SimForge docs

Install the simforge CLI, download the runtime and a map, render a scenario in 2D, schematic or 3D, train a policy with reinforcement learning, and run the same commands in the cloud.

SimForge simulates driving scenarios in SimForge Worlds: real-world HD maps with their digital twins. Traffic reacts to your vehicle, the renderer produces camera images, and SimForge Gym, a Gymnasium environment, lets a learning policy drive. One command line, simforge, does all of it.

How the pieces fit

Piece	What it is	Licence
simforge CLI	The one command line. It prints JSON, so people, scripts and AI agents use it the same way.	Apache-2.0
simforge-gym	SimForge Gym: the Python package for training driving policies (reinforcement learning today).	Apache-2.0
Runtime	The simulation engine and the renderer the CLI drives. A separate download after you sign in.	Closed binary under PolyForm Noncommercial 1.0.0, downloaded under the SimForge account and download terms
SimForge Worlds	Each World is an HD map of a real-world road network and its digital twin, the 3D environment the renderer draws. Downloaded after you sign in.	SimForge account and download terms: non-commercial, no redistribution
Cloud	SimForge Cloud: the same commands with --cloud, run on SimForge’s machines. New accounts start with $25 in free credits.	Paid, with a cost cap on every run

Commercial licences and questions about the license and terms: [e-mail].

Commands run on your machine by default. Add --cloud and the same command runs hosted. Nothing ever switches between the two on its own: a missing runtime or a refused cloud run is an error that names the fix.

From install to first render

The quickstart does all of it in four steps. In more detail:

1. Install the CLI.
2. Sign in and install the runtime.
3. Download a map.
4. Author a scenario with typed operations.
5. Render it in 2D, schematic or 3D.

Then train a policy locally, or run renders in the cloud.

For AI agents

Agents use the same CLI. Start at For AI agents: it lists the machine-readable command surface, the skills pack for Claude Code, Codex and AGENTS.md agents, and /llms.txt.

Get help

simforge doctor checks your machine and prints the fix for each problem it finds. When a command fails unexpectedly or a page is wrong, simforge feedback --attach-last-error "<what you tried, what happened>" sends us a ticket with the failure attached; see Send feedback for exactly what it sends. For anything else, ask on the SimForge Discord or write to [e-mail].