Gazebo harmonic

VSCode dev

SDF Format

Custom plugins

Bindings

ROS Bridge

Demo worlds

Levels

Plugins

Sensors

plugins

gui-plugins

surface friction

joint friction

My laptop has two graphics card and it config to on-demand using Prime profiles

for running gz sim with nvidia card switch to nvidia mode using sudo prime-select nvidia or using

__NV_PRIME_RENDER_OFFLOAD=1 __GLX_VENDOR_LIBRARY_NAME=nvidia gz sim

check

using nvidia-smi to check that gz sim use nvidia card

!!! tip "prime-select` prime-select is an Ubuntu-specific utility used to manage hybrid graphics on laptops

```bash
# check mode
prime-select query
```

create alias
alias gznvidia='__NV_PRIME_RENDER_OFFLOAD=1 __GLX_VENDOR_LIBRARY_NAME=nvidia gz sim'

migration from ign

IGNITION_GAZEBO -> GZ_SIM

Name	Description
SIM
GZ_SIM_RESOURCE_PATH	where to search for `world`,`models` include meshes, textures, materials
GZ_SIM_SYSTEM_PLUGIN_PATH	where to find compiled system plugins (.so files)
TRANSPORT
GZ_TRANSPORT_IP
GZ_DISCOVERY_SERVER
GZ_PARTITION