Gibson supports importing arbitrary agents with URDFs. Also, a number of agents are integrated as entry points, including humanoid and ant of Roboschool, husky car, drone, minitaur , Jackrabbot. Agent models are in ROS or Mujoco XML format.
To enable (optionally) abstracting away low-level control and robot dynamics for the tasks that are wished to be approached in a more high-level manner, we also provide a set of practical and ideal controllers to deduce the complexity of learning to control from scratch. We integrated a PID controller and a Nonholonomic controller as well as an ideal positional controller which completely abstracts away agent’s motion dynamics.