Use when setting up robot simulation in Gazebo, Isaac Sim, Webots, PyBullet, or MuJoCo with ROS 2 — URDF/SDF physics tuning, sensor noise modeling, sim-to-real transfer, domain randomization, or headless CI simulation. Provides exact physics parameters that match reality (friction, inertia, contact
Use when setting up robot simulation in Gazebo, Isaac Sim, Webots, PyBullet, or MuJoCo with ROS 2 — URDF/SDF physics tuning, sensor noise modeling, sim-to-real transfer, domain randomization, or headless CI simulation. Provides exact physics parameters that match reality (friction, inertia, contact params), validated sensor noise values, simulator selection criteria, and working launch/spawn/bridg