bulletphysics/bullet3
Classic open-source physics simulation engine (Python interface to Bullet Physics); a standard entry point for robot modeling, collision and dynamics, and the default simulation environment in many papers and courses.
google-deepmind/mujoco
High-performance contact-dynamics physics engine (open-sourced free by DeepMind in 2022); a de facto standard for legged and dexterous-hand RL and VLA research.
isaac-sim/IsaacLab
Robot learning framework built on Isaac Sim (Omniverse/PhysX); GPU-parallel simulation powers large-scale RL and Sim2Real training β the core of NVIDIA's embodied AI ecosystem.
Genesis-Embodied-AI/Genesis
General-purpose robot simulation platform driven by a generative physics engine, focused on extreme simulation speed (~100x faster training); covers differentiable physics, generative scenes and manipulation policy learning.
haosulab/ManiSkill
General-purpose robot manipulation simulation and benchmark platform on SAPIEN (ManiSkill2/3), with GPU-parallel rendering and evaluation; rich in manipulation tasks.
haosulab/SAPIEN
Physics-based articulated-body simulation platform strong in articulated-object interaction and differentiable rendering; the underlying base of ManiSkill.
ARISE-Initiative/robosuite
Modular robot-arm manipulation simulation framework on MuJoCo (paired with robomimic), with standardized tabletop tasks and imitation-learning interfaces.
StanfordVL/OmniGibson
Large-scale interactive household-scene simulation on Isaac Sim (base of the BEHAVIOR benchmark); emphasizes realistic interaction semantics and long-horizon tasks.
gazebosim/gz-sim
Long-established open-source 3D robot simulator (new-generation gz-sim), deeply integrated with the ROS ecosystem; a standard for industrial and research robot simulation.