• name (string)
    • The name of the geom
    • Default: (empty)
  • xyz (float tuple, meters)
    • Geom position relative to the parent body
    • Default: 0 0 0
  • rpy (float tuple, degrees)
    • Geom orientation relative to the parent body in Euler angles: roll, pitch yaw
    • Default: 0 0 0
  • visual
    • mesh (string)
      • Name of the mesh model to use
      • Default: default
    • material (string)
      • Name of the material to apply to the geom's mesh
      • Default: (empty)
    • xyz (float tuple, meters)
      • Visual position relative to the parent geom
      • Default: 0 0 0
    • rpy (float tuple, degrees)
      • Visual orientation relative to the parent geom in Euler angles: roll, pitch yaw
      • Default: 0 0 0
    • size (float tuple, meters)
      • Desired size of the mesh visual
      • Default: Size of the mesh
    • scale (float tuple)
      • Scaling factor applied to the default size of the mesh. This overrides the size option, if set.
      • Default: 1 1 1
    • castShadows (bool)
      • If this object will cast shadows over other objects
      • Default: true
  • mass (float, kilograms)
    • Mass in kilograms
    • Default: 1e-3
  • laserFiducialId (int)
    • Id returned when seen by a laser range finder
    • Default: 0
  • laserRetro (float)
    • Retro-reflection value
    • Default: 0