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Showing content from https://github.com/knmcguire/best-of-robot-simulators below:

knmcguire/best-of-robot-simulators: A Best-of-list of Robot Simulators, re-generated weekly on Wednesdays

🏆 A ranked list of awesome projects. Updated weekly.

This curated list contains 140 awesome simulator projects with a total of 400K stars grouped into 11 categories. All projects are ranked by a project-quality score, which is calculated based on various metrics automatically collected from GitHub and different package managers. If you like to add or update projects, feel free to open an issue, submit a pull request, or directly edit the projects.yaml. Contributions are very welcome!

🧙‍♂️ Discover other best-of lists or create your own.

Definition Robotics Simulator

Here is a definition of a robotics simulator derived in this blogpost

A robotic simulator is a software framework that provides a virtual environment, often leveraging different physics/rendering engines and sensor models, to model the robot's behavior, its interaction and perception with the simulated world for design, evaluative or data-generative purposes.

With:

virtual environment - To provide the scenario for the simulated robot to act in, depending on the application, like an indoor building, forest, or lunar landscape.
behavior, its interaction and perception - The simulated entity should be able to interact with and act upon that virtual environment or world through its simulated sensors and actuators.
physics/rendering engines and sensor models - To be able to simulate those interactions and perceptions caused by the robot's behavior, to model how an object will slip while being grasped or the noise of the lidar ranges.
design, evaluative or data-generative - To use this as a development tool, as part of continuous integration to assure quality, or to collect data that can be used for AI training purposes.

Generic Robotics Simulators 23 projects
Robotic simulators in 2D 4 projects
Aerial Robotics Simulators 18 projects
Maritime Robotics Simulators 19 projects
Automotive Simulators 5 projects
Space Robotics Simulators 4 projects
AI training Simulators 24 projects
Other Domain Specific Simulators 5 projects
Game engines 5 projects
Physics Engines 21 projects
Rendering engines 7 projects

🥇🥈🥉 Combined project-quality score
⭐️ Star count from GitHub
🐣 New project (less than 6 months old)
💤 Inactive project (12 months no activity)
💀 Dead project (999999 months no activity)
📈📉 Project is trending up or down
➕ Project was recently added
👨‍💻 Contributors count from GitHub
🔀 Fork count from GitHub
📋 Issue count from GitHub
⏱️ Last update timestamp on package manager
📥 Download count from package manager
📦 Number of dependent projects

Generic Robotics Simulators

Generic simulators, tools or SDKs made for robotics

mujoco (🥇37 · ⭐ 10K) - Multi-Joint dynamics with Contact. A general purpose physics simulator. Apache-2

GitHub (👨‍💻 92 · 🔀 1.1K · 📥 680K · 📦 4.7K · 📋 1.7K - 7% open · ⏱️ 12.08.2025):
```
 git clone https://github.com/google-deepmind/mujoco
```

O3DE for Robotics (🥇30 · ⭐ 8.5K · 📈) - Open 3D Engine (O3DE) is an Apache 2.0-licensed multi-platform 3D engine that enables developers and content creators.. MIT and Apache-2

GitHub (👨‍💻 310 · 🔀 2.3K · 📥 10K · 📋 7.8K - 42% open · ⏱️ 12.08.2025):
```
 git clone https://github.com/o3de/o3de
```

Webots (🥇28 · ⭐ 3.7K) - Webots Robot Simulator. Apache-2

GitHub (👨‍💻 140 · 🔀 1.8K · 📥 1.7M · 📋 1.9K - 11% open · ⏱️ 03.08.2025):
```
 git clone https://github.com/cyberbotics/webots
```

Gazebo (🥈20 · ⭐ 990) - Open source robotics simulator. The latest version of Gazebo. Apache-2

GitHub (👨‍💻 160 · 🔀 320 · 📋 990 - 43% open · ⏱️ 09.08.2025):
```
 git clone https://github.com/gazebosim/gz-sim
```

OpenRAVE (🥈18 · ⭐ 780) - Open Robotics Automation Virtual Environment: An environment for testing, developing, and deploying robotics motion.. Apache-2 and LGPL-3

GitHub (👨‍💻 120 · 🔀 320 · 📋 520 - 57% open · ⏱️ 16.08.2024):
```
 git clone https://github.com/rdiankov/openrave
```

Newton (Physics) (🥈17 · ⭐ 710 · 🐣) - An open-source, GPU-accelerated physics simulation engine built upon NVIDIA Warp, specifically targeting roboticists.. Apache-2

GitHub (👨‍💻 24 · 🔀 65 · 📋 250 - 40% open · ⏱️ 12.08.2025):
```
 git clone https://github.com/newton-physics/newton
```

Unity Robotics Hub (🥈16 · ⭐ 2.3K) - Central repository for tools, tutorials, resources, and documentation for robotics simulation in Unity. Apache-2

GitHub (👨‍💻 13 · 🔀 440 · 📋 200 - 25% open · ⏱️ 26.11.2024):
```
 git clone https://github.com/Unity-Technologies/Unity-Robotics-Hub
```

Ros2 For Unity (🥉15 · ⭐ 560) - High-performance ROS2 solution for Unity3D. Apache-2

GitHub (👨‍💻 12 · 🔀 64 · 📥 7.4K · 📋 93 - 40% open · ⏱️ 30.09.2024):
```
 git clone https://github.com/RobotecAI/ros2-for-unity
```

ARGoS (🥉15 · ⭐ 290) - A parallel, multi-engine simulator for heterogeneous swarm robotics. MIT

GitHub (👨‍💻 25 · 🔀 110 · 📋 130 - 21% open · ⏱️ 03.05.2025):
```
 git clone https://github.com/ilpincy/argos3
```

NVIDIA Isaac Sim (🥉14 · ⭐ 1.2K · 🐣) - NVIDIA Isaac Sim is an open-source application on NVIDIA Omniverse for developing, simulating, and testing AI-driven.. Apache 2.0 and NVIDIA Omniverse License Agreement

GitHub (👨‍💻 5 · 🔀 140 · 📋 91 - 46% open · ⏱️ 08.08.2025):
```
 git clone https://github.com/isaac-sim/IsaacSim
```

ROS1 Intergration for Unreal 4 (🥉14 · ⭐ 440) - Unreal Engine Plugin to enable ROS Support. MIT

GitHub (👨‍💻 32 · 🔀 130 · 📋 130 - 39% open · ⏱️ 11.02.2025):
```
 git clone https://github.com/code-iai/ROSIntegration
```

CoppeliaSim core library (🥉12 · ⭐ 120) - CoppeliaSim core library. gnu-gpl

GitHub (👨‍💻 3 · 🔀 43 · 📋 21 - 14% open · ⏱️ 01.08.2025):
```
 git clone https://github.com/CoppeliaRobotics/coppeliaSimLib
```

Robwork (🥉8 · ⭐ 33 · 💤) - RobWork is a collection of C++ libraries for simulation and control of robot systems, see http://robwork.dk To get.. Apache-2

GitLab (🔀 39 · 📋 110 - 15% open · ⏱️ 07.04.2016):
```
 git clone https://gitlab.com/sdurobotics/RobWork
```

SimSpark (🥉7 · ⭐ 21) - A generic physical simulator. Missing

GitLab (🔀 8 · 📋 56 - 51% open · ⏱️ 13.10.2017):
```
 git clone https://gitlab.com/robocup-sim/SimSpark
```

CoppeliaSim (🥉1) - Proprietary Software License

No project information available.

RobotBuilder (🥉1) - Commercial software

No project information available.

RoboDK (🥉1) - proprietary license

No project information available.

MATLAB Robotics Systems Toolbox (🥉1) - Proprietary Software License

No project information available.

RoSi (🥉1) - Proprietary Software License

No project information available.

Show 4 hidden projects...

Gazebo Classic (🥈21 · ⭐ 1.3K) - Gazebo classic. For the latest version, see https://github.com/gazebosim/gz-sim. Apache-2
Roboschool (🥈20 · ⭐ 2.2K · 💤) - DEPRECATED: Open-source software for robot simulation, integrated with OpenAI Gym. MIT
Morse (🥈16 · ⭐ 360 · 💤) - The Modular OpenRobots Simulation Engine. OFL-1.1
Simbad (🥉1) - GNU-gpl2

Robotic simulators that only work in a 2D environment, for instance navigation

IR-SIM (🥇21 · ⭐ 570) - A Python based lightweight robot simulator for the development of algorithms in robotics navigation, control, and.. MIT

GitHub (👨‍💻 9 · 🔀 69 · 📦 12 · 📋 30 - 13% open · ⏱️ 09.08.2025):
```
 git clone https://github.com/hanruihua/ir-sim
```
PyPi:

pyrobosim (🥈18 · ⭐ 340) - ROS 2 enabled 2D mobile robot simulator for behavior prototyping. MIT

GitHub (👨‍💻 18 · 🔀 59 · 📦 7 · 📋 120 - 4% open · ⏱️ 11.08.2025):
```
 git clone https://github.com/sea-bass/pyrobosim
```
PyPi:

mvsim (🥉16 · ⭐ 340) - Vehicle and mobile robotics simulator. C++ & Python API. Use it as a standalone application or via ROS 1 or ROS 2. BSD-3

GitHub (👨‍💻 9 · 🔀 50 · 📋 28 - 28% open · ⏱️ 06.07.2025):
```
 git clone https://github.com/MRPT/mvsim
```

Flatland (🥉12 · ⭐ 120 · 💤) - A 2D robot simulator for ROS. BSD-3

GitHub (👨‍💻 14 · 🔀 41 · 📋 26 - 50% open · ⏱️ 07.05.2024):
```
 git clone https://github.com/avidbots/flatland
```

Aerial Robotics Simulators

Simulator frameworks made especially for aerial robotics

Cosys-AirSim (🥇20 · ⭐ 200) - AirSim is a simulator for drones, cars and more, built on Unreal Engine. We expand it with new implementations and.. MIT

GitHub (👨‍💻 260 · 🔀 72 · 📥 4.8K · 📋 75 - 49% open · ⏱️ 16.04.2025):
```
 git clone https://github.com/Cosys-Lab/Cosys-AirSim
```

RotorS (🥈18 · ⭐ 1.4K · 💤) - RotorS is a UAV gazebo simulator. MIT

GitHub (👨‍💻 49 · 🔀 680 · 📋 380 - 42% open · ⏱️ 06.07.2021):
```
 git clone https://github.com/ethz-asl/rotors_simulator
```

Flightmare (🥈17 · ⭐ 1.2K · 💤) - An Open Flexible Quadrotor Simulator. MIT

GitHub (👨‍💻 7 · 🔀 360 · 📥 5.5K · 📋 170 - 65% open · ⏱️ 15.05.2023):
```
 git clone https://github.com/uzh-rpg/flightmare
```

Gym Pybullet Drones (🥈16 · ⭐ 1.6K) - PyBullet Gymnasium environments for single and multi-agent reinforcement learning of quadcopter control. MIT

GitHub (👨‍💻 17 · 🔀 430 · 📋 220 - 50% open · ⏱️ 30.06.2025):
```
 git clone https://github.com/utiasDSL/gym-pybullet-drones
```

Pegasus Simulator (🥈16 · ⭐ 520) - A framework built on top of NVIDIA Isaac Sim for simulating drones with PX4 support and much more. BSD-3

GitHub (👨‍💻 4 · 🔀 92 · 📋 52 - 38% open · ⏱️ 20.07.2025):
```
 git clone https://github.com/PegasusSimulator/PegasusSimulator
```

FlightGoggles (🥈15 · ⭐ 430 · 💤) - A framework for photorealistic hardware-in-the-loop agile flight simulation using Unity3D and ROS. Developed by MIT.. MIT

GitHub (👨‍💻 9 · 🔀 97 · 📥 1.6K · 📋 170 - 11% open · ⏱️ 01.04.2024):
```
 git clone https://github.com/mit-aera/FlightGoggles
```

Aerial Gym Simulator (🥉14 · ⭐ 540) - Aerial Gym Simulator - Isaac Gym Simulator for Aerial Robots. BSD-3

GitHub (👨‍💻 4 · 🔀 85 · 📋 38 - 23% open · ⏱️ 07.07.2025):
```
 git clone https://github.com/ntnu-arl/aerial_gym_simulator
```

rotorpy (🥉14 · ⭐ 180) - A multirotor simulator with aerodynamics for education and research. MIT

GitHub (👨‍💻 5 · 🔀 41 · 📥 11 · 📋 17 - 5% open · ⏱️ 07.08.2025):
```
 git clone https://github.com/spencerfolk/rotorpy
```

jMAVSim (🥉14 · ⭐ 94 · 💤) - Simple multirotor simulator with MAVLink protocol support. BSD-3

GitHub (👨‍💻 28 · 🔀 210 · 📋 52 - 30% open · ⏱️ 17.12.2021):
```
 git clone https://github.com/PX4/jMAVSim
```

CrazyS (🥉13 · ⭐ 170 · 💤) - CrazyS is an extension of the ROS package RotorS, aimed to modeling, developing and integrating the Crazyflie 2.0. Apache-2

GitHub (👨‍💻 2 · 🔀 84 · 📋 88 - 10% open · ⏱️ 11.08.2022):
```
 git clone https://github.com/gsilano/CrazyS
```

Isaac Drone Racer (🥉10 · ⭐ 110 · 🐣) - Isaac Drone Racer is a reinforcement learning framework for high speed autonomous drone racing, built on top of.. BSD-3

GitHub (🔀 22 · 📋 3 - 33% open · ⏱️ 20.06.2025):

 git clone https://github.com/kousheekc/isaac_drone_racer

Flightgear (🥉8 · ⭐ 54 · 💤) - FlightGear open-source flight simulator [flightgear.org](https://www.flightgear.org). gnu-gpl2

GitLab (🔀 39 · 📋 320 - 48% open · ⏱️ 04.03.2015):
```
 git clone https://gitlab.com/flightgear/flightgear
```

RotorTM (🥉6 · ⭐ 71 · 💤) - GPL-3.0

GitHub (👨‍💻 3 · 🔀 14 · 📋 4 - 50% open · ⏱️ 09.06.2024):
```
 git clone https://github.com/arplaboratory/RotorTM
```

swarm_sync_sim (🥉6 · ⭐ 11) - swarm_sync_sim (also known as sss) is an ultra-lightweight, ROS-based simulator for robotic swarms, including.. BSD-3

GitHub (👨‍💻 6 · 🔀 1 · ⏱️ 18.03.2025):

 git clone https://github.com/shupx/swarm_sync_sim

Matlab UAV Toolbox (🥉1) - MathWorks Software License Agreement

No project information available.

Realflight (🥉1) - proprietary software license

No project information available.

X-plane (🥉1) - proprietary license

No project information available.

Show 1 hidden projects...

airsim (🥇31 · ⭐ 17K) - Open source simulator for autonomous vehicles built on Unreal Engine / Unity, from Microsoft AI & Research. MIT

Maritime Robotics Simulators

Simulator frameworks made especially for maritime robotics

Virtual RobotX (🥇21 · ⭐ 540) - Virtual RobotX (VRX) resources. Apache-2

GitHub (👨‍💻 36 · 🔀 230 · 📋 550 - 7% open · ⏱️ 24.07.2025):
```
 git clone https://github.com/osrf/vrx
```

DAVE (🥈15 · ⭐ 250 · 💤) - Project DAVE. Apache-2

GitHub (👨‍💻 25 · 🔀 70 · 📋 130 - 23% open · ⏱️ 04.12.2023):
```
 git clone https://github.com/Field-Robotics-Lab/dave
```

Stonefish (🥈15 · ⭐ 170) - Stonefish - an advanced C++ simulation library designed for (but not limited to) marine robotics. GPL-3.0

GitHub (👨‍💻 11 · 🔀 37 · 📋 37 - 16% open · ⏱️ 10.06.2025):
```
 git clone https://github.com/patrykcieslak/stonefish
```

UNav-Sim (🥈14 · ⭐ 230) - Visually Realistic Underwater Robotics Simulator UNav-Sim. MIT

GitHub (👨‍💻 250 · 🔀 21 · 📋 14 - 14% open · ⏱️ 02.05.2025):
```
 git clone https://github.com/open-airlab/UNav-Sim
```

SMaRC 2 (🥈14 · ⭐ 10) - smarc ros2-humble main repository. BSD-3-Clause and MIT

GitHub (👨‍💻 22 · 🔀 26 · 📥 43 · 📋 26 - 34% open · ⏱️ 12.08.2025):
```
 git clone https://github.com/smarc-project/smarc2
```

Moos-ivp (🥉11 · ⭐ 27) - MOOS-IvP is a set of modules for providing autonomy on robotic platforms, in particular autonomous marine vehicles. GPLv3 LGPLv3 and Commercial

GitHub (👨‍💻 17 · 🔀 20 · 📋 11 - 54% open · ⏱️ 11.08.2025):
```
 git clone https://github.com/moos-ivp/moos-ivp
```

Ocean Sim (🥉10 · ⭐ 260 · 🐣) - [IROS 2025] OceanSim: A GPU-Accelerated Underwater Robot Perception Simulation Framework. BSD-3

GitHub (👨‍💻 4 · 🔀 30 · 📋 11 - 54% open · ⏱️ 21.06.2025):
```
 git clone https://github.com/umfieldrobotics/OceanSim
```

HoloOcean (🥉10 · ⭐ 50) - A UE5 based simulator for marine perception and autonomy, with multi-agent communications and many common underwater.. MIT and Unreal Engine EULA

GitHub (👨‍💻 8 · 🔀 21 · 📋 150 - 18% open · ⏱️ 14.05.2025):
```
 git clone https://github.com/byu-holoocean/HoloOcean
```

MARUSimulator (🥉7 · ⭐ 20) - Marine simulator core assets for Unity. Apache-2

GitHub (👨‍💻 8 · 🔀 4 · 📋 5 - 40% open · ⏱️ 07.02.2025):
```
 git clone https://github.com/MARUSimulator/marus-core
```

Show 10 hidden projects...

UUV Simulator (🥇16 · ⭐ 790 · 💤) - Gazebo/ROS packages for underwater robotics simulation. Apache-2
UWSim (🥈12 · ⭐ 110 · 💤) - UWSim-NET, the Underwater Simulator. GNU-gpl
UWSim-NET (🥉11 · ⭐ 110 · 💤) - UWSim-NET, the Underwater Simulator. Unlicensed
LRAUV (🥉10 · ⭐ 71) - Packages for simulating the Tethys-class Long-Range AUV (LRAUV) from the Monterey Bay Aquarium Research Institute.. Apache-2
Freefloating (🥉9 · ⭐ 74 · 💤) - A Gazebo plugin to simulate underwater vehicles and visualize with UWsim. MIT
URSim (🥉8 · ⭐ 66 · 💤) - Simulator for Unmanned Underwater Vehicles using ROS and Unity3D. Apache-2
MARS (🥉7 · ⭐ 12 · 💤) - MArine Robotics Simulator - An online Hardware-in-the-Loop simulation environment for multiple AUVs and ASVs. BSD-3
ds sim - Unlicensed
USARSim - Unlicensed
UW-Morse (🥉-1 · ⭐ 1 · 💤) - Unlicensed

Simulator frameworks made especially for automotive

Carla (🥇32 · ⭐ 13K) - Open-source simulator for autonomous driving research. MIT

GitHub (👨‍💻 180 · 🔀 4K · 📦 1.1K · 📋 6.1K - 18% open · ⏱️ 08.08.2025):
```
 git clone https://github.com/carla-simulator/carla
```

ESMINI (🥈25 · ⭐ 860) - a basic OpenSCENARIO player. MPL-2.0

GitHub (👨‍💻 85 · 🔀 230 · 📥 28K · 📋 580 - 31% open · ⏱️ 08.07.2025):
```
 git clone https://github.com/esmini/esmini
```

AWSim (🥉24 · ⭐ 600) - Open source simulator for self-driving vehicles. Apache-2

GitHub (👨‍💻 32 · 🔀 97 · 📥 65K · 📋 110 - 32% open · ⏱️ 07.08.2025):
```
 git clone https://github.com/tier4/AWSIM
```

Show 2 hidden projects...

SVL Simulator (🥉21 · ⭐ 2.4K · 💤) - A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles. Unlicensed
Self Driving Car (🥉19 · ⭐ 4K · 💤) - A self-driving car simulator built with Unity. MIT

Space Robotics Simulators

Simulator frameworks made especially for space robotics

Basilisk (🥇22 · ⭐ 230) - Astrodynamics simulation framework. ISC

GitHub (👨‍💻 110 · 🔀 79 · 📋 380 - 23% open · ⏱️ 12.08.2025):
```
 git clone https://github.com/AVSLab/basilisk
```

Astrobee (🥈20 · ⭐ 1.2K · 💤) - NASA Astrobee Robot Software. Apache-2

GitHub (👨‍💻 22 · 🔀 340 · 📋 210 - 6% open · ⏱️ 03.07.2024):
```
 git clone https://github.com/NASA/astrobee
```

OmiLRS (🥉10 · ⭐ 110) - Omniverse Lunar Robotics Simulator. BSD-3

GitHub (👨‍💻 8 · 🔀 24 · 📋 23 - 39% open · ⏱️ 23.07.2025):
```
 git clone https://github.com/OmniLRS/OmniLRS
```

LunarSim (🥉5 · ⭐ 42 · 💤) - LunarSim: Lunar Rover Simulator Focused on High Visual Fidelity and ROS 2 Integration for Advanced Computer Vision.. Missing

GitHub (👨‍💻 2 · 🔀 6 · 📥 330 · 📋 4 - 50% open · ⏱️ 07.12.2023):
```
 git clone https://github.com/PUTvision/LunarSim
```

Simulations made for training for AI-agents like reinforcement learning

Gymnasium (🥇32 · ⭐ 9.9K) - An API standard for single-agent reinforcement learning environments, with popular reference environments and related.. MIT

GitHub (👨‍💻 550 · 🔀 1.1K · 📦 20K · 📋 540 - 12% open · ⏱️ 12.08.2025):
```
 git clone https://github.com/Farama-Foundation/Gymnasium
```
PyPi:

Genesis (🥇29 · ⭐ 27K) - A generative world for general-purpose robotics & embodied AI learning. Apache-2

GitHub (👨‍💻 63 · 🔀 2.4K · 📦 96 · 📋 760 - 14% open · ⏱️ 13.08.2025):
```
 git clone https://github.com/Genesis-Embodied-AI/Genesis
```

NVIDIA Isaac Sim Isaac Lab (🥈27 · ⭐ 4.6K) - Unified framework for robot learning built on NVIDIA Isaac Sim. BSD-3

GitHub (👨‍💻 140 · 🔀 2.1K · 📋 1.7K - 14% open · ⏱️ 12.08.2025):
```
 git clone https://github.com/isaac-sim/IsaacLab
```

AI2-thor (🥈24 · ⭐ 1.5K) - An open-source platform for Visual AI. Apache-2

GitHub (👨‍💻 49 · 🔀 250 · 📦 380 · 📋 640 - 41% open · ⏱️ 29.05.2025):
```
 git clone https://github.com/allenai/ai2thor
```

ManiSkill (🥈22 · ⭐ 1.9K) - SAPIEN Manipulation Skill Framework, an open source GPU parallelized robotics simulator and benchmark, led by Hillbot,.. Apache-2

GitHub (👨‍💻 48 · 🔀 320 · 📋 660 - 14% open · ⏱️ 04.08.2025):
```
 git clone https://github.com/haosulab/ManiSkill
```

Habitat Sim (🥈20 · ⭐ 3.1K) - A flexible, high-performance 3D simulator for Embodied AI research. MIT

GitHub (👨‍💻 62 · 🔀 460 · 📋 830 - 23% open · ⏱️ 24.04.2025):
```
 git clone https://github.com/facebookresearch/habitat-sim
```

jaxsim (🥈20 · ⭐ 140) - A differentiable physics engine and multibody dynamics library for control and robot learning. BSD-3

GitHub (👨‍💻 13 · 🔀 17 · 📦 3 · 📋 72 - 19% open · ⏱️ 04.08.2025):
```
 git clone https://github.com/ami-iit/jaxsim
```
PyPi:
Conda (📥 10K · ⏱️ 29.04.2025):
```
 conda install -c conda-forge jaxsim
```

Sapien (🥈19 · ⭐ 620) - SAPIEN Embodied AI Platform. Unlicensed

GitHub (👨‍💻 15 · 🔀 54 · 📥 3.9K · 📦 230 · 📋 200 - 28% open · ⏱️ 17.07.2025):
```
 git clone https://github.com/haosulab/SAPIEN
```

MuJoCo playground (🥈18 · ⭐ 1.3K) - An open-source library for GPU-accelerated robot learning and sim-to-real transfer. Apache-2

GitHub (🔀 170 · 📋 100 - 22% open · ⏱️ 01.08.2025):

 git clone https://github.com/google-deepmind/mujoco_playground/

Holodeck (🥉17 · ⭐ 590 · 💤) - High Fidelity Simulator for Reinforcement Learning and Robotics Research. MIT

GitHub (👨‍💻 19 · 🔀 42 · 📦 10 · 📋 240 - 20% open · ⏱️ 30.04.2021):
```
 git clone https://github.com/BYU-PCCL/holodeck
```

K-Sim (🥉17 · ⭐ 190) - RL training library for humanoid locomotion and manipulation. Built on top of MuJoCo and JAX. MIT

GitHub (👨‍💻 8 · 🔀 25 · 📋 27 - 55% open · ⏱️ 10.08.2025):
```
 git clone https://github.com/kscalelabs/ksim
```
PyPi:

LocoMuJoCo (🥉16 · ⭐ 1.1K) - Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo. MIT

GitHub (👨‍💻 13 · 🔀 120 · 📦 8 · 📋 64 - 43% open · ⏱️ 30.05.2025):
```
 git clone https://github.com/robfiras/loco-mujoco
```

MetaDrive (🥉16 · ⭐ 970) - MetaDrive: Lightweight driving simulator for everyone. Apache-2

GitHub (🔀 140 · 📥 47K · 📋 390 - 21% open · ⏱️ 12.05.2025):
```
 git clone https://github.com/metadriverse/metadrive/
```

RoboVerse (🥉15 · ⭐ 1.4K · 🐣) - RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning. Apache-2

GitHub (👨‍💻 25 · 🔀 110 · 📥 1 · 📋 140 - 47% open · ⏱️ 12.08.2025):
```
 git clone https://github.com/RoboVerseOrg/RoboVerse
```

Gibson (🥉15 · ⭐ 920 · 💤) - Gibson Environments: Real-World Perception for Embodied Agents. MIT

GitHub (👨‍💻 9 · 🔀 140 · 📋 120 - 39% open · ⏱️ 12.05.2021):
```
 git clone https://github.com/StanfordVL/GibsonEnv
```

Safe Control Gym (🥉15 · ⭐ 750 · 📈) - PyBullet CartPole and Quadrotor environmentswith CasADi symbolic a priori dynamicsfor learning-based control and RL. MIT

GitHub (👨‍💻 20 · 🔀 130 · 📋 57 - 12% open · ⏱️ 07.08.2025):
```
 git clone https://github.com/utiasDSL/safe-control-gym
```

PyRep (🥉15 · ⭐ 740 · 💤) - A toolkit for robot learning research. MIT

GitHub (👨‍💻 20 · 🔀 160 · 📋 300 - 0% open · ⏱️ 02.07.2024):
```
 git clone https://github.com/stepjam/PyRep
```

ProcTHOR (🥉14 · ⭐ 380 · 💤) - Scaling Embodied AI by Procedurally Generating Interactive 3D Houses. Apache-2

GitHub (👨‍💻 6 · 🔀 32 · 📦 13 · 📋 51 - 84% open · ⏱️ 14.12.2022):
```
 git clone https://github.com/allenai/procthor
```

Deepdrive (🥉12 · ⭐ 920 · 💤) - Deepdrive is a simulator that allows anyone with a PC to push the state-of-the-art in self-driving. Unlicensed

GitHub (👨‍💻 6 · 🔀 150 · 📋 64 - 54% open · ⏱️ 29.06.2020):
```
 git clone https://github.com/deepdrive/deepdrive
```

RoboCasa (🥉12 · ⭐ 880) - RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots. MIT

GitHub (🔀 92 · 📋 140 - 25% open · ⏱️ 23.04.2025):
```
 git clone https://github.com/robocasa/robocasa
```

PyBullet Gym (🥉11 · ⭐ 860 · 💤) - Open-source implementations of OpenAI Gym MuJoCo environments for use with the OpenAI Gym Reinforcement Learning.. MIT

GitHub (👨‍💻 14 · 🔀 120 · 📋 57 - 52% open · ⏱️ 29.03.2021):
```
 git clone https://github.com/benelot/pybullet-gym
```

Arnold (🥉9 · ⭐ 170 · 💤) - [ICCV 2023] Official code repository for ARNOLD benchmark. MIT

GitHub (👨‍💻 3 · 🔀 15 · 📋 53 - 9% open · ⏱️ 01.04.2024):
```
 git clone https://github.com/arnold-benchmark/arnold
```

Reinforcement Learning Toolbox (🥉1) - Proprietary Software License

No project information available.

Show 1 hidden projects...

Gym (🥇33 · ⭐ 36K · 💤) - A toolkit for developing and comparing reinforcement learning algorithms. MIT

Other Domain Specific Simulators

Robotic simulators build for other domains like automotive or space robotics

AutoDRIVE Simulator (🥇13 · ⭐ 110) - An Integrated Cyber-Physical Ecosystem for Autonomous Driving Research and Education. BSD-2

GitHub (👨‍💻 3 · 🔀 22 · 📥 2.1K · ⏱️ 23.12.2024):
```
 git clone https://github.com/Tinker-Twins/AutoDRIVE
```

Strech MuJoCo (🥈12 · ⭐ 50) - This library provides a simulation stack for Stretch, built on MuJoCo. BSD-3-Clause-Clear

GitHub (👨‍💻 6 · 🔀 15 · 📋 47 - 40% open · ⏱️ 25.06.2025):
```
 git clone https://github.com/hello-robot/stretch_mujoco
```

Graspit! (🥉11 · ⭐ 200 · 💤) - The GraspIt! simulator. Unlicensed

GitHub (👨‍💻 25 · 🔀 79 · 📥 110 · 📋 76 - 43% open · ⏱️ 10.07.2020):
```
 git clone https://github.com/graspit-simulator/graspit
```

Stewart Platform Simulator (🥉7 · ⭐ 38) - The RAW inverse kinematics library for Stewart Platforms written in JavaScript. MIT

GitHub (🔀 15 · 📦 4 · ⏱️ 11.07.2025):

 git clone https://github.com/rawify/Stewart.js

Roadrunner (🥉1) - Proprietary Software License

No project information available.

3D engines made for games but can be interfaced with robotic frameworks

Godot (🥇45 · ⭐ 100K) - Godot Engine Multi-platform 2D and 3D game engine. MIT

GitHub (👨‍💻 3.4K · 🔀 22K · 📥 11M · 📦 21 · 📋 58K - 20% open · ⏱️ 12.08.2025):
```
 git clone https://github.com/godotengine/godot
```

Bevy (🥈39 · ⭐ 41K) - A refreshingly simple data-driven game engine built in Rust. Apache-2

GitHub (👨‍💻 1.4K · 🔀 4K · 📦 25K · 📋 7.2K - 33% open · ⏱️ 13.08.2025):
```
 git clone https://github.com/bevyengine/bevy
```

O3DE (🥉30 · ⭐ 8.5K · 📈) - Open 3D Engine (O3DE) is an Apache 2.0-licensed multi-platform 3D engine that enables developers and content creators.. MIT and Apache-2

GitHub (👨‍💻 310 · 🔀 2.3K · 📥 10K · 📋 7.8K - 42% open · ⏱️ 12.08.2025):
```
 git clone https://github.com/o3de/o3de
```

Unity (🥉1) - Unity Subscription Plans

No project information available.

Unreal Engine (🥉1) - EULA

No project information available.

Physics Engines that simulate multi-joint dynamics, gravity etc

Drake (🥇32 · ⭐ 3.7K) - Model-based design and verification for robotics. BSD-3

GitHub (👨‍💻 270 · 🔀 1.2K · 📥 130K · 📋 6.5K - 10% open · ⏱️ 12.08.2025):
```
 git clone https://github.com/RobotLocomotion/drake
```

Project CHRONO (🥇28 · ⭐ 2.5K) - High-performance C++ library for multiphysics and multibody dynamics simulations. BSD-3

GitHub (👨‍💻 130 · 🔀 500 · 📥 8.9K · 📋 320 - 31% open · ⏱️ 13.08.2025):
```
 git clone https://github.com/projectchrono/chrono
```

Bullet Physics SDK (🥇27 · ⭐ 14K) - Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects,.. zlib

GitHub (👨‍💻 310 · 🔀 2.9K · 📥 5.6K · 📦 21 · 📋 2K - 11% open · ⏱️ 23.04.2025):
```
 git clone https://github.com/bulletphysics/bullet3
```

BRAX (🥈26 · ⭐ 2.8K) - Massively parallel rigidbody physics simulation on accelerator hardware. Apache-2

GitHub (👨‍💻 43 · 🔀 300 · 📦 520 · 📋 390 - 21% open · ⏱️ 01.08.2025):
```
 git clone https://github.com/google/brax
```

Avian 3D (🥈25 · ⭐ 2.3K · 📉) - ECS-driven 2D and 3D physics engine for the Bevy game engine. Apache-2

GitHub (👨‍💻 66 · 🔀 170 · 📦 340 · 📋 320 - 43% open · ⏱️ 10.08.2025):
```
 git clone https://github.com/Jondolf/avian
```

JSBSim (🥈24 · ⭐ 1.7K) - An open source flight dynamics & control software library. LGPL-2.1

GitHub (👨‍💻 70 · 🔀 490 · 📥 30K · 📋 360 - 10% open · ⏱️ 07.08.2025):
```
 git clone https://github.com/JSBSim-Team/jsbsim
```

Simbody (🥈22 · ⭐ 2.4K) - High-performance C++ multibody dynamics/physics library for simulating articulated biomechanical and mechanical.. Apache-2

GitHub (👨‍💻 61 · 🔀 470 · 📋 340 - 40% open · ⏱️ 04.08.2025):
```
 git clone https://github.com/simbody/simbody
```

DART (🥈22 · ⭐ 990) - DART: Dynamic Animation and Robotics Toolkit. BSD-2

GitHub (👨‍💻 73 · 🔀 280 · 📦 8 · 📋 670 - 23% open · ⏱️ 09.08.2025):
```
 git clone https://github.com/dartsim/dart
```

MuJoCo Wrap (🥈18 · ⭐ 670 · 🐣) - GPU-optimized version of the MuJoCo physics simulator, designed for NVIDIA hardware. Apache-2

GitHub (👨‍💻 23 · 🔀 64 · 📋 170 - 30% open · ⏱️ 13.08.2025):
```
 git clone https://github.com/google-deepmind/mujoco_warp
```

PhysX 5 (🥉16 · ⭐ 4.1K) - NVIDIA PhysX SDK. BSD-3

GitHub (👨‍💻 7 · 🔀 490 · 📋 160 - 24% open · ⏱️ 22.07.2025):
```
 git clone https://github.com/NVIDIA-Omniverse/PhysX
```

PhysX SDK (legacy) (🥉15 · ⭐ 3.4K · 💤) - NVIDIA PhysX SDK. NVIDIA Omniverse License Agreement

GitHub (👨‍💻 3 · 🔀 780 · 📋 620 - 50% open · ⏱️ 09.11.2022):
```
 git clone https://github.com/NVIDIAGameWorks/PhysX
```

TPE (part of gz-physics) (🥉15 · ⭐ 72) - Abstract physics interface designed to support simulation and rapid development of robot applications. Apache-2

GitHub (👨‍💻 47 · 🔀 47 · 📋 150 - 50% open · ⏱️ 06.08.2025):
```
 git clone https://github.com/gazebosim/gz-physics
```

RaiSim (🥉14 · ⭐ 380) - Visit www.raisim.com. Proprietary Software License

GitHub (👨‍💻 16 · 🔀 98 · 📥 220 · 📋 400 - 14% open · ⏱️ 19.05.2025):
```
 git clone https://github.com/raisimTech/raisimlib
```

ODE (🥉11 · ⭐ 170 · 💤) - Open Dynamics Engine (ODE) github mirror from https://bitbucket.org/odedevs/ode. gnu-gpl and BSD-3-clause

GitHub (👨‍💻 34 · 🔀 34 · 📋 3 - 66% open · ⏱️ 14.01.2024):
```
 git clone https://github.com/thomasmarsh/ODE
```

FleX (🥉9 · ⭐ 730 · 💤) - Nvidia Software License

GitHub (👨‍💻 2 · 🔀 99 · 📋 130 - 68% open · ⏱️ 15.04.2021):
```
 git clone https://github.com/NVIDIAGameWorks/FleX
```

PyFleX (🥉7 · ⭐ 130 · 💤) - Customized Python APIs for NVIDIA FleX. Nvidia Software License

GitHub (🔀 27 · 📋 10 - 40% open · ⏱️ 17.08.2021):
```
 git clone https://github.com/YunzhuLi/PyFleX
```

AGX Dynamics by Algoryx (🥉2) - AGX Dynamics, by Algoryx, is a modular physics simulation toolkit available in C++, C# and Python, on Windows, Mac and.. Proprietary Software License

No project information available.

Vortex (🥉1) - EULA

No project information available.

Newton Dynamics (🥉1) - zlib

GitHub:

 git clone https://github.com/newton-dynamics/newton-dynamics

Havok Physics (🥉1) - Per-title licensing model

No project information available.

Simscape (🥉1) - Proprietary Software License

No project information available.

Rendering engines for robotic simulators

Atom (🥇30 · ⭐ 8.5K · 📈) - Open 3D Engine (O3DE) is an Apache 2.0-licensed multi-platform 3D engine that enables developers and content creators.. Apache-2.0 and MIT

GitHub (👨‍💻 310 · 🔀 2.3K · 📥 10K · 📋 7.8K - 42% open · ⏱️ 12.08.2025):
```
 git clone https://github.com/o3de/o3de
```

OGRE (🥈28 · ⭐ 4.3K) - scene-oriented, flexible 3D engine (C++, Python, C#, Java). MIT

GitHub (👨‍💻 340 · 🔀 1K · 📥 3.7K · 📋 910 - 15% open · ⏱️ 24.07.2025):
```
 git clone https://github.com/OGRECave/ogre
```

Wren (Webots) (🥈28 · ⭐ 3.7K) - Webots Robot Simulator. Apache-2

GitHub (👨‍💻 140 · 🔀 1.8K · 📥 1.7M · 📋 1.9K - 11% open · ⏱️ 03.08.2025):
```
 git clone https://github.com/cyberbotics/webots
```

Vulkan (🥉24 · ⭐ 3.4K) - Open-Source Vulkan C++ API. Apache-2

GitHub (👨‍💻 94 · 🔀 330 · 📋 630 - 1% open · ⏱️ 12.08.2025):
```
 git clone https://github.com/KhronosGroup/Vulkan-Hpp
```

OpenGL (🥉24 · ⭐ 3.4K) - Open-Source Vulkan C++ API. Apache-2

GitHub (👨‍💻 94 · 🔀 330 · 📋 630 - 1% open · ⏱️ 12.08.2025):
```
 git clone https://github.com/KhronosGroup/Vulkan-Hpp
```

PyRender (🥉20 · ⭐ 1.4K · 💤) - Easy-to-use glTF 2.0-compliant OpenGL renderer for visualization of 3D scenes. MIT

GitHub (👨‍💻 23 · 🔀 240 · 📦 3.1K · 📋 240 - 68% open · ⏱️ 30.04.2022):
```
 git clone https://github.com/mmatl/pyrender
```
PyPi:

Unity Rendering Plugin (🥉13 · ⭐ 900) - C++ Rendering Plugin example for Unity. MIT

GitHub (👨‍💻 13 · 🔀 180 · 📋 29 - 89% open · ⏱️ 07.05.2025):
```
 git clone https://github.com/Unity-Technologies/NativeRenderingPlugin
```

Aerial Robotics Landscape - Simulation: A linking website to all kinds of aerial robotic tooling
Awesome Weekly Robotics list: All kinds of useful links as featured in Weekly Robotics
ROS discourse: shared simulators with the ROS community
Awesome Robotics by Kiloreux A list of awesome robotics resources
Awesome Robotics by ahundt
Awesome ros2 by fkromer
Awesome robotic tooling
Awesome robotics projects by mjyc
Awesome LLM Robotics by GT-RIPL:
Best-of lists: Discover other best-of lists with awesome open-source projects on all kinds of topics.
Robot-manipulation.org simulator list

Navigating through the Robotic Simulation Landscape: The blogpost by Kimberly McGuire that started this list
Ekumen at FOSDEM 2025: Accelerating robotics development through simulation: The blogpost by Ekumen about robotic simulation.

FOSDem 2025 Robotics and Simulation: Talk about an overview of robotic simulators

C. A. Dimmig et al., "Survey of Simulators for Aerial Robots: An Overview and In-Depth Systematic Comparisons," in IEEE Robotics & Automation Magazine, doi: 10.1109/MRA.2024.3433171 ArXiv
Player, Timothy R., et al. "From concept to field tests: Accelerated development of multi-AUV missions using a high-fidelity faster-than-real-time simulator." 2023 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2023. ArXiv

Those that contributed to this list, proposed updates or have suggested new projects:

Kimberly McGuire (@knmcguire)
Mat Sadowski (@msadowski)
Sebastian Castro (@sea-bass)
Marek Kraft (@PUTvision)
Fatemeh Pourhashem (?)
Ramon Roche (@mrpollo)
Robert Eisele (@infusion)
Silvio Traversaro (@traversaro)
Hugo Börjesson (@hugoberjesson)
Neeraj Cherakara (@iamnambiar)
@jmackay2
Christoph Kammer (@ckammer87)
Gokul Puthumanaillam (@gokulp01)
Spicer Bak (@SBFRF)
Mabel Zhang (@mabelzhang)
Pedro Roque (@pPedro-Roque)
Özer Özkahraman (@KKalem)
Pierre Kancier (@khancyr)
Tanmay/Chinmay Samak (@Tinker-Twins)
Peixuan Shu (@Peixuan Shu)
Jennifer Buehler (@JenniferBuehler)
@MiaoDX

Contributions are encouraged and always welcome! If you like to add or update projects, choose one of the following ways:

Open an issue by selecting one of the provided categories from the issue page and fill in the requested information.
Modify the projects.yaml with your additions or changes, and submit a pull request. This can also be done directly via the Github UI.

If you like to contribute to or share suggestions regarding the project metadata collection or markdown generation, please refer to the best-of-generator repository. If you like to create your own best-of list, we recommend to follow this guide.

For more information on how to add or update projects, please read the contribution guidelines. By participating in this project, you agree to abide by its Code of Conduct.

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