IR-SIM is an open-source, lightweight robot 2D simulator based on Python, specifically designed for intelligent robotics navigation and learning. Primarily intended for research and educational purposes, it is user-friendly and easily customizable.
It provides the following features:
- A versatile and easy-to-use framework for simulating a variety of robot platforms with kinematics and sensors.
- Customizable configurations and parameters using yaml files.
- Real-time visualization of simulation outcomes.
- Ideal for developing and testing algorithms related to robot navigation, motion planning, reinforcement learning.
| Robot | Car |
|---|---|
 |
 |
- Python: >= 3.9
- Install this package from PyPi:
pip install ir_sim
- Or for development, you may build from source:
git clone https://github.com/hanruihua/ir_sim.git
cd ir_sim
pip install -e .
The usage guidelines are listed in the ir_sim/usage
- rl-rvo-nav(RAL & ICRA2023)
- RDA_planner（RAL & IROS2023）
