Welcome to IR-SIM’s documentation!

IR-SIM is an open-source, lightweight robot simulator based on Python, designed for robotics navigation, control, and learning. This simulator provides a simple, user-friendly framework for simulating robots, sensors, and environments, facilitating the development and testing of robotics algorithms with minimal hardware requirements.

Features

• Simulate a wide range of robot platforms with diverse kinematics, sensors, and behaviors.

• Quickly configure and customize simulation scenarios using straightforward YAML files, with no complex coding required.

• Visualize simulation outcomes in real time for immediate feedback and analysis using a naive visualizer matplotlib.

• Support collision detection and behavior control for each object in the simulation.

The simple demonstrations of the simulator are shown below:

Getting Started:

• Get Started
  • Install the package
  • Quick Start

User Guide:

• User Guide
  • Make Environment
  • Configure robots and obstacles
  • Configure Sensors for the robot
  • Configure behavior for objects
  • Configure grid map environment
  • Configure keyboard/Mouse control
  • Configure dynamic random environment
  • Render and Save Animation

YAML Configuration Syntax:

• YAML Configuration Syntax
  • YAML Configuration Syntax

API Documentation:

• API Documentation
  • irsim
  • env
  • lib
  • world
  • util

Cases

Academic

• rl-rvo-nav(RAL & ICRA2023)

• RDA_planner(RAL & IROS2023)

• NeuPAN(T-RO 2025)

Deep Reinforcement Learning

• DRL-robot-navigation-IR-SIM

• AutoNavRL

Code Repository

IR-SIM