Provided by: gazebo_11.10.2+dfsg-1_amd64 
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
September 2014 GZ(1)