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gazebo / doc / default_geom_attr_include.html

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<!-- Attributes shared by all geoms -->
<ul>
  <li>name (string)
  <ul>
    <li> The name of the geom
    <li> Default: (empty)
  </ul>
</ul>

<ul>
  <li>xyz (float tuple, meters)
  <ul>
    <li>Geom position relative to the parent body
    <li>Default: 0 0 0
  </ul>
</ul>

<ul>
  <li>rpy (float tuple, degrees)
  <ul>
    <li>Geom orientation relative to the parent body in Euler angles: roll, pitch yaw
    <li>Default: 0 0 0
  </ul>
</ul>

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

  </ul>
</ul>


</ul>

<ul>
  <li>mass (float, kilograms)
  <ul>
    <li>Mass in kilograms
    <li>Default: 1e-3
  </ul>
</ul>
<ul>
  <li>laserFiducialId (int)
  <ul>
    <li>Id returned when seen by a laser range finder
    <li>Default: 0
  </ul>
</ul>

<ul>
  <li>laserRetro (float)
  <ul>
    <li>Retro-reflection value
    <li>Default: 0
  </ul>
</ul>