Acroba Gym: A Unity-Based ROS Compliant Simulator for Robotics

This paper presents a cross-platform, ROS compliant and versatile virtual gym, which provides a visually appealing simulated environment with high-fidelity to validate robotic systems without the need for physical hardware and support training/testing artificial intelligence models with robots in a controlled digital space. The presented virtual gym is built based on Unity with seamlessly integrated with the ROS, where the main contributions are centered around following key aspects: simulated scene definition, features on robot/sensor/tools simulation and machine learning integration.