best-of-robot-simulators

best-of-robot-simulators
  






🏆  A ranked list of awesome projects. Updated weekly.





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This curated list contains 180 awesome simulator projects with a total of 450K 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.

[!WARNING] Currently the updates to the list have been stopped. We are keeping an eye for an upstream fix through this issue: https://github.com/knmcguire/best-of-robot-simulators/issues/275

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.

Contents

• Generic Robotics Simulators 27 projects
• Robotic simulators in 2D 7 projects
• Aerial Robotics Simulators 32 projects
• Maritime Robotics Simulators 20 projects
• Automotive Simulators 5 projects
• Space Robotics Simulators 6 projects
• AI training Simulators 35 projects
• Other Domain Specific Simulators 10 projects
• Game engines 6 projects
• Physics Engines 22 projects
• Rendering engines 7 projects
• Others 1 projects

Explanation

• 🥇🥈🥉  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 (🥇22 · ⭐ 15K) - Multi-Joint dynamics with Contact. A general purpose physics simulator. Apache-2

• GitHub (👨‍💻 160 · 🔀 1.8K · 📦 5.9K):

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

O3DE for Robotics (🥇14 · ⭐ 9K) - 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 (👨‍💻 350 · 🔀 2.4K):

  git clone https://github.com/o3de/o3de
  

Webots (🥈12 · ⭐ 3.9K) - Webots Robot Simulator. Apache-2

• GitHub (👨‍💻 4 · 🔀 1.9K):

  git clone https://github.com/cyberbotics/webots
  

Newton (Physics) (🥈12 · ⭐ 2.6K) - An open-source, GPU-accelerated physics simulation engine built upon NVIDIA Warp, specifically targeting roboticists.. Apache-2

• GitHub (👨‍💻 110 · 🔀 270):

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

Gazebo (🥈12 · ⭐ 830 · 💤) - Open source robotics simulator. The latest version of Gazebo. Apache-2

• GitHub (👨‍💻 200 · 🔀 300):

  git clone https://github.com/gazebosim/gz-sim
  

Unity Robotics Hub (🥈11 · ⭐ 2.5K · 💤) - Central repository for tools, tutorials, resources, and documentation for robotics simulation in Unity. Apache-2

• GitHub (👨‍💻 15 · 🔀 460):

  git clone https://github.com/Unity-Technologies/Unity-Robotics-Hub
  

OpenRAVE (🥈10 · ⭐ 600 · 💤) - Open Robotics Automation Virtual Environment: An environment for testing, developing, and deploying robotics motion.. Apache-2 and LGPL-3

• GitHub (👨‍💻 120 · 🔀 320):

  git clone https://github.com/rdiankov/openrave
  

ROS1 Intergration for Unreal 4 (🥈10 · ⭐ 450 · 💤) - Unreal Engine Plugin to enable ROS Support. MIT

• GitHub (👨‍💻 33 · 🔀 140):

  git clone https://github.com/code-iai/ROSIntegration
  

ARGoS (🥈10 · ⭐ 300 · 💤) - A parallel, multi-engine simulator for heterogeneous swarm robotics. MIT

• GitHub (👨‍💻 25 · 🔀 130):

  git clone https://github.com/ilpincy/argos3
  

Ros2 For Unity (🥉9 · ⭐ 620) - High-performance ROS2 solution for Unity3D. Apache-2

• GitHub (👨‍💻 12 · 🔀 79):

  git clone https://github.com/RobotecAI/ros2-for-unity
  

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 (🔀 65 · 📋 110 - 15% open · ⏱️ 07.04.2016):

  git clone https://gitlab.com/sdurobotics/RobWork
  

CoppeliaSim core library (🥉7 · ⭐ 92 · 💤) - CoppeliaSim core library. gnu-gpl

• GitHub (👨‍💻 3 · 🔀 39):

  git clone https://github.com/CoppeliaRobotics/coppeliaSimLib
  

Gears (🥉7 · ⭐ 62 · 💤) - Generic Educational Robotics Simulator. GPL-3.0

• GitHub (👨‍💻 14 · 🔀 40):

  git clone https://github.com/QuirkyCort/gears
  

SimSpark (🥉7 · ⭐ 22 · 💤) - A generic physical simulator. Missing

• GitLab (🔀 8 · 📋 57 - 49% open · ⏱️ 13.10.2017):

  git clone https://gitlab.com/robocup-sim/SimSpark
  

Unreal Robotics Lab (🥉2) - Apache-2

• GitHub (👨‍💻 3):

  git clone https://github.com/URLab-Sim/UnrealRoboticsLab
  

Rbot (🥉2) - Apache-2

• GitHub:

  git clone https://github.com/rlxai/rbot
  

CoppeliaSim (🥉1) - Proprietary Software License

• No project information available.

NVIDIA Isaac Sim (🥉1) - Apache 2.0 and NVIDIA Omniverse License Agreement

• GitHub (👨‍💻 5):

  git clone https://github.com/isaac-sim/IsaacSim
  

RobotStudio (🥉1 · ➕) - Proprietary Software License

• 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.

ProtoTwin (🥉1) - proprietary license

• No project information available.

Show 4 hidden projects...

• Gazebo Classic (🥇13 · ⭐ 1.2K · 💤) - Gazebo classic. For the latest version, see https://github.com/gazebosim/gz-sim. Apache-2
• Roboschool (🥈11 · ⭐ 2.1K · 💤) - DEPRECATED: Open-source software for robot simulation, integrated with OpenAI Gym. MIT
• Morse (🥈10 · ⭐ 370 · 💤) - The Modular OpenRobots Simulation Engine. OFL-1.1
• Simbad (🥉1) - GNU-gpl2

Robotic simulators in 2D

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

IR-SIM (🥇19 · ⭐ 1.1K) - A Python-based lightweight robot simulator designed for navigation, control, and learning. MIT

• GitHub (👨‍💻 15 · 🔀 140 · 📦 16):

  git clone https://github.com/hanruihua/ir-sim
  

• PyPi (📥 1.3K / month · 📦 4 · ⏱️ 01.09.2026):

  pip install ir-sim
  

pyrobosim (🥈17 · ⭐ 390) - 2D mobile robot simulator for behavior prototyping with optional ROS 2 interface. MIT

• GitHub (👨‍💻 21 · 🔀 72 · 📦 9):

  git clone https://github.com/sea-bass/pyrobosim
  

• PyPi (📥 750 / month · ⏱️ 20.09.2026):

  pip install pyrobosim
  

mvsim (🥈10 · ⭐ 410) - 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 · 🔀 58):

  git clone https://github.com/MRPT/mvsim
  

Flatland (🥉8 · ⭐ 110 · 💤) - A 2D robot simulator for ROS. BSD-3

• GitHub (👨‍💻 15 · 🔀 65):

  git clone https://github.com/avidbots/flatland
  

AutonomousVehicleControlBeginnersGuide (🥉7 · ⭐ 31 · 💤) - Beginners guide to learn basic way of thinking and representative algorithms for Autonomous Vehicle Control. MIT

• GitHub (👨‍💻 19 · 🔀 3):

  git clone https://github.com/ShisatoYano/AutonomousVehicleControlBeginnersGuide
  

Vehicle Dynamics Sim (🥉4 · ⭐ 2) - Simulates a variety of easily configurable bicycle and Ackermann vehicles with dynamic effects such as acceleration.. MIT

• GitHub:

  git clone https://github.com/abaeyens/vehicle_dynamics_sim
  

DWA_Algorithm_PYTHON (🥉-1) - Unlicensed

• GitHub (👨‍💻 2):

  git clone https://github.com/EricChen0104/DWA_Algorithm_PYTHON
  

Aerial Robotics Simulators

Simulator frameworks made especially for aerial robotics

PyFlyt (🥇14 · ⭐ 130 · 💤) - UAV Flight Simulator for Reinforcement Learning Research. MIT

• GitHub (👨‍💻 12 · 🔀 24 · 📦 39):

  git clone https://github.com/jjshoots/PyFlyt
  

• PyPi (📥 530 / month · 📦 2 · ⏱️ 01.03.2025):

  pip install pyflyt
  

RotorS (🥇12 · ⭐ 1.5K · 💤) - RotorS is a UAV gazebo simulator. MIT

• GitHub (👨‍💻 49 · 🔀 790):

  git clone https://github.com/ethz-asl/rotors_simulator
  

Cosys-AirSim (🥇12 · ⭐ 430) - AirSim is a simulator for drones, cars and more, built on Unreal Engine. We expand it with new implementations and.. MIT

• GitHub (👨‍💻 270 · 🔀 140):

  git clone https://github.com/Cosys-Lab/Cosys-AirSim
  

Flightmare (🥈11 · ⭐ 1.3K · 💤) - An Open Flexible Quadrotor Simulator. MIT

• GitHub (👨‍💻 7 · 🔀 400):

  git clone https://github.com/uzh-rpg/flightmare
  

Colosseum (🥈11 · ⭐ 350 · 💤) - Open source simulator for autonomous robotics built on Unreal Engine with support for Unity. MIT

• GitHub (👨‍💻 260 · 🔀 110):

  git clone https://github.com/CodexLabsLLC/Colosseum
  

Pegasus Simulator (🥈10 · ⭐ 820) - A framework built on top of NVIDIA Isaac Sim for simulating drones with PX4 support and much more. BSD-3

• GitHub (👨‍💻 6 · 🔀 180):

  git clone https://github.com/PegasusSimulator/PegasusSimulator
  

rotorpy (🥈10 · ⭐ 300) - A multirotor simulator with aerodynamics for education and research. MIT

• GitHub (👨‍💻 10 · 🔀 63):

  git clone https://github.com/spencerfolk/rotorpy
  

Crazyflow (🥈10 · ⭐ 170) - Scalable drone simulation using JAX. MIT

• GitHub (👨‍💻 12 · 🔀 40 · 📦 2):

  git clone https://github.com/learnsyslab/crazyflow
  

Fly Craft (🥈10 · ⭐ 98) - An efficient goal-conditioned reinforcement learning environment for fixed-wing UAV velocity vector control based on.. MIT

• GitHub (👨‍💻 1 · 🔀 2 · 📦 4):

  git clone https://github.com/GongXudong/fly-craft
  

• PyPi (📥 43 / month · ⏱️ 30.12.2025):

  pip install flycraft
  

jMAVSim (🥈10 · ⭐ 69 · 💤) - Simple multirotor simulator with MAVLink protocol support. BSD-3

• GitHub (👨‍💻 29 · 🔀 200):

  git clone https://github.com/PX4/jMAVSim
  

Aerial Gym Simulator (🥉9 · ⭐ 750) - Aerial Gym Simulator - Isaac Gym Simulator for Aerial Robots. BSD-3

• GitHub (👨‍💻 4 · 🔀 120):

  git clone https://github.com/ntnu-arl/aerial_gym_simulator
  

FlightGoggles (🥉9 · ⭐ 400 · 💤) - A framework for photorealistic hardware-in-the-loop agile flight simulation using Unity3D and ROS. Developed by MIT.. MIT

• GitHub (👨‍💻 9 · 🔀 99):

  git clone https://github.com/mit-aera/FlightGoggles
  

Gymfc (🥉8 · ⭐ 440 · 💤) - A universal flight control tuning framework. MIT

• GitHub (👨‍💻 1 · 🔀 100):

  git clone https://github.com/wil3/gymfc/
  

CrazyS (🥉8 · ⭐ 180 · 💤) - CrazyS is an extension of the ROS package RotorS, aimed to modeling, developing and integrating the Crazyflie 2.0. Apache-2

• GitHub (👨‍💻 2 · 🔀 85):

  git clone https://github.com/gsilano/CrazyS
  

Flightgear (🥉8 · ⭐ 79 · 💤) - FlightGear open-source flight simulator flightgear.org. gnu-gpl2

• GitLab (🔀 84 · 📋 650 - 36% open · ⏱️ 04.03.2015):

  git clone https://gitlab.com/flightgear/flightgear
  

Ardupilot_Multiagent_Simulation (🥉6 · ⭐ 81 · 🐣) - Simulation environment for multiagent drone systems using Ardupilot, ROS 2, and Gazebo enabling users to spawn and.. GPL-3.0

• GitHub (🔀 18):

  git clone https://github.com/aau-cns/Ardupilot_Multiagent_Simulation
  

FlightForge (🥉6 · ⭐ 48) - ROS counterpart for the FlightForge UAV simulator. GLP-2.0

• GitHub (👨‍💻 11 · 🔀 5):

  git clone https://github.com/ctu-mrs/mrs_uav_flightforge_simulator
  

RotorTM (🥉5 · ⭐ 81 · 💤) - GPL-3.0

• GitHub (👨‍💻 3 · 🔀 15):

  git clone https://github.com/arplaboratory/RotorTM
  

pysimverse (🥉3 · ⭐ 6 · 💤) - MIT

• GitHub (👨‍💻 2 · 🔀 1):

  git clone https://github.com/cvzone/pysimverse
  

Gym Pybullet Drones (🥉1) - Unlicensed

• GitHub (👨‍💻 25):

  git clone https://github.com/learnsyslab/gym-pybullet-drones
  

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

• No project information available.

Realflight (🥉1) - proprietary software license

• No project information available.

FastSwarmSim (🥉1) - Lightweight, faster-than-real-time multi-UAV PX4 swarm simulator with ROS 2 lock-step simulation. Unlicensed

• GitHub:

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

X-plane (🥉1) - proprietary license

• No project information available.

Spleenlab simulator (🥉1) - proprietary

• No project information available.

Aerial Autonomy Stack - Unlicensed

• GitHub (👨‍💻 8):

  git clone https://github.com/JacopoPan/aerial-autonomy-stack
  

swarm_sync_sim - Unlicensed

• GitHub (👨‍💻 3):

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

Isaac Drone Racer - Unlicensed

• GitHub:

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

Itomori - Unlicensed

• GitHub:

  git clone https://github.com/gustavo-moura/itomori
  

Project AirSim - Unlicensed

• GitHub (👨‍💻 19):

  git clone https://github.com/iamaisim/ProjectAirSim
  

optimAero PX4 - Unlicensed

• GitHub:

  git clone https://github.com/optimAero/optimAeroPX4SIL
  

Show 1 hidden projects...

• airsim (🥇19 · ⭐ 18K · 💤) - 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

HoloOcean (🥇13 · ⭐ 150) - A UE5 based simulator for marine perception and autonomy, with multi-agent communications and many common underwater.. MIT and Unreal Engine EULA

• GitHub (👨‍💻 11 · 🔀 77 · 📋 210 - 9% open · ⏱️ 05.02.2026):

  git clone https://github.com/byu-holoocean/HoloOcean
  

Virtual RobotX (🥇11 · ⭐ 360 · 💤) - Virtual RobotX (VRX) resources. Apache-2

• GitHub (👨‍💻 38 · 🔀 180):

  git clone https://github.com/osrf/vrx
  

UNav-Sim (🥇11 · ⭐ 320 · 💤) - Visually Realistic Underwater Robotics Simulator UNav-Sim. MIT

• GitHub (👨‍💻 250 · 🔀 30):

  git clone https://github.com/open-airlab/UNav-Sim
  

DAVE (🥈10 · ⭐ 270 · 💤) - Project DAVE. Apache-2

• GitHub (👨‍💻 25 · 🔀 81):

  git clone https://github.com/Field-Robotics-Lab/dave
  

Stonefish (🥉7 · ⭐ 64 · 💤) - Stonefish - an advanced C++ simulation library designed for (but not limited to) marine robotics. GPL-3.0

• GitHub (👨‍💻 13 · 🔀 18):

  git clone https://github.com/patrykcieslak/stonefish
  

MARUSimulator (🥉7 · ⭐ 27) - Marine simulator core assets for Unity. Apache-2

• GitHub (👨‍💻 8 · 🔀 8):

  git clone https://github.com/MARUSimulator/marus-core
  

SMaRC 2 (🥉4 · ⭐ 1 · 💤) - smarc ros2-humble main repository. BSD-3-Clause and MIT

• GitHub (👨‍💻 34):

  git clone https://github.com/smarc-project/smarc2
  

Ocean Sim (🥉2) - BSD-3

• GitHub (👨‍💻 10):

  git clone https://github.com/umfieldrobotics/OceanSim
  

DAVE for ROS 2 (🥉2) - Apache-2

• GitHub:

  git clone https://github.com/OES-Lab/dave
  

Moos-ivp (🥉1) - GPLv3 LGPLv3 and Commercial

• GitHub (👨‍💻 19):

  git clone https://github.com/moos-ivp/moos-ivp
  

Show 10 hidden projects...

• UUV Simulator (🥇11 · ⭐ 890 · 💤) - Gazebo/ROS packages for underwater robotics simulation. Apache-2
• UWSim (🥈8 · ⭐ 110 · 💤) - UWSim-NET, the Underwater Simulator. GNU-gpl
• Freefloating (🥈8 · ⭐ 76 · 💤) - A Gazebo plugin to simulate underwater vehicles and visualize with UWsim. MIT
• UWSim-NET (🥉7 · ⭐ 110 · 💤) - UWSim-NET, the Underwater Simulator. Unlicensed
• LRAUV (🥉7 · ⭐ 80 · 💤) - Packages for simulating the Tethys-class Long-Range AUV (LRAUV) from the Monterey Bay Aquarium Research Institute.. Apache-2
• URSim (🥉7 · ⭐ 66 · 💤) - Simulator for Unmanned Underwater Vehicles using ROS and Unity3D. Apache-2
• MARS (🥉5 · ⭐ 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) - Unlicensed

Automotive Simulators

Simulator frameworks made especially for automotive

Carla (🥇21 · ⭐ 14K) - Open-source simulator for autonomous driving research. MIT

• GitHub (👨‍💻 200 · 🔀 4.6K · 📦 1.1K):

  git clone https://github.com/carla-simulator/carla
  

ESMINI (🥉11 · ⭐ 740 · 💤) - a basic OpenSCENARIO player. MPL-2.0

• GitHub (👨‍💻 94 · 🔀 210):

  git clone https://github.com/esmini/esmini
  

AWSim (🥉10 · ⭐ 450 · 💤) - Open source simulator for self-driving vehicles. Apache-2

• GitHub (👨‍💻 36 · 🔀 75):

  git clone https://github.com/tier4/AWSIM
  

Show 2 hidden projects...

• Self Driving Car (🥈12 · ⭐ 4K · 💤) - A self-driving car simulator built with Unity. MIT
• SVL Simulator (🥉10 · ⭐ 2.3K · 💤) - A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles. Unlicensed

Space Robotics Simulators

Simulator frameworks made especially for space robotics

Astrobee (🥇12 · ⭐ 1.3K) - NASA Astrobee Robot Software. Apache-2

• GitHub (👨‍💻 22 · 🔀 360):

  git clone https://github.com/NASA/astrobee
  

Basilisk (🥈11 · ⭐ 390) - Astrodynamics simulation framework. ISC

• GitHub (👨‍💻 130 · 🔀 140):

  git clone https://github.com/AVSLab/basilisk
  

BSK-RL (🥈7 · ⭐ 120) - RL environments and tools for spacecraft autonomy research, built on Basilisk. Developed by the AVS Lab. MIT

• GitHub (👨‍💻 11 · 🔀 16):

  git clone https://github.com/AVSLab/bsk_rl
  

LunarSim (🥉4 · ⭐ 83 · 💤) - LunarSim: Lunar Rover Simulator Focused on High Visual Fidelity and ROS 2 Integration for Advanced Computer Vision.. Missing

• GitHub (👨‍💻 2 · 🔀 10):

  git clone https://github.com/PUTvision/LunarSim
  

Mars Explorer (🥉4 · ⭐ 31 · 💤) - no license

• GitHub (👨‍💻 3 · 🔀 2):

  git clone https://github.com/dimikout3/MarsExplorer
  

OmiLRS (🥉3) - BSD-3

• GitHub (👨‍💻 22):

  git clone https://github.com/OmniLRS/OmniLRS
  

AI training Simulators

Simulations made for training for AI-agents like reinforcement learning

Gymnasium (🥇32 · ⭐ 12K) - An API standard for single-agent reinforcement learning environments, with popular reference environments and related.. MIT

• GitHub (👨‍💻 610 · 🔀 1.3K · 📦 24K):

  git clone https://github.com/Farama-Foundation/Gymnasium
  

• PyPi (📥 3.6M / month · 📦 1.6K · ⏱️ 22.04.2026):

  pip install gymnasium
  

mjlab (🥇22 · ⭐ 2.8K · 📉) - Isaac Lab API, powered by MuJoCo-Warp, for RL and robotics research. Apache-2

• GitHub (👨‍💻 59 · 🔀 480):

  git clone https://github.com/mujocolab/mjlab
  

• PyPi (📥 55K / month · 📦 12 · ⏱️ 09.08.2026):

  pip install mjlab
  

Metaworld (🥇22 · ⭐ 1.8K) - Collections of robotics environments geared towards benchmarking multi-task and meta reinforcement learning. MIT

• GitHub (👨‍💻 48 · 🔀 340 · 📦 120):

  git clone https://github.com/Farama-Foundation/Metaworld
  

• PyPi (📥 27K / month · 📦 7 · ⏱️ 28.06.2026):

  pip install metaworld
  

Gymnasium Robotics (🥇20 · ⭐ 830) - A collection of robotics simulation environments for reinforcement learning. MIT

• GitHub (👨‍💻 44 · 🔀 130 · 📦 350):

  git clone https://github.com/Farama-Foundation/Gymnasium-Robotics
  

• PyPi (📥 29K / month · 📦 21 · ⏱️ 02.01.2026):

  pip install gymnasium-robotics
  

Genesis (🥈17 · ⭐ 27K · 💤) - A generative world for general-purpose robotics & embodied AI learning. Apache-2

• GitHub (👨‍💻 120 · 🔀 2.4K · 📦 130):

  git clone https://github.com/Genesis-Embodied-AI/Genesis
  

AI2-thor (🥈16 · ⭐ 1.5K · 💤) - An open-source platform for Visual AI. Apache-2

• GitHub (👨‍💻 53 · 🔀 250 · 📦 400):

  git clone https://github.com/allenai/ai2thor
  

Habitat Sim (🥈15 · ⭐ 2.4K · 💤) - A flexible, high-performance 3D simulator for Embodied AI research. MIT

• GitHub (👨‍💻 64 · 🔀 390 · 📦 76):

  git clone https://github.com/facebookresearch/habitat-sim
  

jaxsim (🥈15 · ⭐ 200) - A differentiable physics engine and multibody dynamics library for control and robot learning. BSD-3

• GitHub (👨‍💻 16 · 🔀 22 · 📦 4):

  git clone https://github.com/ami-iit/jaxsim
  

• PyPi (📥 3.5K / month · ⏱️ 03.06.2026):

  pip install jaxsim
  

• Conda (📥 22K · ⏱️ 29.04.2026):

  conda install -c conda-forge jaxsim
  

Jiminy (🥈14 · ⭐ 260 · 💤) - Jiminy: a fast and portable Python/C++ simulator of poly-articulated robots with OpenAI Gym interface for.. MIT

• GitHub (👨‍💻 9 · 🔀 28):

  git clone https://github.com/duburcqa/jiminy
  

• PyPi (📥 1.1K / month · 📦 2 · ⏱️ 01.05.2025):

  pip install jiminy-py
  

NVIDIA Isaac Sim Isaac Lab (🥈13 · ⭐ 2K · 💤) - Unified framework for robot learning built on NVIDIA Isaac Sim. BSD-3

• GitHub (👨‍💻 280 · 🔀 820):

  git clone https://github.com/isaac-sim/IsaacLab
  

IGibson (🥈13 · ⭐ 760 · 💤) - A Simulation Environment to train Robots in Large Realistic Interactive Scenes. MIT

• GitHub (👨‍💻 34 · 🔀 170 · 📦 14):

  git clone https://github.com/StanfordVL/iGibson
  

MuJoCo playground (🥈12 · ⭐ 2.1K · 🐣) - An open-source library for GPU-accelerated robot learning and sim-to-real transfer. Apache-2

• GitHub (👨‍💻 28 · 🔀 340):

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

MetaDrive (🥈12 · ⭐ 1.2K · 💤) - MetaDrive: Lightweight driving simulator for everyone. Apache-2

• GitHub (👨‍💻 21 · 🔀 180):

  git clone https://github.com/metadriverse/metadrive/
  

K-Sim (🥈12 · ⭐ 230) - RL training library for humanoid locomotion and manipulation. Built on top of MuJoCo and JAX. MIT

• GitHub (👨‍💻 9 · 🔀 40):

  git clone https://github.com/kscalelabs/ksim
  

• PyPi (📥 120 / month · ⏱️ 18.08.2025):

  pip install ksim
  

Sapien (🥉11 · ⭐ 690) - SAPIEN Embodied AI Platform. Unlicensed

• GitHub (👨‍💻 20 · 🔀 60 · 📦 260):

  git clone https://github.com/haosulab/SAPIEN
  

Holodeck (🥉11 · ⭐ 580 · 💤) - High Fidelity Simulator for Reinforcement Learning and Robotics Research. MIT

• GitHub (👨‍💻 20 · 🔀 42 · 📦 10):

  git clone https://github.com/BYU-PCCL/holodeck
  

robo-gym (🥉11 · ⭐ 460 · 💤) - An open source toolkit for Distributed Deep Reinforcement Learning on real and simulated robots. MIT

• GitHub (👨‍💻 11 · 🔀 77 · 📦 10):

  git clone https://github.com/jr-robotics/robo-gym
  

ProcTHOR (🥉11 · ⭐ 380 · 💤) - Scaling Embodied AI by Procedurally Generating Interactive 3D Houses. Apache-2

• GitHub (👨‍💻 7 · 🔀 32 · 📦 14):

  git clone https://github.com/allenai/procthor
  

Safe Control Gym (🥉10 · ⭐ 860) - PyBullet CartPole and Quadrotor environmentswith CasADi symbolic a priori dynamicsfor learning-based control and RL. MIT

• GitHub (👨‍💻 20 · 🔀 160):

  git clone https://github.com/utiasDSL/safe-control-gym
  

PyRep (🥉10 · ⭐ 720 · 💤) - A toolkit for robot learning research. MIT

• GitHub (👨‍💻 20 · 🔀 170):

  git clone https://github.com/stepjam/PyRep
  

LocoMuJoCo (🥉10 · ⭐ 660 · 💤) - Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo. MIT

• GitHub (👨‍💻 15 · 🔀 54 · 📦 8):

  git clone https://github.com/robfiras/loco-mujoco
  

Gibson (🥉9 · ⭐ 920 · 💤) - Gibson Environments: Real-World Perception for Embodied Agents. MIT

• GitHub (👨‍💻 9 · 🔀 150):

  git clone https://github.com/StanfordVL/GibsonEnv
  

PyBullet Gym (🥉9 · ⭐ 680 · 💤) - Open-source implementations of OpenAI Gym MuJoCo environments for use with the OpenAI Gym Reinforcement Learning.. MIT

• GitHub (👨‍💻 14 · 🔀 110):

  git clone https://github.com/benelot/pybullet-gym
  

RoboCasa (🥉9 · ⭐ 540 · 💤) - RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots. MIT

• GitHub (👨‍💻 6 · 🔀 39):

  git clone https://github.com/robocasa/robocasa
  

OmniIsaacGymEnvs (🥉8 · ⭐ 840 · 💤) - Reinforcement Learning Environments for Omniverse Isaac Gym. Unlicensed

• GitHub (👨‍💻 6 · 🔀 210):

  git clone https://github.com/isaac-sim/OmniIsaacGymEnvs
  

Arnold (🥉8 · ⭐ 190 · 💤) - [ICCV 2023] ARNOLD: Language-Grounded Robot Manipulation with Continuous Object States in Realistic 3D Scenes. MIT

• GitHub (👨‍💻 3 · 🔀 16):

  git clone https://github.com/arnold-benchmark/arnold
  

Deepdrive (🥉7 · ⭐ 870 · 💤) - Deepdrive is a simulator that allows anyone with a PC to push the state-of-the-art in self-driving. Unlicensed

• GitHub (👨‍💻 6 · 🔀 150):

  git clone https://github.com/deepdrive/deepdrive
  

UAIbot (🥉5 · ⭐ 2 · 💤) - The Python version of the UAIbot simulator. MIT

• GitHub (👨‍💻 3 · 🔀 5):

  git clone https://github.com/UAIbot/UAIbotPy
  

IsaacLab-HARL (🥉3) - BSD-3

• GitHub (👨‍💻 120):

  git clone https://github.com/some45bucks/IsaacLab-HARL
  

ManiSkill (🥉1) - Unlicensed

• GitHub (👨‍💻 70):

  git clone https://github.com/haosulab/ManiSkill
  

RoboVerse (🥉1) - Unlicensed

• GitHub (👨‍💻 51):

  git clone https://github.com/RoboVerseOrg/RoboVerse
  

Reinforcement Learning Toolbox (🥉1) - Proprietary Software License

• No project information available.

UnrealZoo - Unlicensed

• GitHub (👨‍💻 6):

  git clone https://github.com/UnrealZoo/unrealzoo-gym
  

racecar_gym - Unlicensed

• GitHub:

  git clone https://github.com/axelbr/racecar_gym/
  

Show 1 hidden projects...

• Gym (🥇20 · ⭐ 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

gym-softrobot (🥇12 · ⭐ 45) - Softrobotics environment package for OpenAI Gymnasium. MIT

• GitHub (👨‍💻 3 · 🔀 9 · 📦 2):

  git clone https://github.com/skim0119/gym-softrobot/
  

• PyPi (📥 230 / month · ⏱️ 21.09.2026):

  pip install gym-softrobot
  

DexterousHands (🥈10 · ⭐ 1K · 💤) - This is a library that provides dual dexterous hand manipulation tasks through Isaac Gym. Apache-2

• GitHub (👨‍💻 9 · 🔀 120 · 📦 5):

  git clone https://github.com/PKU-MARL/DexterousHands
  

Panda-Gym (🥈9 · ⭐ 770 · 💤) - Set of robotic environments based on PyBullet physics engine and gymnasium. MIT

• GitHub (👨‍💻 9 · 🔀 140):

  git clone https://github.com/qgallouedec/panda-gym
  

Graspit! (🥈8 · ⭐ 220 · 💤) - The GraspIt! simulator. Unlicensed

• GitHub (👨‍💻 25 · 🔀 87):

  git clone https://github.com/graspit-simulator/graspit
  

Strech MuJoCo (🥉7 · ⭐ 50) - This library provides a simulation stack for Stretch, built on MuJoCo. BSD-3-Clause-Clear

• GitHub (👨‍💻 8 · 🔀 22):

  git clone https://github.com/hello-robot/stretch_mujoco
  

Stewart Platform Simulator (🥉7 · ⭐ 47 · 💤) - The RAW inverse kinematics library for Stewart Platforms written in JavaScript. MIT

• GitHub (👨‍💻 1 · 🔀 17 · 📦 4):

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

AutoDRIVE Simulator (🥉5 · ⭐ 5 · 💤) - AutoDRIVE - An Integrated Platform for Autonomous Driving Research and Education. BSD-2

• GitHub (👨‍💻 3):

  git clone https://github.com/Tinker-Twins/AutoDRIVE
  

multipanda_ros2 (🥉3 · ⭐ 1 · 💤) - Apache-2

• GitHub (👨‍💻 15):

  git clone https://github.com/tenfoldpaper/multipanda_ros2
  

Roadrunner (🥉1) - Proprietary Software License

• No project information available.

multi-agent_sim (🥉-1) - Unlicensed

• GitHub (👨‍💻 2):

  git clone https://github.com/tjards/multi-agent_sim
  

Game engines

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

Bevy (🥇24 · ⭐ 48K) - A refreshingly simple data-driven game engine built in Rust. Apache-2

• GitHub (👨‍💻 1.7K · 🔀 4.9K · 📦 26K):

  git clone https://github.com/bevyengine/bevy
  

Godot (🥈21 · ⭐ 120K) - Godot Engine Multi-platform 2D and 3D game engine. MIT

• GitHub (👨‍💻 4K · 🔀 27K · 📦 24):

  git clone https://github.com/godotengine/godot
  

O3DE (🥈14 · ⭐ 9K) - 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 (👨‍💻 350 · 🔀 2.4K):

  git clone https://github.com/o3de/o3de
  

Unity (🥉1) - Unity Subscription Plans

• No project information available.

Unreal Engine (🥉1) - EULA

• No project information available.

Roblox (🥉1) - proprietary

• No project information available.

Physics Engines

Physics Engines that simulate multi-joint dynamics, gravity etc

Pinocchio (🥇25 · ⭐ 3.6K) - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives. BSD-2

• GitHub (👨‍💻 130 · 🔀 560):

  git clone https://github.com/stack-of-tasks/pinocchio
  

• PyPi (📥 1.2M / month · 📦 110 · ⏱️ 08.07.2026):

  pip install pin
  

Bullet Physics SDK (🥇16 · ⭐ 14K) - Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects,.. zlib

• GitHub (👨‍💻 310 · 🔀 3K · 📦 24):

  git clone https://github.com/bulletphysics/bullet3
  

BRAX (🥇16 · ⭐ 3.1K) - Massively parallel rigidbody physics simulation on accelerator hardware. Apache-2

• GitHub (👨‍💻 56 · 🔀 330 · 📦 610):

  git clone https://github.com/google/brax
  

Drake (🥈14 · ⭐ 3.9K) - Model-based design and verification for robotics. BSD-3

• GitHub (👨‍💻 280 · 🔀 1.4K):

  git clone https://github.com/RobotLocomotion/drake
  

Project CHRONO (🥈14 · ⭐ 3K) - High-performance C++ library for multiphysics and multibody dynamics simulations. BSD-3

• GitHub (👨‍💻 160 · 🔀 620):

  git clone https://github.com/projectchrono/chrono
  

DART (🥈14 · ⭐ 1.2K) - Research-focused C++23 physics engine for robotics, animation, and machine learning, with Python bindings. BSD-2

• GitHub (👨‍💻 78 · 🔀 300 · 📦 9):

  git clone https://github.com/dartsim/dart
  

MuJoCo Wrap (🥈13 · ⭐ 1.5K) - GPU-optimized version of the MuJoCo physics simulator, designed for NVIDIA hardware. Apache-2

• GitHub (👨‍💻 60 · 🔀 220):

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

PhysX 5 (🥈12 · ⭐ 4.8K) - NVIDIA PhysX SDK. BSD-3

• GitHub (👨‍💻 11 · 🔀 660):

  git clone https://github.com/NVIDIA-Omniverse/PhysX
  

Simbody (🥈12 · ⭐ 2.5K) - High-performance C++ multibody dynamics/physics library for simulating articulated biomechanical and mechanical.. Apache-2

• GitHub (👨‍💻 68 · 🔀 490):

  git clone https://github.com/simbody/simbody
  

JSBSim (🥈12 · ⭐ 2.1K) - An open source flight dynamics & control software library. LGPL-2.1

• GitHub (👨‍💻 80 · 🔀 570):

  git clone https://github.com/JSBSim-Team/jsbsim
  

PhysX SDK (legacy) (🥉10 · ⭐ 3.5K · 💤) - NVIDIA PhysX SDK. NVIDIA Omniverse License Agreement

• GitHub (👨‍💻 3 · 🔀 840):

  git clone https://github.com/NVIDIAGameWorks/PhysX
  

TPE (part of gz-physics) (🥉10 · ⭐ 64 · 💤) - Abstract physics interface designed to support simulation and rapid development of robot applications. Apache-2

• GitHub (👨‍💻 63 · 🔀 44):

  git clone https://github.com/gazebosim/gz-physics
  

RaiSim (🥉8 · ⭐ 400) - Visit www.raisim.com. Proprietary Software License

• GitHub (👨‍💻 17 · 🔀 110):

  git clone https://github.com/raisimTech/raisimlib
  

ODE (🥉8 · ⭐ 150 · 💤) - Open Dynamics Engine (ODE) github mirror from https://bitbucket.org/odedevs/ode. gnu-gpl and BSD-3-clause

• GitHub (👨‍💻 34 · 🔀 37):

  git clone https://github.com/thomasmarsh/ODE
  

FleX (🥉6 · ⭐ 810 · 💤) - Nvidia Software License

• GitHub (👨‍💻 2 · 🔀 110):

  git clone https://github.com/NVIDIAGameWorks/FleX
  

PyFleX (🥉5 · ⭐ 53 · 💤) - Customized Python APIs for NVIDIA FleX. Nvidia Software License

• GitHub (👨‍💻 1 · 🔀 18):

  git clone https://github.com/YunzhuLi/PyFleX
  

Avian 3D (🥉5) - Unlicensed

• GitHub (👨‍💻 92 · 📦 400):

  git clone https://github.com/Jondolf/avian
  

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

Rendering engines for robotic simulators

PyRender (🥇25 · ⭐ 1.5K · 💤) - Easy-to-use glTF 2.0-compliant OpenGL renderer for visualization of 3D scenes. MIT

• GitHub (👨‍💻 23 · 🔀 260 · 📦 3.2K):

  git clone https://github.com/mmatl/pyrender
  

• PyPi (📥 1.3M / month · 📦 37 · ⏱️ 18.02.2021):

  pip install pyrender
  

Atom (🥈14 · ⭐ 9K) - 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 (👨‍💻 350 · 🔀 2.4K):

  git clone https://github.com/o3de/o3de
  

OGRE (🥈14 · ⭐ 4.6K) - high-performance rendering backend (C++, Python, C#, Java). MIT

• GitHub (👨‍💻 340 · 🔀 1K):

  git clone https://github.com/OGRECave/ogre
  

Wren (Webots) (🥉12 · ⭐ 3.9K) - Webots Robot Simulator. Apache-2

• GitHub (👨‍💻 4 · 🔀 1.9K):

  git clone https://github.com/cyberbotics/webots
  

Vulkan (🥉12 · ⭐ 3.7K) - Open-Source Vulkan C++ API. Apache-2

• GitHub (👨‍💻 110 · 🔀 350):

  git clone https://github.com/KhronosGroup/Vulkan-Hpp
  

OpenGL (🥉12 · ⭐ 3.7K) - Open-Source Vulkan C++ API. Apache-2

• GitHub (👨‍💻 110 · 🔀 350):

  git clone https://github.com/KhronosGroup/Vulkan-Hpp
  

Unity Rendering Plugin (🥉10 · ⭐ 930 · 💤) - C++ Rendering Plugin example for Unity. MIT

• GitHub (👨‍💻 13 · 🔀 190):

  git clone https://github.com/Unity-Technologies/NativeRenderingPlugin
  

Others

HighwayEnv (🥇21 · ⭐ 3.3K) - A collection of environments for autonomous driving and tactical decision-making tasks. MIT

• GitHub (👨‍💻 62 · 🔀 880):

  git clone https://github.com/Farama-Foundation/HighwayEnv
  

• PyPi (📥 4.4K / month · 📦 12 · ⏱️ 07.08.2026):

  pip install highway-env
  

Resources

Here are the resources used to complete these list, if not directly contributed by others.

Lists:

• 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

Repositories

• Copper RS
• Hello Robot

Blogs

• 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.

Talks:

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

Papers:

• 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

Contribution

Contributors

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
• Louis Le Lay (@louislelay)
• Matej Kováč (@multicast)
• Jon Skerlj (@jonskerlj)
• @AccessViolationEnjoyer
• Arne Baeyens (@abaeyens)
• Shisato Yano (@ShisatoYano)
• Sarahi Ortega (@arahiod22)
• David Čapek (@DavidCapek)
• @BlakePR

How to Contribute

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.

Other projects for Simulation Comparison

• Simulately - Has some great tools for fluid and soft body physics simulators!

License