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GZ(1) GZ(1)

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:

Print this help message
World name.
Camera name. Use gz camera -l to get a list of camera names.
List all cameras
Model to follow.

debug

gz debug [options]

Used primarily for bash completion, this tool return the completion list for a given command.

Options:

Print this help message
Show the command options.

help

gz help [options]

Output information about a gz command.

Options:

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.

Options:

Print this help message
World name.
Model name.
Joint name.
Delete a model.
Force to apply to a joint.
Target angle.
Position proportional gain.
Position integral gain.
Position differential gain.
Target speed.
Velocity proportional gain.
Velocity integral gain.
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:

Print this help message
Output information about a log file. Log filename should be specified using the --file option
Output the contents of a log file to screen.
Step through the contents of a log file.
Start/stop recording a log file from an active Gazebo server.O=stop record, 1=start recording.
World name, used when starting or stopping recording.
Output the data from echo and step without XML formatting.Used in conjuction with --echo or --step.
Add a timestamp to each line of output. Valid values are (sim,real,wall)
Filter output to the specified Hz rate.Only valid for echo and step commands.
Path to a log file.
Filter output. Valid only for the echo and step commands

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:

Print this help message
Model name.
World name.
Delete a model.
Spawn model from SDF file.
Spawn model from SDF string, pass by a pipe.
Output model state information to the terminal.
Output model pose as a space separated 6-tuple: x y z roll pitch yaw.

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:

Print this help message
World name.
Gravity vector. Comma separated 3-tuple without whitespace, eg: -g 0,0,-9.8
Maximum step size (seconds).
Number of iterations.
Target real-time update rate.
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:

Print this help message
Print SDF format for given version(-v).
In place conversion of arg to the latest SDF version.
Print HTML SDF. Use -v to specify version.
Validate arg.
Version of SDF to use with other options.
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:

Print this help message
World name.
Duration (seconds) to run.
Output comma-separated values, useful for processing and plotting.

topic

gz topic [options]

Print topic information 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:

Print this help message
World name.
List all topics.
Get information about a topic.
Output topic data to screen.
View topic data using a QT widget.
Get publish frequency.
Get topic bandwidth.
Output data from echo without formatting.
Duration (seconds) to run. Applicable with echo, hz, and bw

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:

Print this help message
World name.
Pause/unpause simulation. 0=unpause, 1=pause.
Step simulation one iteration.
Step simulation mulitple iteration.
Reset time and model poses
Reset time
Reset models
September 2014