ScenarIO and gym-ignition¶
This project targets both control and robot learning research domains:
Researchers in robotics and control can simulate their robots with familiar tools like Gazebo and URDF/SDF, without the need to rely on any middleware.
Researchers in robot learning can quickly develop new robotic environments that can scale to hundreds of parallel instances.
We provide two related subprojects to each of these categories:
ScenarIO provides APIs to interface with the robots.
gym-ignition helps structuring environments compatible with OpenAI Gym, while minimizing boilerplate code and providing common rigid-body dynamics utilities.
For a quick practical introduction, visit the Getting Started page.
If you use this project for your research, please check the FAQ about how to give credit.