BlueRov2: a proper documentation, configuration, and safety requirements

I am currently working on BlueRov2, with a focus on the wall avoidance mission from the 360 values measured from the Ping360 scanning imaging sonar.

The simulation from Gazebo seems to be basic. There is only one safety requirement we can rely on to label different simulation logs (distance between the front of the robot and the wall shall not be less than 1.5).
We need more different scenarios. I was thinking of playing with the configuration files (all model.sdf files in the github repository), but I am not sure which configurations make sense to be adopted for meaningful simulations / challenging scenarios.
Some parameters in the configuration files are not well documented in the readme files and there is no hint about the thresholds for safety requirements. Any shared information would be helpful…

Thank you in advance

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