Gymnasium vs 
Gazebo
Gymnasium vs Gazebo compared for 2026 — features, license, ease of use, performance and which one to choose. The standard interface for reinforcement learning vs Simulate a whole robot, sensors included.
Updated regularly · curated by OpenSourceAI.tech
Gymnasium vs Gazebo at a glance
| Spec | Gymnasium | Gazebo |
|---|---|---|
| Category | Robotics & embodied AI | Robotics & embodied AI |
| Type | RL environment API | Robot simulator |
| License | MIT | Apache-2.0 |
| Runs locally | Yes | Yes |
| Primary language | Python | C++ |
| Ease of use | Beginner | Intermediate |
| Best for | learning RL, or benchmarking an algorithm against a known baseline | testing a full robot stack, including cameras and lidar |
| GitHub stars | 12.2k | 1.4k |
How Gymnasium and Gazebo score
| Criterion | Gymnasium | Gazebo |
|---|---|---|
| Popularity | 3.0 | 2.0 |
| Maintenance | 5.0 | 5.0 |
| Ease of use | 5.0 | 3.5 |
| Privacy | 5.0 | 5.0 |
| License freedom | 5.0 | 5.0 |
Scores are computed automatically from public signals — GitHub stars (popularity), recent commit activity (maintenance), license type (freedom), local-first design (privacy) and onboarding complexity (ease of use). Indicative, not a verdict.
What each one is
Gymnasium
Gymnasium is the maintained successor to OpenAI Gym: one API that every RL algorithm and environment speaks.
- The interface the whole RL ecosystem implements
- Dozens of environments included
- Actively maintained, unlike the original Gym
Gazebo
Gazebo simulates robots with their sensors and environment — the classic testing ground before deploying to real hardware.
- Realistic sensor simulation
- Tight ROS integration
- Decades of robotics use behind it
Key differences
Gymnasium is rL environment API, while Gazebo is robot simulator. Their licenses differ (MIT vs Apache-2.0), which matters if you ship a commercial product. Gymnasium leans more beginner-friendly, whereas Gazebo is more suited to intermediate users. In short, Gymnasium fits learning RL, or benchmarking an algorithm against a known baseline, and Gazebo fits testing a full robot stack, including cameras and lidar.
Which should you choose?
Choose Gymnasium for learning RL, or benchmarking an algorithm against a known baseline. Choose Gazebo for testing a full robot stack, including cameras and lidar.
There is rarely one winner — many setups use both. The right pick depends on your hardware, your team's skills, and whether you value simplicity or control.
Frequently asked questions
Is Gymnasium or Gazebo easier to use?
Gymnasium is generally the easier of the two to get started with, while Gazebo rewards more setup with more control.
Are Gymnasium and Gazebo free?
Gymnasium is free and open source (MIT), and Gazebo is free and open source (Apache-2.0). Neither charges for the core software.
Can I run Gymnasium and Gazebo locally?
Gymnasium: yes · Gazebo: yes. Both can be used without sending your data to a third-party cloud where their setup allows.
Gymnasium vs Gazebo — which should I pick in 2026?
Choose Gymnasium for learning RL, or benchmarking an algorithm against a known baseline. Choose Gazebo for testing a full robot stack, including cameras and lidar.
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