The shape of the visual or collision object. Box shape The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box). Sphere shape radius of the sphere Cylinder shape Radius of the cylinder Length of the cylinder Mesh shape Mesh uri Use a named submesh. The submesh must exist in the mesh specified by the uri Name of the submesh within the parent mesh Set to true to center the vertices of the submesh at 0,0,0. This will effectively remove any transformations on the submesh before the poses from parent links and models are applied. Scaling factor applied to the mesh Plane shape Normal direction for the plane Length of each side of the plane Extrude a set of boxes from a grayscale image. URI of the grayscale image file Scaling factor applied to the image Grayscale threshold Height of the extruded boxes The amount of error in the model A heightmap based on a 2d grayscale image. URI to a grayscale image file The size of the heightmap in world units A position offset. The heightmap can contain multiple textures. The order of the texture matters. The first texture will appear at the lowest height, and the last texture at the highest height. Use blend to control the height thresholds and fade between textures. Size of the applied texture in meters. Diffuse texture image filename Normalmap texture image filename The blend tag controls how two adjacent textures are mixed. The number of blend elements should equal one less than the number of textures. Min height of a blend layer Distance over which the blend occurs You can use the empty tag to make empty geometries.