# \#simulation

**URL:** https://discourse.openrobotics.org/tag/simulation/121.md

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## [Draft REP 158: OpenUSD Conventions for Simulation Asset Interoperability in Open Source Robotics](https://discourse.openrobotics.org/t/draft-rep-158-openusd-conventions-for-simulation-asset-interoperability-in-open-source-robotics/55526)

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**Author:** [@adamdbrw](https://discourse.openrobotics.org/u/adamdbrw)\
**Replies:** 21\
**Last updated:** [October 8, 2026, 9:00pm UTC](https://discourse.openrobotics.org/t/draft-rep-158-openusd-conventions-for-simulation-asset-interoperability-in-open-source-robotics/55526 "2026-10-08T21:00:07Z")

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Dear ROS Community, Following the REP-0001:2025 process, I am opening this public discussion thread for Draft REP 158: OpenUSD Conventions for Simulation Asset Interoperability in Open Source Robotics. The goal of this…

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## [AssemblyGrid v1: benchmarking multi-robot production, handoffs, coalitions, and concurrency](https://discourse.openrobotics.org/t/assemblygrid-v1-benchmarking-multi-robot-production-handoffs-coalitions-and-concurrency/58223)

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**Author:** [@Fouad\_Bahrpeyma](https://discourse.openrobotics.org/u/Fouad_Bahrpeyma)\
**Replies:** 0\
**Last updated:** [September 17, 2026, 4:50pm UTC](https://discourse.openrobotics.org/t/assemblygrid-v1-benchmarking-multi-robot-production-handoffs-coalitions-and-concurrency/58223 "2026-09-17T16:50:29Z")

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Hi everyone, we have recently released AssemblyGrid v1, an open benchmark for studying decentralized multi-robot production. The motivation is that many multi-agent and multi-robot benchmarks abstract away some of the …

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## [px4-ros2-drone-nav: map-free 3D navigation with a persistent D\* Lite planner and CUDA MPPI (ROS 2 Jazzy, PX4 SITL, Gazebo Harmonic)](https://discourse.openrobotics.org/t/px4-ros2-drone-nav-map-free-3d-navigation-with-a-persistent-d-lite-planner-and-cuda-mppi-ros-2-jazzy-px4-sitl-gazebo-harmonic/58190)

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**Author:** [@formiat](https://discourse.openrobotics.org/u/formiat)\
**Replies:** 0\
**Last updated:** [September 16, 2026, 3:39pm UTC](https://discourse.openrobotics.org/t/px4-ros2-drone-nav-map-free-3d-navigation-with-a-persistent-d-lite-planner-and-cuda-mppi-ros-2-jazzy-px4-sitl-gazebo-harmonic/58190 "2026-09-16T15:39:33Z")

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Hello everyone, I have been building an open-source navigation stack for a quadrotor that is given a start and a goal inside a multi-storey urban world and no map at all. It builds its own obstacle memory from a simul…

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## [Improving Asset Import Workflow for External Models with Textures (FBX, glTF, GLB, USDZ, etc.)](https://discourse.openrobotics.org/t/improving-asset-import-workflow-for-external-models-with-textures-fbx-gltf-glb-usdz-etc/54622)

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**Author:** [@Ayrton-Sheng](https://discourse.openrobotics.org/u/Ayrton-Sheng)\
**Replies:** 6\
**Last updated:** [September 12, 2026, 11:18pm UTC](https://discourse.openrobotics.org/t/improving-asset-import-workflow-for-external-models-with-textures-fbx-gltf-glb-usdz-etc/54622 "2026-09-12T23:18:11Z")

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Hi everyone, As an end user, I find it quite difficult to import external 3D models with textures into Gazebo Sim / Fuel. Common formats downloaded from asset sites (FBX, glTF/GLB, USDZ, etc.) are not straightforward to…

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## [Bimo, an open-source bipedal robotics kit with sim-to-real transfer](https://discourse.openrobotics.org/t/bimo-an-open-source-bipedal-robotics-kit-with-sim-to-real-transfer/57846)

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**Author:** [@Mekion](https://discourse.openrobotics.org/u/Mekion)\
**Replies:** 1\
**Last updated:** [September 10, 2026, 7:18am UTC](https://discourse.openrobotics.org/t/bimo-an-open-source-bipedal-robotics-kit-with-sim-to-real-transfer/57846 "2026-09-10T07:18:37Z")

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Bimo is an open-source bipedal robot built to make bipedal robotics research accessible in a compact, affordable platform. It ships either as a fully assembled SLS Kit (ready to walk out of the box) or as a DIY Kit wh…

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## [Community meeting: Gym-Gazebo-Sim](https://discourse.openrobotics.org/t/community-meeting-gym-gazebo-sim/57300)

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**Author:** [@caguero](https://discourse.openrobotics.org/u/caguero)\
**Replies:** 2\
**Last updated:** [August 27, 2026, 4:34pm UTC](https://discourse.openrobotics.org/t/community-meeting-gym-gazebo-sim/57300 "2026-08-27T16:34:56Z")

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Hello Community! Here’s the information for our next August Meeting where we’ll talk about running reinforce learning algorithms using Gazebo. “Gym Gazebo Sim is an educational software toolkit developed to help begi…

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## [Suggestion: Free-look camera control](https://discourse.openrobotics.org/t/suggestion-free-look-camera-control/57672)

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**Author:** [@Ayrton-Sheng](https://discourse.openrobotics.org/u/Ayrton-Sheng)\
**Replies:** 0\
**Last updated:** [August 26, 2026, 5:46am UTC](https://discourse.openrobotics.org/t/suggestion-free-look-camera-control/57672 "2026-08-26T05:46:14Z")

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When using a 360° skybox as the scene background, the view is only geometrically correct at the capture center. Gazebo’s current orbit control moves the camera around a clicked point. It would be very useful to add a sh…

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## [GzSensorMonitor – Real-Time Sensor Feedback Inside Gazebo Harmonic](https://discourse.openrobotics.org/t/gzsensormonitor-real-time-sensor-feedback-inside-gazebo-harmonic/57613)

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**Author:** [@Rahul1](https://discourse.openrobotics.org/u/Rahul1)\
**Replies:** 2\
**Last updated:** [August 24, 2026, 8:07am UTC](https://discourse.openrobotics.org/t/gzsensormonitor-real-time-sensor-feedback-inside-gazebo-harmonic/57613 "2026-08-24T08:07:13Z")

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Hello ROS and Gazebo Community, We are pleased to announce the release of GzSensorMonitor, an open-source plugin for Gazebo Harmonic that enables real-time visualization of sensor data directly inside the Gazebo simulat…

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## [Announcing FastSwarmSim: Lightweight Multi-UAV ROS 2 Simulation with Lock-Step Time](https://discourse.openrobotics.org/t/announcing-fastswarmsim-lightweight-multi-uav-ros-2-simulation-with-lock-step-time/57578)

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**Author:** [@PeixuanShu](https://discourse.openrobotics.org/u/PeixuanShu)\
**Replies:** 0\
**Last updated:** [August 21, 2026, 8:56am UTC](https://discourse.openrobotics.org/t/announcing-fastswarmsim-lightweight-multi-uav-ros-2-simulation-with-lock-step-time/57578 "2026-08-21T08:56:41Z")

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Hello ROS 2 and robotics simulation community, I would like to introduce FastSwarmSim, an open-source, lightweight multi-UAV simulator for PX4-compatible vehicles: GitHub: GitHub - shupx/FastSwarmSim: lightweight mult…

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## [Polka: A unified node for all pointcloud pre-processing/merging](https://discourse.openrobotics.org/t/polka-a-unified-node-for-all-pointcloud-pre-processing-merging/53457)

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**Author:** [@Panav](https://discourse.openrobotics.org/u/Panav)\
**Replies:** 6\
**Last updated:** [August 20, 2026, 12:09pm UTC](https://discourse.openrobotics.org/t/polka-a-unified-node-for-all-pointcloud-pre-processing-merging/53457 "2026-08-20T12:09:08Z")

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Hello folks, Point cloud pre-processing including deskewing, merging, and filtering traditionally requires a chain of nodes working in tandem, many of which are no longer actively maintained. Setting up these individu…

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## [MetriPlane v0.2.0: replayed workcell state → evidence bundle → regression test](https://discourse.openrobotics.org/t/metriplane-v0-2-0-replayed-workcell-state-evidence-bundle-regression-test/55602)

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**Author:** [@Miko997](https://discourse.openrobotics.org/u/Miko997)\
**Replies:** 1\
**Last updated:** [August 9, 2026, 7:10pm UTC](https://discourse.openrobotics.org/t/metriplane-v0-2-0-replayed-workcell-state-evidence-bundle-regression-test/55602 "2026-08-09T19:10:10Z")

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Hi Open Robotics community, I released MetriPlane v0.2.0, an open-source physical-observability tool for bounded workcells. The short version: MetriPlane turns replayed or calibrated workcell state into physical even…

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## [GZ Weather System – Realistic Rain & Snow Simulation for Gazebo Sim](https://discourse.openrobotics.org/t/gz-weather-system-realistic-rain-snow-simulation-for-gazebo-sim/57225)

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**Author:** [@Rahul1](https://discourse.openrobotics.org/u/Rahul1)\
**Replies:** 0\
**Last updated:** [August 7, 2026, 6:49pm UTC](https://discourse.openrobotics.org/t/gz-weather-system-realistic-rain-snow-simulation-for-gazebo-sim/57225 "2026-08-07T18:49:52Z")

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Hi everyone, We are excited to share GZ Weather System, an open-source collection of realistic Rain and Snow simulation worlds for Gazebo Sim (Harmonic) built using Gazebo Sim’s built-in ParticleEmitter system. The goa…

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## [Community meeting: Simulating Spray Painting in Gazebo](https://discourse.openrobotics.org/t/community-meeting-simulating-spray-painting-in-gazebo/56373)

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**Author:** [@caguero](https://discourse.openrobotics.org/u/caguero)\
**Replies:** 1\
**Last updated:** [July 29, 2026, 5:05pm UTC](https://discourse.openrobotics.org/t/community-meeting-simulating-spray-painting-in-gazebo/56373 "2026-07-29T17:05:12Z")

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Hello Community! Here’s the information for our next July Meeting where we’ll talk about a not very common topic: how to simulate spray painting in Gazebo! Here are the details: “This talk presents a plugin to mimic …

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## [Community meeting: WGPU-based SONAR Plugin for Gazebo Underwater Simulation](https://discourse.openrobotics.org/t/community-meeting-wgpu-based-sonar-plugin-for-gazebo-underwater-simulation/54783)

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**Author:** [@caguero](https://discourse.openrobotics.org/u/caguero)\
**Replies:** 7\
**Last updated:** [July 27, 2026, 11:10pm UTC](https://discourse.openrobotics.org/t/community-meeting-wgpu-based-sonar-plugin-for-gazebo-underwater-simulation/54783 "2026-07-27T23:10:11Z")

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Hello Community! Here’s the information for our next May Meeting where we’ll talk about common sensors in underwater projects: sonars! Here are the details: “This project focuses on building a GPU-accelerated SONAR sim…

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## [LinkForge: Exploring an Intermediate Representation (IR) for Robot Descriptions](https://discourse.openrobotics.org/t/linkforge-exploring-an-intermediate-representation-ir-for-robot-descriptions/56551)

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**Author:** [@arounamounchili](https://discourse.openrobotics.org/u/arounamounchili)\
**Replies:** 0\
**Last updated:** [July 14, 2026, 5:08am UTC](https://discourse.openrobotics.org/t/linkforge-exploring-an-intermediate-representation-ir-for-robot-descriptions/56551 "2026-07-14T05:08:12Z")

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Hi everyone, LinkForge recently passed 5,000 downloads on the Blender Extensions platform, which encouraged me to share a broader idea behind the project rather than just another release announcement. Over the past yea…

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## [45+ open robotics roles needed worldwide: ROS 2, C++/Python, simulation, autonomy, computer vision](https://discourse.openrobotics.org/t/45-open-robotics-roles-needed-worldwide-ros-2-c-python-simulation-autonomy-computer-vision/55617)

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**Author:** [@karek](https://discourse.openrobotics.org/u/karek)\
**Replies:** 0\
**Last updated:** [June 22, 2026, 3:17pm UTC](https://discourse.openrobotics.org/t/45-open-robotics-roles-needed-worldwide-ros-2-c-python-simulation-autonomy-computer-vision/55617 "2026-06-22T15:17:27Z")

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SoftServe is looking for dozens of robotics specialists worldwide, with 45 jobs already open and more coming soon. The roles cover different levels, but most of the current demand is for middle, senior, and lead engineer…

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## [Introducing gz\_sim\_spray\_painting\_plugin : Simulate spray painting in Gazebo!](https://discourse.openrobotics.org/t/introducing-gz-sim-spray-painting-plugin-simulate-spray-painting-in-gazebo/55536)

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**Author:** [@arjunkharidas](https://discourse.openrobotics.org/u/arjunkharidas)\
**Replies:** 5\
**Last updated:** [June 20, 2026, 2:01am UTC](https://discourse.openrobotics.org/t/introducing-gz-sim-spray-painting-plugin-simulate-spray-painting-in-gazebo/55536 "2026-06-20T02:01:27Z")

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While working on a project that involved spray painting using a robotic manipulator, I ran into a gap in Gazebo. There is simply no built-in way to simulate a spray painting application. So, I built one …

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## [Project TT: Developing a 20mm Biohybrid Tripod Driven by Cerebral Organoids](https://discourse.openrobotics.org/t/project-tt-developing-a-20mm-biohybrid-tripod-driven-by-cerebral-organoids/55373)

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**Author:** [@AlephR](https://discourse.openrobotics.org/u/AlephR)\
**Replies:** 0\
**Last updated:** [June 9, 2026, 3:28pm UTC](https://discourse.openrobotics.org/t/project-tt-developing-a-20mm-biohybrid-tripod-driven-by-cerebral-organoids/55373 "2026-06-09T15:28:43Z")

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Hello everyone, I want to share a project proposal I’ve developed for a 20 mm biohybrid soft robotic platform called the Tripodal Thinker (Project TT). (Rough 2D Draft) My research is heavily focused on chemically…

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## [Dynamic World Generator Wizard (V2): From Wrold DEsign to Nav2 Map in One Step](https://discourse.openrobotics.org/t/dynamic-world-generator-wizard-v2-from-wrold-design-to-nav2-map-in-one-step/55353)

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**Author:** [@ali.pahlevani](https://discourse.openrobotics.org/u/ali.pahlevani)\
**Replies:** 0\
**Last updated:** [June 8, 2026, 12:06pm UTC](https://discourse.openrobotics.org/t/dynamic-world-generator-wizard-v2-from-wrold-design-to-nav2-map-in-one-step/55353 "2026-06-08T12:06:06Z")

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If you’re building Gazebo worlds for SLAM, Nav2, or mobile robotics and you’re still manually creating your navigation map as a separate step → this tool was made for you. A while back I shared Dynamic World Generator…

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## [\[Release\] LinkForge v1.4.0: A Programmable Robot Description Engine (URDF/SRDF)](https://discourse.openrobotics.org/t/release-linkforge-v1-4-0-a-programmable-robot-description-engine-urdf-srdf/55171)

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**Author:** [@arounamounchili](https://discourse.openrobotics.org/u/arounamounchili)\
**Replies:** 2\
**Last updated:** [June 2, 2026, 8:45am UTC](https://discourse.openrobotics.org/t/release-linkforge-v1-4-0-a-programmable-robot-description-engine-urdf-srdf/55171 "2026-06-02T08:45:46Z")

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Hi ROS Community, We’re excited to announce LinkForge v1.4.0, a major architectural update that transforms LinkForge into a programmable Intermediate Representation (IR) for robot descriptions. If you’ve ever debugged …

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## [Build a MuJoCo + ROS2 Robotic Arm Workflow for Embodied AI](https://discourse.openrobotics.org/t/build-a-mujoco-ros2-robotic-arm-workflow-for-embodied-ai/55012)

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**Author:** [@Agilex\_Robotics](https://discourse.openrobotics.org/u/Agilex_Robotics)\
**Replies:** 7\
**Last updated:** [May 29, 2026, 7:38am UTC](https://discourse.openrobotics.org/t/build-a-mujoco-ros2-robotic-arm-workflow-for-embodied-ai/55012 "2026-05-29T07:38:30Z")

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MuJoCo Simulation and ROS2 Control Workflow | Piper Robotic Arm for Embodied AI This project is a MuJoCo-based simulation foundation for the Piper robotic arm. It is designed to provide a general-purpose MuJoCo simulatio…

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## [ROS2 UWB Localization Framework with Realistic Noise Modeling and Benchmarking](https://discourse.openrobotics.org/t/ros2-uwb-localization-framework-with-realistic-noise-modeling-and-benchmarking/53380)

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**Author:** [@anandbobba](https://discourse.openrobotics.org/u/anandbobba)\
**Replies:** 4\
**Last updated:** [May 27, 2026, 7:27am UTC](https://discourse.openrobotics.org/t/ros2-uwb-localization-framework-with-realistic-noise-modeling-and-benchmarking/53380 "2026-05-27T07:27:44Z")

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Hi everyone, I’ve developed a modular ROS2 UWB localization framework designed for both simulation and real-world research. :wrench: Key Features: Plug-and-play ROS2 package (one-command launch) High-fidelity UWB sim…

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## [Open Robotics in the Age of Embodied AI](https://discourse.openrobotics.org/t/open-robotics-in-the-age-of-embodied-ai/54933)

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**Author:** [@telleroutlook](https://discourse.openrobotics.org/u/telleroutlook)\
**Replies:** 6\
**Last updated:** [May 19, 2026, 6:22am UTC](https://discourse.openrobotics.org/t/open-robotics-in-the-age-of-embodied-ai/54933 "2026-05-19T06:22:41Z")

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Open Robotics in the Age of Embodied AI: Why the Stack Has to Be Open All the Way Down For the last twenty years, “open robotics” has mostly meant ROS — a shared middleware that let researchers stop reinventing message-p…

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## [3we: AI-First Python API for Mobile Robot Navigation (Open Source, $300 BOM)](https://discourse.openrobotics.org/t/3we-ai-first-python-api-for-mobile-robot-navigation-open-source-300-bom/54872)

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**Author:** [@telleroutlook](https://discourse.openrobotics.org/u/telleroutlook)\
**Replies:** 4\
**Last updated:** [May 19, 2026, 12:22am UTC](https://discourse.openrobotics.org/t/3we-ai-first-python-api-for-mobile-robot-navigation-open-source-300-bom/54872 "2026-05-19T00:22:22Z")

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Hi everyone, I’d like to share \*\*3we\*\* — an open-source platform I’ve been building that provides an AI-First Python API on top of ROS2/Nav2, targeting Embodied AI researchers who want to focus on algorithms rather than…

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## [Built a tool that generates Isaac Sim environments from text prompts — looking for feedback](https://discourse.openrobotics.org/t/built-a-tool-that-generates-isaac-sim-environments-from-text-prompts-looking-for-feedback/54665)

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**Author:** [@Rodgers\_Amani](https://discourse.openrobotics.org/u/Rodgers_Amani)\
**Replies:** 0\
**Last updated:** [May 9, 2026, 12:40pm UTC](https://discourse.openrobotics.org/t/built-a-tool-that-generates-isaac-sim-environments-from-text-prompts-looking-for-feedback/54665 "2026-05-09T12:40:52Z")

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Hey everyone, I’ve been building Genar — you describe an environment in plain text and it outputs a physics-ready USD scene for NVIDIA Isaac Sim. Collision geometry, rigid body dynamics, and lighting are all configured a…

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## [RVizSplat: Visualize 3D Gaussian splats in RViz!](https://discourse.openrobotics.org/t/rvizsplat-visualize-3d-gaussian-splats-in-rviz/54487)

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**Author:** [@suchetanrs](https://discourse.openrobotics.org/u/suchetanrs)\
**Replies:** 2\
**Last updated:** [May 6, 2026, 12:15pm UTC](https://discourse.openrobotics.org/t/rvizsplat-visualize-3d-gaussian-splats-in-rviz/54487 "2026-05-06T12:15:45Z")

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Hey everyone! We are happy to share Release 1.0.0 of RVizSplat! In this release, we provide an RViz display plugin that renders 3D Gaussian splats alongside other conventional markers in the scene. Along with this, we …

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## ["ROS 2 in a Nutshell: A Survey" is now published in ACM Computing Surveys](https://discourse.openrobotics.org/t/ros-2-in-a-nutshell-a-survey-is-now-published-in-acm-computing-surveys/54524)

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**Author:** [@asmbatati](https://discourse.openrobotics.org/u/asmbatati)\
**Replies:** 0\
**Last updated:** [May 5, 2026, 1:27am UTC](https://discourse.openrobotics.org/t/ros-2-in-a-nutshell-a-survey-is-now-published-in-acm-computing-surveys/54524 "2026-05-05T01:27:39Z")

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Hi everyone, I have been a silent observer here since 2019, and this is my first post on Discourse. I hope you will excuse the sudden intrusion :grinning\_face\_with\_smiling\_eyes: I am pleased to share that our survey pa…

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## [Community meeting: Simulating LEDs with Gazebo](https://discourse.openrobotics.org/t/community-meeting-simulating-leds-with-gazebo/54049)

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**Author:** [@caguero](https://discourse.openrobotics.org/u/caguero)\
**Replies:** 1\
**Last updated:** [April 29, 2026, 5:11pm UTC](https://discourse.openrobotics.org/t/community-meeting-simulating-leds-with-gazebo/54049 "2026-04-29T17:11:18Z")

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Hello Community! We’re announcing our April Meeting where we’ll discuss LEDs! :red\_circle::green\_circle: Here are the details: “LEDs transform robots from literal black boxes into communicative machines, instantly si…

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## [\[Project\] newton\_ros, ros2 bridge for the Newton simulator](https://discourse.openrobotics.org/t/project-newton-ros-ros2-bridge-for-the-newton-simulator/54117)

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**Author:** [@vybhav\_ilindra](https://discourse.openrobotics.org/u/vybhav_ilindra)\
**Replies:** 2\
**Last updated:** [April 18, 2026, 2:06pm UTC](https://discourse.openrobotics.org/t/project-newton-ros-ros2-bridge-for-the-newton-simulator/54117 "2026-04-18T14:06:57Z")

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Hi everyone, I just made the newton\_ros bridge to connect the newton-physics simulator with the ros2 control framework. Newton is a gpu accelerated physics engine based on the warp framework by nvidia, the project is c…

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## [Community meeting: Gazebo Sim Plugins Made Easy](https://discourse.openrobotics.org/t/community-meeting-gazebo-sim-plugins-made-easy/53304)

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**Author:** [@caguero](https://discourse.openrobotics.org/u/caguero)\
**Replies:** 1\
**Last updated:** [March 25, 2026, 5:01pm UTC](https://discourse.openrobotics.org/t/community-meeting-gazebo-sim-plugins-made-easy/53304 "2026-03-25T17:01:09Z")

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Hello Community! We’re announcing our March Meeting where we’ll talk plugins! :electric\_plug: Here are the details: “An introduction to a beginner-friendly tutorial series that teaches how to create Gazebo Sim Plugi…

[Next page](https://discourse.openrobotics.org/tag/simulation/121.md?match_all_tags=true&page=1&tags%5B%5D=simulation)