# Gazebo Simulation Setup
Set up the Gazebo simulation environment for the inspection tutorial.
> Source: https://docs.viam.com/try/quality-inspection/gazebo-setup/
This guide walks you through setting up the Gazebo simulation used in the [Your First Project](/try/quality-inspection/) tutorial.
## Prerequisites
- **Docker Desktop** installed and running
- A free [Viam account](https://app.viam.com)
- ~5GB disk space for the Docker image
## Step 1: Build the Docker Image
The simulation runs in a Docker container with Gazebo Harmonic and viam-server pre-installed.
**Clone the simulation repository:**
```bash
git clone https://github.com/viamrobotics/can-inspection-simulation.git
cd can-inspection-simulation
```
**Build the Docker image:**
```bash
docker build -t gz-harmonic-viam .
```
This takes 5-10 minutes depending on your internet connection.
## Step 2: Create a Machine in Viam
1. Go to [app.viam.com](https://app.viam.com) and log in
2. Click the **Locations** tab
3. Click **+ Add machine**
4. Name it `inspection-station-1`
5. Click **Add machine**
## Step 3: Create a credentials file
1. Click the 1. Click the Awaiting setup button
2. Click **Machine cloud credentials** to copy your machine's credentials
3. In the `can-inspection-simulation` directory, create a file called `station1-viam.json`
4. Paste your machine's credentials into this file and save
## Step 4: Start the Container
> **Note:**
>
>
> If you have a local installation of `viam-agent` running on your machine, it uses port 8080 by default. Running the container with `-p 8080:8080` will conflict with it. To avoid this, either stop the local `viam-agent` before starting the container, or change the host port mapping (for example, `-p 8090:8080`) and access the container on the new port instead.
>
### Mac/Linux
```bash
docker run --name gz-station1 -d \
-p 8080:8080 -p 8081:8081 -p 8443:8443 \
-v "$(pwd)/station1-viam.json:/etc/viam.json" \
gz-harmonic-viam
```
### Windows (PowerShell)
```powershell
docker run --name gz-station1 -d `
-p 8080:8080 -p 8081:8081 -p 8443:8443 `
-v "${PWD}\station1-viam.json:/etc/viam.json" `
gz-harmonic-viam
```
## Step 5: Verify the Setup
**Check container logs:**
```bash
docker logs gz-station1
```
Look for:
- "Can Inspection Station 1 Running!"
- viam-server startup messages
**View the simulation:**
Open your browser to `http://localhost:8081`
You should see a web-based 3D view of the inspection station with:
- A conveyor belt
- Cans moving along the belt
- An overhead camera view
**Verify machine connection:**
1. Go to [app.viam.com](https://app.viam.com)
2. Click on `inspection-station-1`
3. The status indicator should show **Live** (in green)
## Troubleshooting
**Container won't start**
**Check if ports are in use:**
### Mac/Linux
```bash
lsof -i :8080
lsof -i :8081
```
### Windows (PowerShell)
```powershell
netstat -ano | findstr :8080
netstat -ano | findstr :8081
```
If something is using these ports, stop it or use different port mappings.
**Machine shows Offline in Viam**
1. Check container is running: `docker ps`
2. Check logs for errors: `docker logs gz-station1`
3. Verify credentials in your config file match the Viam app
4. Try restarting: `docker restart gz-station1`
**Simulation viewer is blank or slow**
- The web viewer requires WebGL support
- Try a different browser (Chrome usually works best)
- Check your system has adequate resources (4GB+ RAM recommended)
## Container Management
**Stop the container:**
```bash
docker stop gz-station1
```
**Start a stopped container:**
```bash
docker start gz-station1
```
**Remove the container (to recreate):**
```bash
docker rm gz-station1
```
**View logs:**
```bash
docker logs -f gz-station1
```
## Ready to Continue
Once your machine shows **Live** in the Viam app, you're ready to continue with the tutorial.
**[Continue to Part 1: Vision Pipeline →](/try/quality-inspection/part-1/)**
