• id (string)
    • The model ID string (used by libgazebo to identify models).
    • Default: (empty)
  • xyz (float tuple, meters)
    • Model position (x, y, z, in meters).
    • Default: 0 0 0
  • rpy (float tuple, degrees)
    • Model orientation in Euler angles: roll, pitch, yaw.
    • Default: 0 0 0
    • gravity (bool)
      • Enable/disable effect of gravity on this model
      • Default: true
      • enable (bool)
        • Enable/disable the model's bodies (so it doesn't fall, for example)
        • Default: true