World XML definition of VisualObject

Vehicles and obstacles blocks share common C++ mvsim::Simulable and mvsim::VisualObject interfaces that provide the common parameters below.

Note

The following parameters can appear in either the {vehicle,block} class definitions or in a particular instantiation block, depending on whether you want parameters to be common to all instances or not, respectively.

Related to visual aspect

Under the <visual> </visual> tag group:

• model_uri: Path to 3D model file. Can be any file format supported by ASSIMP, like .dae, .stl, etc. If empty, the default visual aspect will be used.

• model_scale: (Default=1.0) Scale to apply to the 3D model.

• model_offset_x, model_offset_y , model_offset_z: (Default=0) Offset translation [meters].

• model_yaw, model_pitch, model_roll: (Default=0) Optional model rotation [degrees].

• show_bounding_box: (Default=``false``) Initial visibility of the object bounding box.

Example:

<visual>
  <model_uri>robot.obj</model_uri>
  <model_scale>1.0</model_scale>
  <model_offset_x>0.0</model_offset_x>
  <model_offset_y>0.0</model_offset_y>
  <model_offset_z>0.0</model_offset_z>
</visual>