Sphere geom
[Geoms]

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

visual
- mesh (string)
  - Name of the mesh model to use
  - Default: default
- material (string)
  - Name of the material to apply to the geom's mesh
  - Default: (empty)
- xyz (float tuple, meters)
  - Visual position relative to the parent geom
  - Default: 0 0 0
- rpy (float tuple, degrees)
  - Visual orientation relative to the parent geom in Euler angles: roll, pitch yaw
  - Default: 0 0 0
- size (float tuple, meters)
  - Desired size of the mesh visual
  - Default: Size of the mesh
- scale (float tuple)
  - Scaling factor applied to the default size of the mesh. This overrides the size option, if set.
  - Default: 1 1 1
- castShadows (bool)
  - If this object will cast shadows over other objects
  - Default: true

mass (float, kilograms)
- Mass in kilograms
- Default: 1e-3

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

Sphere geom. More...

Last updated Aug 04 2007

Gazebo

Sphere geom [Geoms]

Detailed Description

Classes

Sphere geom
[Geoms]