Simulation

Gazebo Backend

Gazebo Harmonic provides full physics simulation with CPU-friendly performance.

Prerequisites

# Ubuntu 24.04
sudo apt install ros-jazzy-gazebo-ros-pkgs

# Or via Docker (recommended for CI)
docker pull osrf/ros:jazzy-desktop

Launch

from threewe import Robot
import asyncio

async def main():
    async with Robot(backend="gazebo", scene="office_v2") as robot:
        # Full physics: friction, inertia, collisions
        result = await robot.move_to(x=10.0, y=7.5)
        print(f"Reached target: {result.success}")

asyncio.run(main())

Available Scenes

Scene	Size	Description
office_v2	20x15m	Open office with desks and cabinets
apartment_v1	8x10m	Residential apartment with walls
corridor_v1	50x4m	Long corridor with obstacles
warehouse_v1	30x20m	Large warehouse space
cluttered_v1	5x5m	Dense obstacle environment
outdoor_v1	50x30m	Outdoor terrain
dynamic_v1	15x15m	Moving obstacles

Isaac Sim Backend

For GPU-accelerated RL training with domain randomization.

Robot(backend="isaac", scene="office_v2")

Requires NVIDIA GPU with Isaac Sim installed.

Mock Backend

Zero-dependency 2D kinematic simulation. Runs anywhere:

Robot(backend="mock", scene="office_v2")

Includes configurable sensor noise matching real hardware characteristics.