Gazebo | Ignition | Community
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I can't help with you first question, but I can hopefully point you to some useful resources.

First off, the entire gazebo API is documented here

With particularly interesting sections on link and joints, which are all within physics

I find that learning by example works well... all of the gazebo plugins are here, and some simple ones I've written can be found here

Hopefully that should get you started! If you have specific ideas on tutorials/information that isn't well documented, help contribute to the documentation! We write our tutorials in markdown, so just make a pull request this repository if you have something to add.