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

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

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

Last updated 12 September 2005 21:38:45