v18.world.World

Warning

This class is autogenerated. More detailed documentation can be found in the SDFormat spec.

class v18.world.World(audio=None, wind=None, include=<factory>, gravity='0 0 -9.8', magnetic_field='5.5645e-6 22.8758e-6 -42.3884e-6', atmosphere=None, gui=None, physics=<factory>, scene=None, light=<factory>, frame=<factory>, model=<factory>, actor=<factory>, plugin=<factory>, road=<factory>, spherical_coordinates=None, state=<factory>, population=<factory>, name=None)

The world element encapsulates an entire world description including: models, scene, physics, and plugins.

Parameters
audio: Global audio properties.
wind: The wind tag specifies the type and properties of the wind.
include: Include resources from a URI. Included resources can only

contain one ‘model’, ‘light’ or ‘actor’ element. The URI can point to a directory or a file. If the URI is a directory, it must conform to the model database structure (see /tutorials?tut=composition&amp;cat=specification&amp;#defining- models-in-separate-files).

gravity: The gravity vector in m/s^2, expressed in a coordinate

frame defined by the spherical_coordinates tag.

magnetic_field: The magnetic vector in Tesla, expressed in a

coordinate frame defined by the spherical_coordinates tag.

atmosphere: The atmosphere tag specifies the type and properties of

the atmosphere model.

gui:
physics: The physics tag specifies the type and properties of the

dynamics engine.

scene: Specifies the look of the environment.
light: The light element describes a light source.
frame: A frame of reference in which poses may be expressed.
model: The model element defines a complete robot or any other

physical object.

actor: A special kind of model which can have a scripted motion.

This includes both global waypoint type animations and skeleton animations.

plugin: A plugin is a dynamically loaded chunk of code. It can exist

as a child of world, model, and sensor.

road:
spherical_coordinates:
state:
population: The population element defines how and where a set of

models will be automatically populated in Gazebo.

name: Unique name of the world

Nested Elements

Note that only complex elements are listed here. Elements that resolve to simple types (int, str, bool) are inlined.

v18.world.World.Atmosphere([temperature, ...])

The atmosphere tag specifies the type and properties of the atmosphere model.

v18.world.World.Audio([device])

Global audio properties.

v18.world.World.Frame([pose, name, attached_to])

A frame of reference in which poses may be expressed.

v18.world.World.Gui([camera, plugin, fullscreen])

Parameters

v18.world.World.Include([uri, name, static, ...])

Include resources from a URI.

v18.world.World.Plugin([any_element, name, ...])

A plugin is a dynamically loaded chunk of code.

v18.world.World.Population([model_count, ...])

The population element defines how and where a set of models will be automatically populated in Gazebo.

v18.world.World.Road([width, point, ...])

Parameters

v18.world.World.SphericalCoordinates([...])

Parameters

v18.world.World.Wind([linear_velocity])

The wind tag specifies the type and properties of the wind.