Overview
gz model command allows you to get information about the models for a given running Gazebo simulation.
For each model, it is possible to get information about its
- Pose: Pose of the model
- Links: Pose, mass, and inertial matrix of the link and attached sensors
- Joints: Parent link, child link and joint type.
Example running the diff_drive world
To try out this command we need first a running simulation. Let's load the diff_drive example world. In a terminal, run:
gz sim diff_drive.sdf
Once Gazebo is up, we can use the gz model command to get information of the simulation. Open a new terminal and enter:
gz model --list
And available models should be printed:
Available models:
- ground_plane
- vehicle_blue
- vehicle_green
Once you get the name of the model you want to see, you may run the following commands to get its properties.
gz model -m <model_name> to get the complete information of the model. e.g.
gz model -m vehicle_blue
Requesting state for world [diff_drive]...
Model: [8]
- Name: vehicle_blue
- Pose [ XYZ (m) ] [ RPY (rad) ]:
[0.000000 | 2.000000 | 0.325000]
[0.000000 | 0.000000 | 0.000000]
- Link [9]
- Name: chassis
- Parent: vehicle_blue [8]
- Mass (kg): [1.143950]
- Inertial Pose [ XYZ (m) ] [ RPY (rad) ]:
[0.000000 0.000000 0.000000]
[0.000000 -0.000000 0.000000]
- Inertial Matrix (kg⋅m^2):
[0.126164 | 0.000000 | 0.000000]
[0.000000 | 0.416519 | 0.000000]
[0.000000 | 0.000000 | 0.481014]
- Pose [ XYZ (m) ] [ RPY (rad) ]:
[-0.151427 | 0.000000 | 0.175000]
[0.000000 | 0.000000 | 0.000000]
- Link [12]
- Name: left_wheel
- Parent: vehicle_blue [8]
- Mass (kg): [2.000000]
- Inertial Pose:
[0.000000 | 0.000000 | 0.000000]
- Inertial Matrix (kg⋅m^2):
[0.145833 | 0.000000 | 0.000000]
[0.000000 | 0.145833 | 0.000000]
[0.000000 | 0.000000 | 0.125000]
- Pose [ XYZ (m) ] [ RPY (rad) ]:
[0.554283 | 0.625029 | -0.025000]
[-1.570700 | 0.000000 | 0.000000]
- Link [15]
- Name: right_wheel
- Parent: vehicle_blue [8]
- Mass (kg): [2.000000]
- Inertial Pose:
[0.000000 | 0.000000 | 0.000000]
- Inertial Matrix (kg⋅m^2):
[0.145833 | 0.000000 | 0.000000]
[0.000000 | 0.145833 | 0.000000]
[0.000000 | 0.000000 | 0.125000]
- Pose [ XYZ (m) ] [ RPY (rad) ]:
[0.554282 | -0.625029 | -0.025000]
[-1.570700 | 0.000000 | 0.000000]
- Link [18]
- Name: caster
- Parent: vehicle_blue [8]
- Mass (kg): [1.000000]
- Inertial Pose:
[0.000000 | 0.000000 | 0.000000]
- Inertial Matrix (kg⋅m^2):
[0.100000 | 0.000000 | 0.000000]
[0.000000 | 0.100000 | 0.000000]
[0.000000 | 0.000000 | 0.100000]
- Pose [ XYZ (m) ] [ RPY (rad) ]:
[-0.957138 | 0.000000 | -0.125000]
[0.000000 | 0.000000 | 0.000000]
- Joint [21]
- Name: left_wheel_joint
- Parent: vehicle_blue [8]
- Type: revolute
- Parent Link: left_wheel
- Child Link: chassis
- Pose [ XYZ (m) ] [ RPY (rad) ]:
[0.000000 | 0.000000 | 0.000000]
[0.000000 | 0.000000 | 0.000000]
- Axis position [ XYZ ]:
[0 | 0 | 1]
- Joint [22]
- Name: right_wheel_joint
- Parent: vehicle_blue [8]
- Type: revolute
- Parent Link: right_wheel
- Child Link: chassis
- Pose [ XYZ (m) ] [ RPY (rad) ]:
[0.000000 | 0.000000 | 0.000000]
[0.000000 | 0.000000 | 0.000000]
- Axis position [ XYZ ]:
[0 | 0 | 1]
- Joint [23]
- Name: caster_wheel
- Parent: vehicle_blue [8]
- Type: ball
- Parent Link: chassis [9]
- Child Link: caster [18]
- Pose [ XYZ (m) ] [ RPY (rad) ]:
[0.000000 0.000000 0.000000]
[0.000000 -0.000000 0.000000]
gz model -m <model_name> --pose to get the pose information. e.g.
gz model -m vehicle_blue --pose
Requesting state for world [diff_drive]...
Model: [8]
- Name: vehicle_blue
- Pose [ XYZ (m) ] [ RPY (rad) ]:
[0.000000 | 2.000000 | 0.325000]
[0.000000 | 0.000000 | 0.000000]
To get the information of all the model links enter
gz model -m <model_name> --link
Or you can get the information of a single link by adding the name as argument. e.g.
gz model -m vehicle_blue --link caster
Requesting state for world [diff_drive]...
- Link [18]
- Name: caster
- Parent: vehicle_blue [8]
- Mass (kg): [1.000000]
- Inertial Pose:
[0.000000 | 0.000000 | 0.000000]
- Inertial Matrix (kg⋅m^2):
[0.100000 | 0.000000 | 0.000000]
[0.000000 | 0.100000 | 0.000000]
[0.000000 | 0.000000 | 0.100000]
- Pose [ XYZ (m) ] [ RPY (rad) ]:
[-0.957138 | 0.000000 | -0.125000]
[0.000000 | -0.000000 | 0.000000]
To get the information of all the model joints enter
gz model -m <model_name> --joint
Or you can get the information of a single joint by adding the name as argument. e.g.
gz model -m vehicle_blue --joint caster_wheel
Requesting state for world [diff_drive]...
- Joint [23]
- Name: caster_wheel
- Parent: vehicle_blue [8]
- Type: ball
- Parent Link: caster
- Child Link: chassis
- Pose [ XYZ (m) ] [ RPY (rad) ]:
[0.000000 | 0.000000 | 0.000000]
[0.000000 | -0.000000 | 0.000000]
