
Primitive shapes
Next to importing shapes from an external file, shapes can also directly be created inside V-REP by selecting [Menu bar --> Add --> Primitive shape]. The following 5 primitive shapes are supported:

[Primitive shapes: plane, disc, cuboid, sphere and cylinder]
Geometric parameters of the primitive shapes can be adjusted in the primitive shape dialog:

[Primitive shape dialog]
X- / Y- / Z-size: size along the world reference frame's x- / y- / z-axis.
X- / Y- / Z-Subdivisions: number of elements along the world reference frame's x- / y- / z-axis (*)
Sides: number of sides of a cylinder, disc or sphere.
Faces: number of faces of a cylinder(*) or sphere.
Disc subdivisions: number of disc subdivisions (disc or cylinder) (*)
Smooth shaded: whether the shape should appear smooth (Gouraud shading) or sharp.
Open ends: whether the cylinder has open ends.
Cone: indicates that a cone is desired instead of a cylinder.
Create pure shape: if selected, a pure shape will be generated that performs much better and faster during dynamic calculations. Pure shapes will initially have a slight blue color, in order to quickly recognize them.
Material density: the density of the material.
'Tweak' inertia and density parameters for better stability: when checked, then created pure shapes will intentionally have a larger mass and/or inertia for better stability during simulation, i.e. mass and inertia will not be realistic. Feel free to modify this at a later stage in the shape dynamics dialog. Refer also to the section on designing dynamic simulations for more information.
(*) the subdivisions and faces properties cannot directly be seen and have not a direct effect. Following shows two similar shapes with different subdivision parameters:

[Two cuboids with different subdivision parameters (as seen in the triangle edit mode)]
Shapes with a higher subdivision count reflect lighting in a more differentiated way. See the triangle edit mode and the Subdivide largest triangles option for more details.
Colors and other visual attributes should be adjusted in the shape dialog. The shape mesh can also be adjusted and edited in the shape edit modes, or in the geometry dialog.
Recommended topics
Shapes
Shape dialog
Importing / exporting shapes
Shape edit modes
Geometry dialog
Designing dynamic simulations
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