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Algorithmic world generation

I am looking into Gazebo as a way to build simulated environments to test visual navigation algorithms. It would be particularly useful if I could generate new worlds algorithmically, so I could quickly create additional variants just by changing a set of parameters.

I see there are API's to generate SDF files programmatically, and I think I could use maze generation algorithms and other methods to automatically work out wall layouts, light sources, obstacles etc. But my question is, has something like this been done already? I'd hate to spend six months working on this to eventually find someone else already has a more advanced implementation.

Even if nothing of the sort already exists, are there any tools beyond Gazebo itself, the SDF API and ROS that I should be aware of?