knmcguire/best-of-robot-simulators

A Best-of-list of Robot Simulators, re-generated weekly on Wednesdays

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updated Oct 8, 2026

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best-of-robot-simulators

🏆 A ranked list of awesome projects. Updated weekly.

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.

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 (🥇18 · ⭐ 15K · 📉) - Multi-Joint dynamics with Contact. A general purpose physics simulator. Apache-2

GitHub (👨‍💻 160 · 🔀 1.8K):

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 (👨‍💻 120 · 🔀 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 (👨‍💻 130 · 🔀 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 (🔀 64 · 📋 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 · 🔀 150 · 📦 16):

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

PyPi (📥 1.4K / month · 📦 4 · ⏱️ 04.10.2026):
```
pip install ir-sim
```

pyrobosim (🥈16 · ⭐ 390 · 📉) - 2D mobile robot simulator for behavior prototyping with optional ROS 2 interface. MIT

GitHub (👨‍💻 21 · 🔀 72):

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

PyPi (📥 670 / month · ⏱️ 20.09.2026):
```
pip install pyrobosim
```

mvsim (🥈9 · ⭐ 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 (📥 540 / 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 (📥 55 / 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](https://www.flightgear.org). gnu-gpl2

GitLab (🔀 83 · 📋 660 - 37% 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 (👨‍💻 11):

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 (🥇15 · ⭐ 14K · 📉) - Open-source simulator for autonomous driving research. MIT

GitHub (👨‍💻 210 · 🔀 4.6K):

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 (🥇33 · ⭐ 13K · 📈) - A standard API for single-agent reinforcement learning environments, with popular reference environments and related.. MIT

GitHub (👨‍💻 620 · 🔀 1.5K · 📦 24K):

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

PyPi (📥 3.6M / month · 📦 2.1K · ⏱️ 05.10.2026):
```
pip install gymnasium
```

mjlab (🥇23 · ⭐ 2.8K · 📈) - Isaac Lab API, powered by MuJoCo-Warp, for RL and robotics research. Apache-2

GitHub (👨‍💻 63 · 🔀 480):

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

PyPi (📥 60K / 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 (📥 24K / month · 📦 7 · ⏱️ 28.06.2026):
```
pip install metaworld
```

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

GitHub (👨‍💻 45 · 🔀 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

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 (📥 1.4K / month · 📦 2 · ⏱️ 01.05.2025):
```
pip install jiminy-py
```

jaxsim (🥈14 · ⭐ 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 (📥 4.3K / month · ⏱️ 03.06.2026):
```
pip install jaxsim
```
Conda (📥 22K · ⏱️ 29.04.2026):
```
conda install -c conda-forge jaxsim
```

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 (👨‍💻 35 · 🔀 170 · 📦 14):

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

K-Sim (🥈13 · ⭐ 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 (📥 180 / month · ⏱️ 18.08.2025):
```
pip install ksim
```

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/

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

Sapien (🥉7 · ⭐ 690 · 💤) - SAPIEN Embodied AI Platform. Unlicensed

GitHub (👨‍💻 20 · 🔀 60):

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

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 (📥 260 / 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):

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 (👨‍💻 16):

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 (📥 1.3M / month · 📦 140 · ⏱️ 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):

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

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

GitHub (👨‍💻 280 · 🔀 1.4K):

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

DART (🥇14 · ⭐ 1.2K) - DART: Dynamic Animation and Robotics Toolkit. BSD-2

GitHub (👨‍💻 78 · 🔀 300 · 📦 9):
```
git clone https://github.com/dartsim/dart
```

BRAX (🥈13 · ⭐ 3.1K · 📉) - Massively parallel rigidbody physics simulation on accelerator hardware. Apache-2

GitHub (👨‍💻 56 · 🔀 330):

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

Project CHRONO (🥈13 · ⭐ 3K) - High-performance C++ library for multiphysics and multibody dynamics simulations. BSD-3

GitHub (👨‍💻 160 · 🔀 620):

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

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

GitHub (👨‍💻 65 · 🔀 240):

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

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

GitHub (👨‍💻 13 · 🔀 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 (👨‍💻 81 · 🔀 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 (👨‍💻 64 · 🔀 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 · 🔀 120):

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 (👨‍💻 93 · 📦 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 · 📦 3.3K):
```
git clone https://github.com/mmatl/pyrender
```
PyPi (📥 1.1M / 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 (📥 5.2K / 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

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

Significant stargazers

Johnny

432 followers · starred May 2026

samy kamkar

11,918 followers · starred Aug 2026

Enshen Zhou

159 followers · starred Jun 2025

Jonathan Beri

622 followers · starred Sep 2026

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README

best-of-robot-simulators

🏆 A ranked list of awesome projects. Updated weekly.

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

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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 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 (🥇18 · ⭐ 15K · 📉) - Multi-Joint dynamics with Contact. A general purpose physics simulator. Apache-2

GitHub (👨‍💻 160 · 🔀 1.8K):

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 (👨‍💻 120 · 🔀 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 (👨‍💻 130 · 🔀 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 (🔀 64 · 📋 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 · 🔀 150 · 📦 16):

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

PyPi (📥 1.4K / month · 📦 4 · ⏱️ 04.10.2026):
```
pip install ir-sim
```

pyrobosim (🥈16 · ⭐ 390 · 📉) - 2D mobile robot simulator for behavior prototyping with optional ROS 2 interface. MIT

GitHub (👨‍💻 21 · 🔀 72):

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

PyPi (📥 670 / month · ⏱️ 20.09.2026):
```
pip install pyrobosim
```

mvsim (🥈9 · ⭐ 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 (📥 540 / 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 (📥 55 / 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](https://www.flightgear.org). gnu-gpl2

GitLab (🔀 83 · 📋 660 - 37% 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 (👨‍💻 11):

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 (🥇15 · ⭐ 14K · 📉) - Open-source simulator for autonomous driving research. MIT

GitHub (👨‍💻 210 · 🔀 4.6K):

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 (🥇33 · ⭐ 13K · 📈) - A standard API for single-agent reinforcement learning environments, with popular reference environments and related.. MIT

GitHub (👨‍💻 620 · 🔀 1.5K · 📦 24K):

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

PyPi (📥 3.6M / month · 📦 2.1K · ⏱️ 05.10.2026):
```
pip install gymnasium
```

mjlab (🥇23 · ⭐ 2.8K · 📈) - Isaac Lab API, powered by MuJoCo-Warp, for RL and robotics research. Apache-2

GitHub (👨‍💻 63 · 🔀 480):

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

PyPi (📥 60K / 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 (📥 24K / month · 📦 7 · ⏱️ 28.06.2026):
```
pip install metaworld
```

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

GitHub (👨‍💻 45 · 🔀 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

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 (📥 1.4K / month · 📦 2 · ⏱️ 01.05.2025):
```
pip install jiminy-py
```

jaxsim (🥈14 · ⭐ 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 (📥 4.3K / month · ⏱️ 03.06.2026):
```
pip install jaxsim
```
Conda (📥 22K · ⏱️ 29.04.2026):
```
conda install -c conda-forge jaxsim
```

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 (👨‍💻 35 · 🔀 170 · 📦 14):

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

K-Sim (🥈13 · ⭐ 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 (📥 180 / month · ⏱️ 18.08.2025):
```
pip install ksim
```

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/

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

Sapien (🥉7 · ⭐ 690 · 💤) - SAPIEN Embodied AI Platform. Unlicensed

GitHub (👨‍💻 20 · 🔀 60):

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

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 (📥 260 / 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):

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 (👨‍💻 16):

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 (📥 1.3M / month · 📦 140 · ⏱️ 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):

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

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

GitHub (👨‍💻 280 · 🔀 1.4K):

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

DART (🥇14 · ⭐ 1.2K) - DART: Dynamic Animation and Robotics Toolkit. BSD-2

GitHub (👨‍💻 78 · 🔀 300 · 📦 9):
```
git clone https://github.com/dartsim/dart
```

BRAX (🥈13 · ⭐ 3.1K · 📉) - Massively parallel rigidbody physics simulation on accelerator hardware. Apache-2

GitHub (👨‍💻 56 · 🔀 330):

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

Project CHRONO (🥈13 · ⭐ 3K) - High-performance C++ library for multiphysics and multibody dynamics simulations. BSD-3

GitHub (👨‍💻 160 · 🔀 620):

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

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

GitHub (👨‍💻 65 · 🔀 240):

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

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

GitHub (👨‍💻 13 · 🔀 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 (👨‍💻 81 · 🔀 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 (👨‍💻 64 · 🔀 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 · 🔀 120):

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 (👨‍💻 93 · 📦 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 · 📦 3.3K):
```
git clone https://github.com/mmatl/pyrender
```
PyPi (📥 1.1M / 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 (📥 5.2K / 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

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.

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

Significant stargazers

Johnny

432 followers · starred May 2026

samy kamkar

11,918 followers · starred Aug 2026

Enshen Zhou

159 followers · starred Jun 2025

Jonathan Beri

622 followers · starred Sep 2026

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best-of-robot-simulators

Definition Robotics Simulator

Contents

Explanation

Generic Robotics Simulators

Robotic simulators in 2D

Aerial Robotics Simulators

Maritime Robotics Simulators

Automotive Simulators

Space Robotics Simulators

AI training Simulators

Other Domain Specific Simulators

Game engines

Physics Engines

Rendering engines

Others

Resources

Lists:

Repositories

Blogs

Talks:

Papers:

Contribution

Contributors

How to Contribute

Other projects for Simulation Comparison

License

Significant stargazers

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knmcguire/best-of-robot-simulators

README

best-of-robot-simulators

Definition Robotics Simulator

Contents

Explanation

Generic Robotics Simulators

Robotic simulators in 2D

Aerial Robotics Simulators

Maritime Robotics Simulators

Automotive Simulators

Space Robotics Simulators

AI training Simulators

Other Domain Specific Simulators

Game engines

Physics Engines

Rendering engines

Others

Resources

Lists:

Repositories

Blogs

Talks:

Papers:

Contribution

Contributors

How to Contribute

Other projects for Simulation Comparison

License

Significant stargazers

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