# SimForge > SimForge is a driving simulator for autonomous-vehicle research: scenarios in SimForge Worlds (real-world HD maps with their digital twins), closed-loop simulation with reactive traffic, 2D, schematic and photoreal 3D sensor rendering with the Helios Engine, Recast (a recorded drive turned into an editable scenario), and SimForge Gym, a Gymnasium environment for reinforcement learning. One command line, `simforge`, runs everything on your machine, or on SimForge's hosted cloud with `--cloud`. - The `simforge` CLI and SimForge Gym (the `simforge-rl` Gymnasium client) are Apache-2.0. The runtime they drive (simulation engine and renderer) is a closed binary under the PolyForm Noncommercial License 1.0.0; downloading it and the SimForge Worlds maps requires signing in and accepting the SimForge account and download terms, which make usage telemetry a condition of SimForge's services and license the maps for non-commercial use without redistribution. - Every command prints one JSON document on stdout, and a failure prints `{code, path?, reason, hint, detail?}` on stderr. Exit 0 is ok, 1 means the command could not run, 2 means it ran and found something wrong with its input. - `simforge --help --json` prints the whole command surface. Never guess a flag. - Linux x86_64 only. Reinforcement learning runs locally; the cloud runs renders, simulations, Recast log ingestion and transfers, and `simforge datasets pull` downloads hosted datasets as files. ## Get started - [SimForge docs](https://simforge.ai/docs/index.md): 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. - [Quickstart](https://simforge.ai/docs/quickstart.md): From nothing to rendered frames on your own Linux machine - install the CLI, sign in, install the runtime and a map, and render a scenario in 3D and 2D. - [Install the CLI](https://simforge.ai/docs/install.md): Install the simforge command line on Linux, macOS or Windows and check the machine with simforge doctor. - [Sign in and install the runtime](https://simforge.ai/docs/sign-in.md): Sign in with simforge login, accept the runtime's PolyForm Noncommercial license and SimForge's account and download terms, and install the closed runtime that simulates and renders. ## Guides - [SimForge Worlds and assets](https://simforge.ai/docs/maps.md): Download SimForge Worlds (the public maps) with simforge maps pull, fetch the actor models, and manage the local cache. - [Author a scenario](https://simforge.ai/docs/scenarios.md): Create a scenario on an installed map and change it with typed, atomic authoring operations instead of editing JSON by hand. - [Preview and render](https://simforge.ai/docs/render.md): Render a scenario as a 2D top-down video, a schematic view or photoreal 3D sensor data, on your machine or in the cloud. - [Reinforcement learning with SimForge Gym](https://simforge.ai/docs/rl.md): Serve SimForge episodes with simforge env serve and train a policy with SimForge Gym (the open simforge-rl Gymnasium client), on your own machine. - [Run in the cloud](https://simforge.ai/docs/cloud.md): Run the same simforge commands on SimForge's machines with --cloud, price them with --dry-run, cap them with --max-cost, and download the results. - [Getting data out](https://simforge.ai/docs/datasets.md): Pull a hosted dataset, a filter of it or chosen scenarios as files with the CLI, an agent, a link list or the API; resumable, checked and verifiable offline. ## Sensors - [Custom sensor rigs](https://simforge.ai/docs/sensors.md): Bring your own cameras, lidar and radar: the rig file, the vehicle frame and rotation conventions, render profiles, and how to use one rig locally, in the cloud and across scenarios. - [Rig file reference](https://simforge.ai/docs/sensor-reference.md): Every field of a simforge.render-rig/v1 sensor rig, with its type, range, default and units, and what the renderer supports on top. - [Example rigs](https://simforge.ai/docs/sensor-examples.md): Three complete sensor rigs, each rendered end to end on a public map - a front camera, a seven-camera surround rig, and a camera with lidar and radar. - [Sensor outputs](https://simforge.ai/docs/sensor-outputs.md): What a render writes for each camera, lidar and radar - the folder layout, file formats, timestamps, the camera and vehicle poses - and how to load it in Python. - [Sensor performance and troubleshooting](https://simforge.ai/docs/sensor-troubleshooting.md): How sensor count, resolution and passes change render time, GPU memory and cloud price; the limits; and the rig errors you can hit, with their fixes. - [Sensor rig JSON Schema](https://simforge.ai/docs/render-rig.schema.json): `simforge.render-rig/v1`, the file `simforge render --rig` reads and `simforge rig validate` checks. ## Reference - [JSON output, errors and exit codes](https://simforge.ai/docs/output.md): The contract every simforge command keeps - one JSON document on stdout, a structured error on stderr, and exit codes 0, 1 and 2 - so scripts and agents can rely on it. - [Usage telemetry](https://simforge.ai/docs/telemetry.md): What the SimForge runtime reports about how it is used, what it never collects, and how to see the data before it is sent. - [Command reference](https://simforge.ai/docs/cli.md): every `simforge` command, argument and flag (CLI 0.2.0-rc.5), generated from the CLI. - [CLI surface JSON](https://simforge.ai/docs/cli.json): the same reference as `simforge.cli-surface/v1` JSON, exactly what `simforge --help --json` prints. - [Cloud API OpenAPI](https://simforge.ai/docs/openapi.json): the hosted API (`/api/v1`) that `--cloud` uses. ## For agents - [For AI agents](https://simforge.ai/docs/agents.md): Where an AI agent finds the SimForge docs, the machine-readable command surface and API, and the skills pack, and how to drive the CLI safely. - [Agent skills pack](https://simforge.ai/docs/skills.md): Install the SimForge agent skills into Claude Code, Codex or any agent that reads AGENTS.md, from the CLI or as a zip download. - [Skills pack (zip)](https://simforge.ai/docs/simforge-skills.zip): the SimForge agent skills for Claude Code, Codex and AGENTS.md agents. - [Agent sign-in (auth.md)](https://simforge.ai/auth.md): how an agent signs in to the hosted API for a person, without the CLI: register with their email, they approve with a code, then call `/api/v1`. ## Optional - [Everything in one file](https://simforge.ai/llms-full.txt): every page above and the command reference.