{"id":13598076,"url":"https://github.com/gazebosim/gz-sim","last_synced_at":"2025-12-12T00:50:52.915Z","repository":{"id":37047194,"uuid":"255865265","full_name":"gazebosim/gz-sim","owner":"gazebosim","description":"Open source robotics simulator. 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Through Gazebo Sim, users have access to high fidelity physics, rendering, and sensor models. Additionally, users and developers have multiple points of entry to simulation including a graphical user interface, plugins, and asynchronous message passing and services.\n\nGazebo Sim is derived from [Gazebo Classic](http://classic.gazebosim.org) and represents over 16 years of development and experience in robotics and simulation. This library is part of the [Gazebo](https://gazebosim.org) project.\n\n# Table of Contents\n\n[Features](#features)\n\n[Install](#install)\n\n[Usage](#usage)\n\n[Documentation](#documentation)\n\n[Testing](#testing)\n\n[Folder Structure](#folder-structure)\n\n[Contributing](#contributing)\n\n[Code of Conduct](#code-of-conduct)\n\n[Versioning](#versioning)\n\n[License](#license)\n\n# Features\n\n* **Dynamics simulation**: Access multiple high-performance physics engines\nthrough\n[Gazebo Physics](https://github.com/gazebosim/gz-physics).\n\n* **Advanced 3D graphics**: Through\n[Gazebo Rendering](https://github.com/gazebosim/gz-rendering),\nit's possible to use rendering engines such as OGRE v2 for realistic rendering\nof environments with high-quality lighting, shadows, and textures.\n\n* **Sensors and noise models**: Generate sensor data, optionally with noise,\nfrom laser range finders, 2D/3D cameras, Kinect style sensors, contact sensors,\nforce-torque, IMU, GPS, and more, all powered by\n[Gazebo Sensors](https://github.com/gazebosim/gz-sensors)\n\n* **Plugins**: Develop custom plugins for robot, sensor, and\nenvironment control.\n\n* **Graphical interface**: Create, introspect and interact with your simulations\nthrough plugin-based graphical interfaces powered by\n[Gazebo GUI](https://github.com/gazebosim/gz-gui).\n\n* **Simulation models**: Access numerous robots including PR2, Pioneer2 DX,\niRobot Create, and TurtleBot, and construct environments using other physically\naccurate models available through\n[Gazebo Fuel](https://app.gazebosim.org/fuel). You can also build a\nnew model using [SDF](http://sdformat.org).\n\n* **TCP/IP Transport**: Run simulation on remote servers and interface to\nGazebo Sim through socket-based message passing using\n[Gazebo Transport](https://github.com/gazebosim/gz-transport).\n\n* **Command line tools**: Extensive command line tools for increased simulation\nintrospection and control.\n\n# Install\n\nFor installing Gazebo, see the [getting started guide](https://gazebosim.org/docs/latest/getstarted/). If you want to use `libgz-sim` as a library, see the [installation tutorial](https://gazebosim.org/api/sim/9/install.html)\n\n# Usage\n\nGazebo Sim can be run from the command line, once [installed](#install), using:\n\n```\ngz sim\n```\n\nFor help, and command line options use:\n\n```\ngz sim -h\n```\n\n## Known issue of command line tools\n\nIn the event that the installation is a mix of Debian and from source, command\nline tools from `gz-tools` may not work correctly.\n\nA workaround is to define the environment variable\n`GZ_CONFIG_PATH` to point to the different locations of the Gazebo libraries installations,\nwhere the YAML files for the packages are found, such as\n```\nexport GZ_CONFIG_PATH=/usr/local/share/gz:$HOME/ws/install/share/gz\n```\n\nwhere `$HOME/ws` is an example colcon workspace used to build Gazebo.\n\nOn Windows, `gz sim` (i.e. running both server and GUI in one command) doesn't yet work.\nTo run Gazebo Sim on Windows, you need to run the server in one terminal (`gz sim -s \u003cother args\u003e`)\nand the GUI in another terminal (`gz sim -g \u003cother args\u003e`). Remember this when reading through\nall Gazebo Sim tutorials. Also remember that Conda and `install\\setup.bat` need to be sourced\nin both terminals (as well as any changes to `GZ_PARTITION` and other environment variables).\n\n# Documentation\n\nSee the [installation tutorial](https://gazebosim.org/api/sim/9/install.html).\n\n# Testing\n\nSee the [installation tutorial](https://gazebosim.org/api/sim/9/install.html).\n\nSee the [Writing Tests section of the contributor guide](https://gazebosim.org/docs/all/contributing/#writing-tests) for help creating or modifying tests.\n\n# Folder Structure\n\nRefer to the following table for information about important directories and files in this repository.\n\n```\ngz-sim\n├── examples                     Various examples that can be run against binary or source installs of gz-sim.\n│   ├── plugin                   Example plugins.\n│   ├── standalone               Example standalone programs that use gz-sim as a library.\n│   └── worlds                   Example SDF world files.\n├── include/gz/sim               Header files that downstream users are expected to use.\n│   └── detail                   Header files that are not intended for downstream use, mainly template implementations.\n├── python                       Python wrappers\n├── src                          Source files and unit tests.\n│   ├── gui                      Graphical interface source code.\n│   └── systems                  System source code.\n├── test\n│   ├── integration              Integration tests.\n│   ├── performance              Performance tests.\n│   ├── plugins                  Plugins used in tests.\n│   ├── regression               Regression tests.\n├── tutorials                    Tutorials, written in markdown.\n├── Changelog.md                 Changelog.\n├── CMakeLists.txt               CMake build script.\n├── Migration.md                 Migration guide.\n└── README.md                    This readme.\n```\n\n# Contributing\n\nPlease see the\n[contribution guide](https://gazebosim.org/docs/all/contributing/).\n\n# Code of Conduct\n\nPlease see\n[CODE_OF_CONDUCT.md](https://github.com/gazebosim/gz-sim/blob/main/CODE_OF_CONDUCT.md).\n\n# Versioning\n\nThis library uses [Semantic Versioning](https://semver.org/). Additionally, this library is part of the [Gazebo project](https://gazebosim.org) which periodically releases a versioned set of compatible and complimentary libraries. See the [Gazebo website](https://gazebosim.org) for version and release information.\n\n# License\n\nThis library is licensed under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0). See also the [LICENSE](https://github.com/gazebosim/gz-sim/blob/main/LICENSE) file.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgazebosim%2Fgz-sim","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fgazebosim%2Fgz-sim","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgazebosim%2Fgz-sim/lists"}