Introduction¶

This section contains all the information required to set up the gym simulation environment for our monopod platform. This section assumes that the full superbuild will not be set up on the same system (the superbuild is able to build the simulation as well, if desired).

The simulator used for our simulation is ignition gazebo. For a explanation on some of the advantages of this simulator please read further here.

The simulation platform has been completely based around the work done on gym-ignition. Using the framework provided we have built the open sim2real stack as wrapper or plugin for the gym-ignition framework. The packages we provide that are built around gym-ignition are: gym-os2r, and scenario_monopod.