An open-source Gazebo Harmonic system plugin that simulates spray painting.
The plugin samples rays across a configurable spray cone each simulation step to compute paint patch placement on target geometry using ray-casting. I built a UR5 robotic manipulator based demo to showcase the project, along with a particle-emitter system for real-time visual feedback of spray output.
I was invited to present this plugin at the Gazebo Community Meeting (July 2026), sharing it with the global open-source robotics community.