--- name: "gz" section: "1" platform: "linux" package: "gazebo" version: "11.1.0+dfsg-6" release: "Debian 11 (Bullseye)" platforms: ["linux"] url: "https://new.carta.tech/gz" --- # gz(1) Gazebo command line tool for control and analysis. ## NAME **gz** - Gazebo command line tool for control and analysis. ## SYNPOSIS **gz** *command* \[option\]... \[argument\]... ## COMMANDS ### camera ``` gz camera [options] ``` Change properties of a camera. If a name for the world, option -w, is not specified, the first world found on the Gazebo master will be used. A camera name is required. Options: - **--verbose** Print extra information - **-h, --help** Print this help message - **-w, --world-name=*arg*** World name. - **-c, --camera-name=*arg*** Camera name. Use gz camera -l to get a list of camera names. - **-l, --list** List all cameras - **-f, --follow=*arg*** Model to follow. ### debug ``` gz debug [options] ``` Used primarily for bash completion, this tool return the completion list for a given command. Options: - **--verbose** Print extra information - **-h, --help** Print this help message - **-o, --option=*arg*** Show the command options. ### help ``` gz help [options] ``` Output information about a gz command. Options: - **--verbose** Print extra information - **-h, --help** Print this help message ### joint ``` gz joint [options] ``` Change properties of a joint. If a name for the world, option -w, is not specified, the first world found on the Gazebo master will be used. A model name and joint name are required. It is recommended to use only one type of command: force, position PID, or velocity PID. Force: Use --force to apply a force. Position PID: Use --pos-t to specify a target position with --pos-p, --pos-i, --pos-d to specify the PID parameters. Velocity PID: Use --vel-t to specify a target velocity with --vel-p, --vel-i, --vel-d to specify the PID parameters. Options: - **--verbose** Print extra information - **-h, --help** Print this help message - **-w, --world-name=*arg*** World name. - **-m, --model-name=*arg*** Model name. - **-j, --joint-name=*arg*** Joint name. - **-f, --force=*arg*** Force to apply to a joint (N). - **--pos-t=*arg*** Target angle(rad) for rotation joints or position (m) for linear joints. - **--pos-p=*arg*** Position proportional gain. - **--pos-i=*arg*** Position integral gain. - **--pos-d=*arg*** Position differential gain. - **--vel-t=*arg*** Target speed (rad/s for rotational joints or m/s for linear joints). - **--vel-p=*arg*** Velocity proportional gain. - **--vel-i=*arg*** Velocity integral gain. - **--vel-d=*arg*** Velocity differential gain. ### log ``` gz log [options] ``` Introspect and manipulate Gazebo log files. The log command can also start and stop data log recording from an active Gazebo server. Options: - **--verbose** Print extra information - **-h, --help** Print this help message - **-i, --info** Output information about a log file. Log filename should be specified using the --file option - **-e, --echo** Output the contents of a log file to screen. - **-s, --step** Step through the contents of a log file. - **-d, --record=*arg*** Start/stop recording a log file from an active Gazebo server.O=stop record, 1=start recording. - **-w, --world-name=*arg*** World name, used when starting or stopping recording. - **-r, --raw** Output the data from echo and step without XML formatting.Used in conjuction with --echo or --step. - **--stamp=*arg*** Add a timestamp to each line of output. Valid values are (sim,real,wall) - **-z, --hz=*arg*** Filter output to the specified Hz rate.Only valid for echo and step commands. - **-f, --file=*arg*** Path to a log file. - **-o, --output=*arg*** Output file, valid in conjunction with the filter, raw, hz, and encoding commands. By default, the output file will have the same encoding as the source file. Override with the --encoding option - **-n, --encoding=*arg*** Specify the encoding (txt, zlib, or bz2) for an output file. Valid in conjunction with the output command. See also the --output argument. - **--filter=*arg*** Filter output. Valid only with the echo, step, and output commands ### marker ``` gz marker [options] ``` Add, modify, or delete visual markers. Option Details \-a, --add: No argument This option indicates that a marker should be added or modified. Use this in conjunction with -t to specify a marker type, -i to specify a marker id, -p to specify a parent, -f to specify a lifetime for the marker, or -n to specify a namespace. \-n, --namespace: string argument Namespaces allow markers to be grouped. This option can be used the -a and -x command. The default namespace is empty string. \-i, --id: integer argument Each marker has a unique id. Use this option with the -a command to assign an id to a marker. If -i is not specified, a value of zero will be used. \-t, --type: string argument Use this command with -a to specify a marker type. The string argument must be one of: sphere, box, cylinder, line\_list, line\_strip, points, sphere, text, triangle\_fan, triangle\_list, triangle\_strip. \-p, --parent: string argument A marker can be attached to an existing visual. Use this command with -a to specify a parent visual. By default a marker is not attached to a parent visual. \-f, --lifetime: double argument A marker's lifetime is the number of seconds that it will exist. Time starts counting when the marker is created. By default a marker has an infite lifetime. \-d, --delete: integer argument This option will delete a single marker, if a marker exists with the specified id. The integer argument is the id of the marker to delete. \-x, --delete-all: no argument Delete all markers. \-l, --list: no argument List all markers. \-y, --layer: integer argument Add or move a marker to the specified layer. Use this argument with the -a argument. \-m, --msg: string argument Use this option to send a custom marker message. This option will override all other command line options. Details about the marker message can be found using: $ ign msg -i ign\_msgs.Marker Example: $ gz marker -m 'action: ADD\_MODIFY, type: SPHERE, id: 2, scale: {x:0.2, y:0.4, z:1.2}' Options: - **--verbose** Print extra information - **-h, --help** Print this help message - **-a, --add** Add or modify a visual marker - **-m, --msg=*arg*** Specify and send a marker message. - **-n, --namespace=*arg*** Namespace for the visual marker - **-i, --id=*arg*** Positive integer value of a visual marker - **-t, --type=*arg*** Type of geometry: box, cylinder, sphere, line\_list, line\_strip, points, text, triangle\_fan, triangle\_list, triangle\_strip - **-p, --parent=*arg*** Name of a visual to which this marker should be attached. - **-f, --lifetime=*arg*** Simulation time the marker should last before deletion. - **-d, --delete** Delete an existing visual marker. - **-x, --delete-all** Delete all markers, or all markers in a namespace. - **-l, --list** Get a list of the visual markers. - **-y, --layer=*arg*** Add or move a marker to the specified layer. ### model ``` gz model [options] ``` Change properties of a model, delete a model, or spawn a new model. If a name for the world, option -w, is not pecified, the first world found on the Gazebo master will be used. Options: - **--verbose** Print extra information - **-h, --help** Print this help message - **-m, --model-name=*arg*** Model name. - **-w, --world-name=*arg*** World name. - **-d, --delete** Delete a model. - **-f, --spawn-file=*arg*** Spawn model from SDF file. - **-s, --spawn-string** Spawn model from SDF string, pass by a pipe. - **-i, --info** Output model state information to the terminal. - **-p, --pose** Output model pose as a space separated 6-tuple: x y z roll pitch yaw. - **-x, --pose-x arg x value** - **-y, --pose-y arg y value** - **-z, --pose-z arg z value** - **-R, --pose-R arg roll in radians.** - **-P, --pose-P arg pitch in radians.** - **-Y, --pose-Y arg yaw in radians.** ### physics ``` gz physics [options] ``` Change properties of the physics engine on a specific world. If a name for the world, option -w, is not specified, the first world found on the Gazebo master will be used. Options: - **--verbose** Print extra information - **-h, --help** Print this help message - **-w, --world-name=*arg*** World name. - **-g, --gravity=*arg*** Gravity vector. Comma separated 3-tuple without whitespace, eg: -g 0,0,-9.8 - **-s, --step-size=*arg*** Maximum step size (seconds). - **-i, --iters=*arg*** Number of iterations. - **-u, --update-rate=*arg*** Target real-time update rate. - **-o, --profile=*arg*** Preset physics profile. ### sdf ``` gz sdf [options] ``` Introspect, convert, and output SDF files. Use the -v option to specify the version of SDF for use with other options. Options: - **--verbose** Print extra information - **-h, --help** Print this help message - **-d, --describe** Print SDF format for given version(-v). - **-c, --convert=*arg*** In place conversion of arg to the latest SDF version. - **-o, --doc** Print HTML SDF. Use -v to specify version. - **-k, --check=*arg*** Validate arg. - **-v, --version=*arg*** Version of SDF to use with other options. - **-p, --print=*arg*** Print arg, useful for debugging and as a conversion tool. ### stats ``` gz stats [options] ``` Print gzserver statics to standard out. If a name for the world, option -w, is not specified, the first world found on the Gazebo master will be used. Options: - **--verbose** Print extra information - **-h, --help** Print this help message - **-w, --world-name=*arg*** World name. - **-d, --duration=*arg*** Duration (seconds) to run. - **-p, --plot** Output comma-separated values, useful for processing and plotting. ### topic ``` gz topic [options] ``` Print topic information to standard out or publish a message on a topic. If a name for the world, option -w, is not specified, the first world found on the Gazebo master will be used. Options: - **--verbose** Print extra information - **-h, --help** Print this help message - **-w, --world-name=*arg*** World name. - **-l, --list** List all topics. - **-i, --info=*arg*** Get information about a topic. - **-e, --echo=*arg*** Output topic data to screen. - **-v, --view=*arg*** View topic data using a QT widget. - **-z, --hz=*arg*** Get publish frequency. - **-b, --bw=*arg*** Get topic bandwidth. - **-p, --publish=*arg*** Publish message on a topic. - **-r, --request=*arg*** Send a request. - **-u, --unformatted** Output data from echo without formatting. - **-d, --duration=*arg*** Duration (seconds) to run. Applicable with echo, hz, and bw - **-m, --msg=*arg*** Message to send on topic. Applicable with publish and request - **-f, --file=*arg*** Path to a file containing the message to send on topic. Applicable with publish and request ### world ``` gz world [options] ``` Change properties of a Gazebo world on a running server. If a name for the world, option -w, is not specified the first world found on the Gazebo master will be used. Options: - **--verbose** Print extra information - **-h, --help** Print this help message - **-w, --world-name=*arg*** World name. - **-p, --pause=*arg*** Pause/unpause simulation. 0=unpause, 1=pause. - **-s, --step** Step simulation one iteration. - **-m, --multi-step=*arg*** Step simulation mulitple iteration. - **-r, --reset-all** Reset time and model poses - **-t, --reset-time** Reset time - **-o, --reset-models** Reset models