Provided by: gazebo7_7.0.0+dfsg-2_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:
-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:
-h, --help
Print this help message
-o, --option=arg
Show the command options.
help
gz help [options]
Output information about a gz command.
Options:
-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.
Options:
-h, --help
Print this help message
-w, --world-name=arg
World name.
-m, --model-name=arg
Model name.
-j, --joint-name=arg
Joint name.
-d, --delete
Delete a model.
-f, --force=arg
Force to apply to a joint.
--pos-t=arg
Target angle.
--pos-p=arg
Position proportional gain.
--pos-i=arg
Position integral gain.
--pos-d=arg
Position differential gain.
--vel-t=arg
Target speed.
--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:
-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.
--filter=arg
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:
-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:
-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:
-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:
-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. If a name for the world, option -w, is not
specified, the first world found on the Gazebo master will be used.
Options:
-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.
-u, --unformatted
Output data from echo without formatting.
-d, --duration=arg
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:
-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)