hanruihua/ir-sim
A Python-based lightweight robot simulator designed for navigation, control, and learning
Configurable via YAML files for scenario setup, it supports multiple robot kinematics (differential drive, omnidirectional, Ackermann), sensor types (2D LiDAR, FOV detection), and collision-avoidance behaviors (RVO, ORCA). Built with matplotlib-based visualization and collision detection, it enables multi-agent simulation and integrates well with reinforcement learning frameworks for navigation research.
1,029 stars. Actively maintained with 27 commits in the last 30 days. Available on PyPI.
Stars
1,029
Forks
131
Language
Python
License
MIT
Category
Last pushed
Mar 11, 2026
Commits (30d)
27
Dependencies
7
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