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Sphere geom
[Geoms]

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Detailed Description

Sphere geom

Attributes

The following attributes are supported.

• name (string)
  • The name of the geom
  • Default: (empty)

• xyz (float tuple, meters)
  • Geom position relative to the parent body
  • Default: 0 0 0

• rpy (float tuple, degrees)
  • Geom orientation relative to the parent body in Euler angles: roll, pitch yaw
  • Default: 0 0 0

• mesh (string)
  • Name of the mesh model to use
  • Default: default

• mass (float, kilograms)
  • Mass in kilograms
  • Default: 1e-6

• material (string)
  • Name of the material to apply to the geom's mesh
  • Default: (empty)

• laserFiducialId (int)
  • Id returned when seen by a laser range finder
  • Default: 0

• laserRetro (float)
  • Retro-reflection value
  • Default: 0

• size (float, meters)
  • Radius of the sphere
  • Default: 0

Example

      <geom:sphere name="geom_name">
        <xyz>1 2 3</xyz>
        <rpy>0 0 30</rpy>
        <size>0.1</size>
        <mesh>default</mesh>
        <mass>0.5</mass>
        <material>Gazebo/Red</material>
        <laserFiducialId>1</laserFiducialId>
        <laserRetro>0.5</laserRetro>
      </geom:sphere>
      

Classes
class	SphereGeom

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Last updated Aug 04 2007