{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/gzscenic-automatic-scene-generation-for","title":"GzScenic: Automatic Scene Generation for Gazebo Simulator","arxiv_id":"2104.08625","date":"2021-04-17","proceeding":null,"authors":["Afsoon Afzal","Claire Le Goues","Christopher S. Timperley"],"abstract":"Testing robotic and cyberphysical systems in simulation require specifications of the simulated environments (i.e., scenes). The Scenic domain-specific language provides a high-level probabilistic programming language that allows users to specify scenarios for simulation. Scenic automatically generates concrete scenes that can be rendered by simulators. However, Scenic is mainly designed for autonomous vehicle simulation and does not support the most popular general-purpose simulator: Gazebo. In this work, we present GzScenic; a tool that automatically generates scenes for simulation in Gazebo. GzScenic automatically generates both the models required for running Scenic on the scenarios, and the models that Gazebo requires for running the simulation.","url_abs":"https://arxiv.org/abs/2104.08625v1","url_pdf":"https://arxiv.org/pdf/2104.08625v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"gzscenic-automatic-scene-generation-for","repo_url":"https://github.com/squaresLab/GzScenic","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}