple) RGB color. Default: 0 0 0 surfaceHardness (float tuple) Set spring-damper parameters for contact joints Default: dInfinity 0 surfaceFriction (float tuple) Set friction coefficients Default: 1 1 transparent (bool) Set to true to make the object transparent Default: false textureFile (string, filename) Texture image filename. Default: empty skinFile (string, filename) Specify an 3D geometry file to create an arbitrary appearance. Default: empty skinXyz (float tuple, meters) Skin pose relative to the model Default: 0 0 0 skinRpy (float tuple, degrees) Skin rotation relative to the model in Euler angles: roll, pitch, yaw Default: 0.0 0.0 0.0 skinScale (float tuple, meters) Scale factor for skin file. Default: 1.0 1.0 1.0 retro (float) Retro-reflectivity in laser scan (in range 0.0 to 1.0). Default: 0 fiducial (integer) Fiducial code in laser scan. Default: -1 Bodies The following bodies are created by this model. canonical The canonical (default) body. Example <model:SimpleSolid> <xyz>0 0 0</xyz> <shape>box</shape> <color>1 0 0</color> </model:SimpleSolid> Views Authors Andrew Howard

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Last updated $Date: 2004/12/21 01:49:15 $

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