gazebo-simulation

What this skill does

# gazebo-simulation

You are **gazebo-simulation** - a specialized skill for Gazebo simulation environment creation, configuration, and plugin development.

## Overview

This skill enables AI-powered Gazebo simulation including:
- Creating SDF world files with terrain, lighting, and physics
- Configuring physics engine parameters (ODE, Bullet, DART)
- Implementing Gazebo plugins (model, world, sensor, visual)
- Generating sensor models (camera, LiDAR, IMU, GPS, depth)
- Setting up contact sensors and force-torque sensors
- Configuring dynamic actors and animated models
- Implementing custom physics materials and friction
- Creating procedural world generation
- Optimizing simulation performance (LOD, collision simplification)
- Setting up multi-robot simulation instances

## Prerequisites

- Gazebo Sim (Harmonic, Ionic) or Gazebo Classic (11)
- ROS2 with gazebo_ros_pkgs
- SDF specification knowledge
- C++ development tools for custom plugins

## Capabilities

### 1. World File Creation

Generate SDF world files:

```xml
<?xml version="1.0" ?>
<sdf version="1.8">
  <world name="robot_world">
    <!-- Physics Configuration -->
    <physics name="default_physics" type="ode">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1.0</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
      <ode>
        <solver>
          <type>quick</type>
          <iters>50</iters>
          <sor>1.3</sor>
        </solver>
        <constraints>
          <cfm>0.0</cfm>
          <erp>0.2</erp>
          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
          <contact_surface_layer>0.001</contact_surface_layer>
        </constraints>
      </ode>
    </physics>

    <!-- Lighting -->
    <light type="directional" name="sun">
      <cast_shadows>true</cast_shadows>
      <pose>0 0 10 0 0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <direction>-0.5 0.1 -0.9</direction>
    </light>

    <light type="point" name="point_light">
      <pose>5 5 3 0 0 0</pose>
      <diffuse>0.5 0.5 0.5 1</diffuse>
      <specular>0.1 0.1 0.1 1</specular>
      <attenuation>
        <range>20</range>
        <linear>0.05</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
    </light>

    <!-- Ground Plane -->
    <model name="ground_plane">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <ambient>0.8 0.8 0.8 1</ambient>
            <diffuse>0.8 0.8 0.8 1</diffuse>
          </material>
        </visual>
      </link>
    </model>

    <!-- Include Models -->
    <include>
      <uri>model://my_robot</uri>
      <name>robot1</name>
      <pose>0 0 0.1 0 0 0</pose>
    </include>

    <!-- Plugins -->
    <plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics"/>
    <plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands"/>
    <plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster"/>
    <plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
      <render_engine>ogre2</render_engine>
    </plugin>

  </world>
</sdf>
```

### 2. Physics Engine Configuration

Configure different physics engines:

```xml
<!-- ODE (Default, fast) -->
<physics name="ode_physics" type="ode">
  <max_step_size>0.001</max_step_size>
  <real_time_factor>1.0</real_time_factor>
  <ode>
    <solver>
      <type>quick</type>
      <iters>50</iters>
    </solver>
  </ode>
</physics>

<!-- Bullet (Better for complex collisions) -->
<physics name="bullet_physics" type="bullet">
  <max_step_size>0.001</max_step_size>
  <real_time_factor>1.0</real_time_factor>
  <bullet>
    <solver>
      <type>sequential_impulse</type>
      <iters>50</iters>
      <sor>1.3</sor>
    </solver>
  </bullet>
</physics>

<!-- DART (Best for robotics, articulated bodies) -->
<physics name="dart_physics" type="dart">
  <max_step_size>0.001</max_step_size>
  <real_time_factor>1.0</real_time_factor>
  <dart>
    <collision_detector>fcl</collision_detector>
    <solver>
      <solver_type>pgs</solver_type>
    </solver>
  </dart>
</physics>
```

### 3. Sensor Configuration

Add various sensors to robots:

```xml
<!-- Camera Sensor -->
<sensor name="camera" type="camera">
  <always_on>true</always_on>
  <update_rate>30</update_rate>
  <camera>
    <horizontal_fov>1.3962634</horizontal_fov>
    <image>
      <width>640</width>
      <height>480</height>
      <format>R8G8B8</format>
    </image>
    <clip>
      <near>0.1</near>
      <far>100</far>
    </clip>
    <noise>
      <type>gaussian</type>
      <mean>0</mean>
      <stddev>0.007</stddev>
    </noise>
  </camera>
  <plugin filename="gz-sim-camera-system" name="gz::sim::systems::Camera"/>
</sensor>

<!-- Depth Camera -->
<sensor name="depth_camera" type="depth_camera">
  <always_on>true</always_on>
  <update_rate>15</update_rate>
  <camera>
    <horizontal_fov>1.047</horizontal_fov>
    <image>
      <width>640</width>
      <height>480</height>
      <format>R_FLOAT32</format>
    </image>
    <clip>
      <near>0.1</near>
      <far>10</far>
    </clip>
  </camera>
  <plugin filename="gz-sim-depth-camera-system" name="gz::sim::systems::DepthCamera"/>
</sensor>

<!-- LiDAR Sensor -->
<sensor name="lidar" type="gpu_lidar">
  <always_on>true</always_on>
  <update_rate>10</update_rate>
  <lidar>
    <scan>
      <horizontal>
        <samples>640</samples>
        <resolution>1</resolution>
        <min_angle>-3.14159</min_angle>
        <max_angle>3.14159</max_angle>
      </horizontal>
      <vertical>
        <samples>16</samples>
        <resolution>1</resolution>
        <min_angle>-0.26</min_angle>
        <max_angle>0.26</max_angle>
      </vertical>
    </scan>
    <range>
      <min>0.3</min>
      <max>100</max>
      <resolution>0.01</resolution>
    </range>
    <noise>
      <type>gaussian</type>
      <mean>0</mean>
      <stddev>0.01</stddev>
    </noise>
  </lidar>
  <plugin filename="gz-sim-gpu-lidar-system" name="gz::sim::systems::GpuLidar"/>
</sensor>

<!-- IMU Sensor -->
<sensor name="imu" type="imu">
  <always_on>true</always_on>
  <update_rate>200</update_rate>
  <imu>
    <angular_velocity>
      <x>
        <noise type="gaussian">
          <mean>0.0</mean>
          <stddev>0.0002</stddev>
        </noise>
      </x>
      <y>
        <noise type="gaussian">
          <mean>0.0</mean>
          <stddev>0.0002</stddev>
        </noise>
      </y>
      <z>
        <noise type="gaussian">
          <mean>0.0</mean>
          <stddev>0.0002</stddev>
        </noise>
      </z>
    </angular_velocity>
    <linear_acceleration>
      <x>
        <noise type="gaussian">
          <mean>0.0</mean>
          <stddev>0.017</stddev>
        </noise>
      </x>
    </linear_acceleration>
  </imu>
  <plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu"/>
</sensor>

<!-- GPS Sensor -->
<sensor name="gps" type="navsat">
  <always_on>true</always_on>
  <update_rate>5</update_rate>
  <navsat>
    <position_sensing>
      <horizontal>
        <noise type="gaussian">
          <mean>0</mean>
          <stddev>0.5</stddev>
        </noise>
      </horizontal>
      <vertical>
        <noise type="gaussian">
          <mean>0</mean>
          <stddev>1.0</stddev>
        </noise>
      </vertical>
    </position_sensing>
  </navsat>
  <plug