🏆 A ranked list of awesome projects. Updated weekly.
This curated list contains 160 awesome simulator projects with a total of 420K 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!
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Here is a definition of a robotics simulator derived in this blogpost
A robotic simulator is a software framework that provides a virtual environment, often leveraging different physics/rendering engines and sensor models, to model the robot's behavior, its interaction and perception with the simulated world for design, evaluative or data-generative purposes.
With:
- virtual environment - To provide the scenario for the simulated robot to act in, depending on the application, like an indoor building, forest, or lunar landscape.
- behavior, its interaction and perception - The simulated entity should be able to interact with and act upon that virtual environment or world through its simulated sensors and actuators.
- physics/rendering engines and sensor models - To be able to simulate those interactions and perceptions caused by the robot's behavior, to model how an object will slip while being grasped or the noise of the lidar ranges.
- design, evaluative or data-generative - To use this as a development tool, as part of continuous integration to assure quality, or to collect data that can be used for AI training purposes.
- Generic Robotics Simulators 23 projects
- Robotic simulators in 2D 5 projects
- Aerial Robotics Simulators 26 projects
- Maritime Robotics Simulators 19 projects
- Automotive Simulators 5 projects
- Space Robotics Simulators 6 projects
- AI training Simulators 32 projects
- Other Domain Specific Simulators 9 projects
- Game engines 6 projects
- Physics Engines 22 projects
- Rendering engines 7 projects
- Others 1 projects
- 🥇🥈🥉 Combined project-quality score
- ⭐️ Star count from GitHub
- 🐣 New project (less than 6 months old)
- 💤 Inactive project (12 months no activity)
- 💀 Dead project (999999 months no activity)
- 📈📉 Project is trending up or down
- ➕ Project was recently added
- 👨💻 Contributors count from GitHub
- 🔀 Fork count from GitHub
- 📋 Issue count from GitHub
- ⏱️ Last update timestamp on package manager
- 📥 Download count from package manager
- 📦 Number of dependent projects
Generic simulators, tools or SDKs made for robotics
mujoco (🥇38 · ⭐ 11K) - Multi-Joint dynamics with Contact. A general purpose physics simulator. Apache-2
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GitHub (👨💻 95 · 🔀 1.1K · 📥 750K · 📦 4.8K · 📋 1.8K - 6% open · ⏱️ 08.10.2025):
git clone https://github.com/google-deepmind/mujoco
O3DE for Robotics (🥇29 · ⭐ 8.6K) - Open 3D Engine (O3DE) is an Apache 2.0-licensed multi-platform 3D engine that enables developers and content creators.. MIT and Apache-2
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GitHub (👨💻 320 · 🔀 2.3K · 📥 10K · 📋 7.8K - 42% open · ⏱️ 07.10.2025):
git clone https://github.com/o3de/o3de
Webots (🥇28 · ⭐ 3.8K) - Webots Robot Simulator. Apache-2
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GitHub (👨💻 140 · 🔀 1.8K · 📥 1.7M · 📋 1.9K - 12% open · ⏱️ 26.08.2025):
git clone https://github.com/cyberbotics/webots
Gazebo (🥈21 · ⭐ 1.1K) - Open source robotics simulator. The latest version of Gazebo. Apache-2
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GitHub (👨💻 160 · 🔀 330 · 📋 1K - 43% open · ⏱️ 29.09.2025):
git clone https://github.com/gazebosim/gz-sim
Newton (Physics) (🥈20 · ⭐ 1.5K · 🐣) - An open-source, GPU-accelerated physics simulation engine built upon NVIDIA Warp, specifically targeting roboticists.. Apache-2
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GitHub (👨💻 29 · 🔀 120 · 📋 440 - 34% open · ⏱️ 08.10.2025):
git clone https://github.com/newton-physics/newton
OpenRAVE (🥈18 · ⭐ 790 · 💤) - Open Robotics Automation Virtual Environment: An environment for testing, developing, and deploying robotics motion.. Apache-2 and LGPL-3
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GitHub (👨💻 120 · 🔀 330 · 📋 520 - 57% open · ⏱️ 16.08.2024):
git clone https://github.com/rdiankov/openrave
Unity Robotics Hub (🥈16 · ⭐ 2.4K) - Central repository for tools, tutorials, resources, and documentation for robotics simulation in Unity. Apache-2
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GitHub (👨💻 13 · 🔀 450 · 📋 200 - 26% open · ⏱️ 26.11.2024):
git clone https://github.com/Unity-Technologies/Unity-Robotics-Hub
Ros2 For Unity (🥉15 · ⭐ 580 · 💤) - High-performance ROS2 solution for Unity3D. Apache-2
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GitHub (👨💻 12 · 🔀 65 · 📥 7.7K · 📋 93 - 40% open · ⏱️ 30.09.2024):
git clone https://github.com/RobotecAI/ros2-for-unity
ARGoS (🥉15 · ⭐ 290) - A parallel, multi-engine simulator for heterogeneous swarm robotics. MIT
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GitHub (👨💻 25 · 🔀 110 · 📋 130 - 21% open · ⏱️ 03.05.2025):
git clone https://github.com/ilpincy/argos3
NVIDIA Isaac Sim (🥉14 · ⭐ 1.5K · 🐣) - NVIDIA Isaac Sim is an open-source application on NVIDIA Omniverse for developing, simulating, and testing AI-driven.. Apache 2.0 and NVIDIA Omniverse License Agreement
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GitHub (👨💻 5 · 🔀 190 · 📋 160 - 40% open · ⏱️ 25.09.2025):
git clone https://github.com/isaac-sim/IsaacSim
ROS1 Intergration for Unreal 4 (🥉14 · ⭐ 450) - Unreal Engine Plugin to enable ROS Support. MIT
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GitHub (👨💻 32 · 🔀 140 · 📋 130 - 39% open · ⏱️ 11.02.2025):
git clone https://github.com/code-iai/ROSIntegration
CoppeliaSim core library (🥉11 · ⭐ 130) - CoppeliaSim core library. gnu-gpl
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GitHub (👨💻 3 · 🔀 44 · 📋 21 - 4% open · ⏱️ 06.10.2025):
git clone https://github.com/CoppeliaRobotics/coppeliaSimLib
Robwork (🥉8 · ⭐ 33 · 💤) - RobWork is a collection of C++ libraries for simulation and control of robot systems, see http://robwork.dk To get.. Apache-2
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GitLab (🔀 39 · 📋 110 - 15% open · ⏱️ 07.04.2016):
git clone https://gitlab.com/sdurobotics/RobWork
SimSpark (🥉7 · ⭐ 21) - A generic physical simulator. Missing
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GitLab (🔀 8 · 📋 56 - 51% open · ⏱️ 13.10.2017):
git clone https://gitlab.com/robocup-sim/SimSpark
CoppeliaSim (🥉1) - Proprietary Software License
- No project information available.
RobotBuilder (🥉1) - Commercial software
- No project information available.
RoboDK (🥉1) - proprietary license
- No project information available.
MATLAB Robotics Systems Toolbox (🥉1) - Proprietary Software License
- No project information available.
RoSi (🥉1) - Proprietary Software License
- No project information available.
Show 4 hidden projects...
- Gazebo Classic (🥈21 · ⭐ 1.3K) - Gazebo classic. For the latest version, see https://github.com/gazebosim/gz-sim.
Apache-2 - Roboschool (🥈20 · ⭐ 2.2K · 💤) - DEPRECATED: Open-source software for robot simulation, integrated with OpenAI Gym.
MIT - Morse (🥈16 · ⭐ 360 · 💤) - The Modular OpenRobots Simulation Engine.
OFL-1.1 - Simbad (🥉1) -
GNU-gpl2
Robotic simulators that only work in a 2D environment, for instance navigation
IR-SIM (🥇24 · ⭐ 600) - A Python based lightweight robot simulator for the development of algorithms in robotics navigation, control, and.. MIT
mvsim (🥉14 · ⭐ 340 · 📉) - Vehicle and mobile robotics simulator. C++ & Python API. Use it as a standalone application or via ROS 1 or ROS 2. BSD-3
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GitHub (👨💻 9 · 🔀 50 · 📋 28 - 28% open · ⏱️ 29.09.2025):
git clone https://github.com/MRPT/mvsim
Flatland (🥉13 · ⭐ 120 · 💤) - A 2D robot simulator for ROS. BSD-3
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GitHub (👨💻 14 · 🔀 42 · 📋 26 - 50% open · ⏱️ 07.05.2024):
git clone https://github.com/avidbots/flatland
DWA_Algorithm_PYTHON (🥉3 · ⭐ 11 · 🐣) - A fully visualized implementation of the Dynamic Window Approach (DWA) in Python using Pygame. Simulate and visualize.. MIT
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GitHub (👨💻 2 · 🔀 1 · ⏱️ 18.07.2025):
git clone https://github.com/EricChen0104/DWA_Algorithm_PYTHON
Simulator frameworks made especially for aerial robotics
Cosys-AirSim (🥇20 · ⭐ 230 · 📈) - AirSim is a simulator for drones, cars and more, built on Unreal Engine. We expand it with new implementations and.. MIT
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GitHub (👨💻 260 · 🔀 81 · 📥 6.9K · 📋 78 - 48% open · ⏱️ 03.10.2025):
git clone https://github.com/Cosys-Lab/Cosys-AirSim
Gym Pybullet Drones (🥈18 · ⭐ 1.6K · 📈) - PyBullet Gymnasium environments for single and multi-agent reinforcement learning of quadcopter control. MIT
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GitHub (👨💻 19 · 🔀 450 · 📋 220 - 48% open · ⏱️ 04.10.2025):
git clone https://github.com/utiasDSL/gym-pybullet-drones
RotorS (🥈18 · ⭐ 1.4K · 💤) - RotorS is a UAV gazebo simulator. MIT
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GitHub (👨💻 49 · 🔀 680 · 📋 380 - 42% open · ⏱️ 06.07.2021):
git clone https://github.com/ethz-asl/rotors_simulator
Flightmare (🥈17 · ⭐ 1.2K · 💤) - An Open Flexible Quadrotor Simulator. MIT
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GitHub (👨💻 7 · 🔀 360 · 📥 5.9K · 📋 170 - 65% open · ⏱️ 15.05.2023):
git clone https://github.com/uzh-rpg/flightmare
Project AirSim (🥈16 · ⭐ 290 · 🐣) - Project AirSim is Microsofts evolution of AirSim, an advanced simulation platform for building, training, and testing.. MIT
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GitHub (👨💻 9 · 🔀 36 · 📥 790 · 📋 25 - 76% open · ⏱️ 18.09.2025):
git clone https://github.com/iamaisim/ProjectAirSim
FlightGoggles (🥈15 · ⭐ 430 · 💤) - A framework for photorealistic hardware-in-the-loop agile flight simulation using Unity3D and ROS. Developed by MIT.. MIT
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GitHub (👨💻 9 · 🔀 98 · 📥 1.6K · 📋 170 - 11% open · ⏱️ 01.04.2024):
git clone https://github.com/mit-aera/FlightGoggles
Pegasus Simulator (🥈14 · ⭐ 580) - A framework built on top of NVIDIA Isaac Sim for simulating drones with PX4 support and much more. BSD-3
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GitHub (👨💻 4 · 🔀 110 · 📋 55 - 40% open · ⏱️ 20.07.2025):
git clone https://github.com/PegasusSimulator/PegasusSimulator
Gymfc (🥈14 · ⭐ 430 · 💤) - A universal flight control tuning framework. MIT
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GitHub (🔀 100 · 📋 81 - 11% open · ⏱️ 07.10.2021):
git clone https://github.com/wil3/gymfc/
rotorpy (🥈14 · ⭐ 190) - A multirotor simulator with aerodynamics for education and research. MIT
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GitHub (👨💻 5 · 🔀 41 · 📥 11 · 📋 19 - 15% open · ⏱️ 18.08.2025):
git clone https://github.com/spencerfolk/rotorpy
jMAVSim (🥈14 · ⭐ 96 · 💤) - Simple multirotor simulator with MAVLink protocol support. BSD-3
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GitHub (👨💻 28 · 🔀 210 · 📋 52 - 30% open · ⏱️ 17.12.2021):
git clone https://github.com/PX4/jMAVSim
Aerial Gym Simulator (🥉13 · ⭐ 570 · 📉) - Aerial Gym Simulator - Isaac Gym Simulator for Aerial Robots. BSD-3
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GitHub (👨💻 4 · 🔀 92 · 📋 44 - 27% open · ⏱️ 30.09.2025):
git clone https://github.com/ntnu-arl/aerial_gym_simulator
CrazyS (🥉13 · ⭐ 170 · 💤) - CrazyS is an extension of the ROS package RotorS, aimed to modeling, developing and integrating the Crazyflie 2.0. Apache-2
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GitHub (👨💻 2 · 🔀 84 · 📋 88 - 10% open · ⏱️ 11.08.2022):
git clone https://github.com/gsilano/CrazyS
Isaac Drone Racer (🥉9 · ⭐ 130 · 🐣) - Isaac Drone Racer is a reinforcement learning framework for high speed autonomous drone racing, built on top of.. BSD-3
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GitHub (🔀 23 · 📋 5 - 20% open · ⏱️ 20.06.2025):
git clone https://github.com/kousheekc/isaac_drone_racer
Fly Craft (🥉9 · ⭐ 79) - An efficient goal-conditioned reinforcement learning environment for fixed-wing UAV velocity vector control based on.. MIT
Flightgear (🥉8 · ⭐ 57 · 💤) - FlightGear open-source flight simulator [flightgear.org](https://www.flightgear.org). gnu-gpl2
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GitLab (🔀 38 · 📋 350 - 43% open · ⏱️ 04.03.2015):
git clone https://gitlab.com/flightgear/flightgear
FlightForge (🥉7 · ⭐ 13) - FlightForge: An open source Unreal engine based quadcopter simulator. BSD-3
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GitHub (👨💻 4 · 🔀 2 · ⏱️ 17.05.2025):
git clone https://github.com/ctu-mrs/flight_forge
RotorTM (🥉6 · ⭐ 73 · 💤) - GPL-3.0
-
GitHub (👨💻 3 · 🔀 15 · 📋 4 - 50% open · ⏱️ 09.06.2024):
git clone https://github.com/arplaboratory/RotorTM
swarm_sync_sim (🥉6 · ⭐ 13) - swarm_sync_sim (also known as sss) is an ultra-lightweight, ROS-based simulator for robotic swarms, including.. BSD-3
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GitHub (👨💻 6 · 🔀 1 · ⏱️ 18.03.2025):
git clone https://github.com/shupx/swarm_sync_sim
Itomori (🥉4 · ⭐ 11) - Gymnasium environment for research of UAVs and risk constraints. MIT
-
GitHub (⏱️ 29.10.2024):
git clone https://github.com/gustavo-moura/itomori
Ardupilot_Multiagent_Simulation (🥉3 · ⭐ 69 · 🐣) - Simulation environment for multiagent drone systems using Ardupilot, ROS 2, and Gazebo enabling users to spawn and.. GPL-3.0
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GitHub (🔀 15 · ⏱️ 31.07.2025):
git clone https://github.com/aau-cns/Ardupilot_Multiagent_Simulation
Matlab UAV Toolbox (🥉1) - MathWorks Software License Agreement
- No project information available.
Realflight (🥉1) - proprietary software license
- No project information available.
X-plane (🥉1) - proprietary license
- No project information available.
Spleenlab simulator (🥉1) - proprietary
- No project information available.
Show 1 hidden projects...
Simulator frameworks made especially for maritime robotics
Virtual RobotX (🥇19 · ⭐ 560 · 📉) - Virtual RobotX (VRX) resources. Apache-2
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GitHub (👨💻 36 · 🔀 230 · 📋 560 - 5% open · ⏱️ 24.07.2025):
git clone https://github.com/osrf/vrx
DAVE (🥈15 · ⭐ 260 · 💤) - Project DAVE. Apache-2
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GitHub (👨💻 25 · 🔀 70 · 📋 130 - 24% open · ⏱️ 04.12.2023):
git clone https://github.com/Field-Robotics-Lab/dave
UNav-Sim (🥈14 · ⭐ 250) - Visually Realistic Underwater Robotics Simulator UNav-Sim. MIT
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GitHub (👨💻 250 · 🔀 25 · 📋 16 - 18% open · ⏱️ 02.05.2025):
git clone https://github.com/open-airlab/UNav-Sim
SMaRC 2 (🥈14 · ⭐ 13) - smarc ros2-humble main repository. BSD-3-Clause and MIT
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GitHub (👨💻 23 · 🔀 27 · 📥 43 · 📋 27 - 29% open · ⏱️ 07.10.2025):
git clone https://github.com/smarc-project/smarc2
Stonefish (🥈13 · ⭐ 180) - Stonefish - an advanced C++ simulation library designed for (but not limited to) marine robotics. GPL-3.0
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GitHub (👨💻 11 · 🔀 45 · 📋 38 - 18% open · ⏱️ 10.06.2025):
git clone https://github.com/patrykcieslak/stonefish
Ocean Sim (🥈12 · ⭐ 320) - [IROS 2025] OceanSim: A GPU-Accelerated Underwater Robot Perception Simulation Framework. BSD-3
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GitHub (👨💻 6 · 🔀 40 · 📋 12 - 8% open · ⏱️ 07.09.2025):
git clone https://github.com/umfieldrobotics/OceanSim
Moos-ivp (🥉11 · ⭐ 31) - MOOS-IvP is a set of modules for providing autonomy on robotic platforms, in particular autonomous marine vehicles. GPLv3 LGPLv3 and Commercial
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GitHub (👨💻 17 · 🔀 21 · 📋 12 - 58% open · ⏱️ 06.09.2025):
git clone https://github.com/moos-ivp/moos-ivp
HoloOcean (🥉10 · ⭐ 70) - A UE5 based simulator for marine perception and autonomy, with multi-agent communications and many common underwater.. MIT and Unreal Engine EULA
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GitHub (👨💻 11 · 🔀 31 · 📋 170 - 13% open · ⏱️ 29.09.2025):
git clone https://github.com/byu-holoocean/HoloOcean
MARUSimulator (🥉8 · ⭐ 21) - Marine simulator core assets for Unity. Apache-2
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GitHub (👨💻 8 · 🔀 5 · 📋 5 - 40% open · ⏱️ 07.02.2025):
git clone https://github.com/MARUSimulator/marus-core
Show 10 hidden projects...
- UUV Simulator (🥇16 · ⭐ 800 · 💤) - Gazebo/ROS packages for underwater robotics simulation.
Apache-2 - UWSim (🥈12 · ⭐ 110 · 💤) - UWSim-NET, the Underwater Simulator.
GNU-gpl - UWSim-NET (🥉11 · ⭐ 110 · 💤) - UWSim-NET, the Underwater Simulator.
Unlicensed - LRAUV (🥉10 · ⭐ 73) - Packages for simulating the Tethys-class Long-Range AUV (LRAUV) from the Monterey Bay Aquarium Research Institute..
Apache-2 - Freefloating (🥉9 · ⭐ 74 · 💤) - A Gazebo plugin to simulate underwater vehicles and visualize with UWsim.
MIT - URSim (🥉8 · ⭐ 66 · 💤) - Simulator for Unmanned Underwater Vehicles using ROS and Unity3D.
Apache-2 - MARS (🥉7 · ⭐ 12 · 💤) - MArine Robotics Simulator - An online Hardware-in-the-Loop simulation environment for multiple AUVs and ASVs.
BSD-3 - ds sim -
Unlicensed - USARSim -
Unlicensed - UW-Morse (🥉-1 · ⭐ 2 · 💤) -
Unlicensed
Simulator frameworks made especially for automotive
Carla (🥇33 · ⭐ 13K) - Open-source simulator for autonomous driving research. MIT
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GitHub (👨💻 190 · 🔀 4.1K · 📦 1.1K · 📋 6.1K - 18% open · ⏱️ 02.10.2025):
git clone https://github.com/carla-simulator/carla
ESMINI (🥈25 · ⭐ 870) - a basic OpenSCENARIO player. MPL-2.0
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GitHub (👨💻 89 · 🔀 240 · 📥 29K · 📋 590 - 30% open · ⏱️ 06.10.2025):
git clone https://github.com/esmini/esmini
AWSim (🥈25 · ⭐ 620) - Open sourced digital twin simulator for Autoware. Apache-2
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GitHub (👨💻 32 · 🔀 100 · 📥 68K · 📋 120 - 15% open · ⏱️ 08.10.2025):
git clone https://github.com/tier4/AWSIM
Show 2 hidden projects...
- SVL Simulator (🥉21 · ⭐ 2.4K · 💤) - A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles.
Unlicensed - Self Driving Car (🥉19 · ⭐ 4K · 💤) - A self-driving car simulator built with Unity.
MIT
Simulator frameworks made especially for space robotics
Basilisk (🥇23 · ⭐ 240) - Astrodynamics simulation framework. ISC
-
GitHub (👨💻 120 · 🔀 80 · 📋 410 - 24% open · ⏱️ 04.10.2025):
git clone https://github.com/AVSLab/basilisk
Astrobee (🥈19 · ⭐ 1.2K) - NASA Astrobee Robot Software. Apache-2
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GitHub (👨💻 22 · 🔀 340 · 📋 210 - 6% open · ⏱️ 03.10.2025):
git clone https://github.com/NASA/astrobee
BSK-RL (🥈15 · ⭐ 80) - RL environments and tools for spacecraft autonomy research, built on Basilisk. Developed by the AVS Lab. MIT
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GitHub (👨💻 8 · 🔀 7 · 📋 150 - 15% open · ⏱️ 30.09.2025):
git clone https://github.com/AVSLab/bsk_rl
OmiLRS (🥉11 · ⭐ 130) - Omniverse Lunar Robotics Simulator. BSD-3
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GitHub (👨💻 8 · 🔀 25 · 📋 25 - 40% open · ⏱️ 23.09.2025):
git clone https://github.com/OmniLRS/OmniLRS
Mars Explorer (🥉6 · ⭐ 70 · 💤) - no license
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GitHub (👨💻 3 · 🔀 7 · 📋 10 - 40% open · ⏱️ 23.08.2022):
git clone https://github.com/dimikout3/MarsExplorer
LunarSim (🥉5 · ⭐ 49 · 💤) - LunarSim: Lunar Rover Simulator Focused on High Visual Fidelity and ROS 2 Integration for Advanced Computer Vision.. Missing
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GitHub (👨💻 2 · 🔀 7 · 📥 390 · 📋 5 - 60% open · ⏱️ 07.12.2023):
git clone https://github.com/PUTvision/LunarSim
Simulations made for training for AI-agents like reinforcement learning
Gymnasium (🥇40 · ⭐ 10K) - An API standard for single-agent reinforcement learning environments, with popular reference environments and related.. MIT
Genesis (🥇30 · ⭐ 27K) - A generative world for general-purpose robotics & embodied AI learning. Apache-2
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GitHub (👨💻 68 · 🔀 2.5K · 📦 97 · 📋 840 - 12% open · ⏱️ 08.10.2025):
git clone https://github.com/Genesis-Embodied-AI/Genesis
NVIDIA Isaac Sim Isaac Lab (🥇28 · ⭐ 5.1K) - Unified framework for robot learning built on NVIDIA Isaac Sim. BSD-3
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GitHub (👨💻 160 · 🔀 2.4K · 📋 1.9K - 15% open · ⏱️ 04.10.2025):
git clone https://github.com/isaac-sim/IsaacLab
AI2-thor (🥈25 · ⭐ 1.5K) - An open-source platform for Visual AI. Apache-2
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GitHub (👨💻 50 · 🔀 250 · 📦 380 · 📋 640 - 41% open · ⏱️ 29.05.2025):
git clone https://github.com/allenai/ai2thor
Gymnasium Robotics (🥈25 · ⭐ 780) - A collection of robotics simulation environments for reinforcement learning. MIT
Metaworld (🥈23 · ⭐ 1.6K) - Collections of robotics environments geared towards benchmarking multi-task and meta reinforcement learning. MIT
jaxsim (🥈22 · ⭐ 160) - A differentiable physics engine and multibody dynamics library for control and robot learning. BSD-3
IGibson (🥈21 · ⭐ 770 · 💤) - A Simulation Environment to train Robots in Large Realistic Interactive Scenes. MIT
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GitHub (👨💻 34 · 🔀 160 · 📥 290 · 📦 14 · 📋 340 - 37% open · ⏱️ 19.02.2023):
git clone https://github.com/StanfordVL/iGibson
Habitat Sim (🥈20 · ⭐ 3.2K) - A flexible, high-performance 3D simulator for Embodied AI research. MIT
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GitHub (👨💻 62 · 🔀 470 · 📋 830 - 23% open · ⏱️ 24.04.2025):
git clone https://github.com/facebookresearch/habitat-sim
ManiSkill (🥈20 · ⭐ 2.1K) - SAPIEN Manipulation Skill Framework, an open source GPU parallelized robotics simulator and benchmark, led by Hillbot,.. Apache-2
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GitHub (👨💻 54 · 🔀 360 · 📋 700 - 14% open · ⏱️ 06.10.2025):
git clone https://github.com/haosulab/ManiSkill
Jiminy (🥈20 · ⭐ 270) - Jiminy: a fast and portable Python/C++ simulator of poly-articulated robots with OpenAI Gym interface for.. MIT
Sapien (🥈19 · ⭐ 650) - SAPIEN Embodied AI Platform. Unlicensed
-
GitHub (👨💻 15 · 🔀 55 · 📥 5.6K · 📦 230 · 📋 200 - 28% open · ⏱️ 17.07.2025):
git clone https://github.com/haosulab/SAPIEN
K-Sim (🥈19 · ⭐ 210) - RL training library for humanoid locomotion and manipulation. Built on top of MuJoCo and JAX. MIT
MuJoCo playground (🥉18 · ⭐ 1.5K) - An open-source library for GPU-accelerated robot learning and sim-to-real transfer. Apache-2
-
GitHub (🔀 200 · 📋 130 - 19% open · ⏱️ 03.10.2025):
git clone https://github.com/google-deepmind/mujoco_playground/
RoboVerse (🥉18 · ⭐ 1.5K · 🐣) - RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning. Apache-2
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GitHub (👨💻 34 · 🔀 120 · 📥 3 · 📋 160 - 40% open · ⏱️ 08.10.2025):
git clone https://github.com/RoboVerseOrg/RoboVerse
MetaDrive (🥉17 · ⭐ 1K) - MetaDrive: Lightweight driving simulator for everyone. Apache-2
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GitHub (🔀 150 · 📥 50K · 📋 400 - 21% open · ⏱️ 12.05.2025):
git clone https://github.com/metadriverse/metadrive/
Holodeck (🥉17 · ⭐ 590 · 💤) - High Fidelity Simulator for Reinforcement Learning and Robotics Research. MIT
-
GitHub (👨💻 19 · 🔀 42 · 📦 10 · 📋 240 - 20% open · ⏱️ 30.04.2021):
git clone https://github.com/BYU-PCCL/holodeck
LocoMuJoCo (🥉16 · ⭐ 1.2K) - Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo. MIT
-
GitHub (👨💻 14 · 🔀 120 · 📦 8 · 📋 66 - 43% open · ⏱️ 30.05.2025):
git clone https://github.com/robfiras/loco-mujoco
Gibson (🥉15 · ⭐ 920 · 💤) - Gibson Environments: Real-World Perception for Embodied Agents. MIT
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GitHub (👨💻 9 · 🔀 140 · 📋 120 - 39% open · ⏱️ 12.05.2021):
git clone https://github.com/StanfordVL/GibsonEnv
Safe Control Gym (🥉15 · ⭐ 770) - PyBullet CartPole and Quadrotor environmentswith CasADi symbolic a priori dynamicsfor learning-based control and RL. MIT
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GitHub (👨💻 20 · 🔀 140 · 📋 59 - 11% open · ⏱️ 21.09.2025):
git clone https://github.com/utiasDSL/safe-control-gym
PyRep (🥉15 · ⭐ 740 · 💤) - A toolkit for robot learning research. MIT
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GitHub (👨💻 20 · 🔀 160 · 📋 300 - 0% open · ⏱️ 02.07.2024):
git clone https://github.com/stepjam/PyRep
ProcTHOR (🥉14 · ⭐ 390 · 💤) - Scaling Embodied AI by Procedurally Generating Interactive 3D Houses. Apache-2
-
GitHub (👨💻 6 · 🔀 34 · 📦 13 · 📋 52 - 82% open · ⏱️ 14.12.2022):
git clone https://github.com/allenai/procthor
robo-gym (🥉13 · ⭐ 460) - An open source toolkit for Distributed Deep Reinforcement Learning on real and simulated robots. MIT
-
GitHub (👨💻 11 · 🔀 73 · 📦 10 · 📋 54 - 20% open · ⏱️ 22.07.2025):
git clone https://github.com/jr-robotics/robo-gym
RoboCasa (🥉12 · ⭐ 940) - RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots. MIT
-
GitHub (🔀 99 · 📋 150 - 27% open · ⏱️ 23.04.2025):
git clone https://github.com/robocasa/robocasa
Deepdrive (🥉12 · ⭐ 920 · 💤) - Deepdrive is a simulator that allows anyone with a PC to push the state-of-the-art in self-driving. Unlicensed
-
GitHub (👨💻 6 · 🔀 150 · 📋 64 - 54% open · ⏱️ 29.06.2020):
git clone https://github.com/deepdrive/deepdrive
racecar_gym (🥉12 · ⭐ 200 · 💤) - A gym environment for a miniature racecar using the pybullet physics engine. MIT
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GitHub (🔀 31 · 📥 5.5K · ⏱️ 18.09.2023):
git clone https://github.com/axelbr/racecar_gym/
OmniIsaacGymEnvs (🥉11 · ⭐ 1K · 💤) - Reinforcement Learning Environments for Omniverse Isaac Gym. Unlicensed
-
GitHub (👨💻 6 · 🔀 220 · 📋 170 - 69% open · ⏱️ 06.06.2024):
git clone https://github.com/isaac-sim/OmniIsaacGymEnvs
PyBullet Gym (🥉11 · ⭐ 860 · 💤) - Open-source implementations of OpenAI Gym MuJoCo environments for use with the OpenAI Gym Reinforcement Learning.. MIT
-
GitHub (👨💻 14 · 🔀 120 · 📋 57 - 52% open · ⏱️ 29.03.2021):
git clone https://github.com/benelot/pybullet-gym
UAIbot (🥉11 · ⭐ 3) - The Python version of the UAIbot simulator. MIT
-
GitHub (👨💻 4 · 🔀 5 · ⏱️ 08.07.2025):
git clone https://github.com/UAIbot/UAIbotPy
Arnold (🥉9 · ⭐ 180 · 💤) - [ICCV 2023] Official code repository for ARNOLD benchmark. MIT
-
GitHub (👨💻 3 · 🔀 15 · 📋 53 - 9% open · ⏱️ 01.04.2024):
git clone https://github.com/arnold-benchmark/arnold
Reinforcement Learning Toolbox (🥉1) - Proprietary Software License
- No project information available.
Show 1 hidden projects...
Robotic simulators build for other domains like automotive or space robotics
Panda-Gym (🥇14 · ⭐ 700 · 💤) - Set of robotic environments based on PyBullet physics engine and gymnasium. MIT
-
GitHub (👨💻 9 · 🔀 120 · 📋 71 - 11% open · ⏱️ 04.07.2024):
git clone https://github.com/qgallouedec/panda-gym
AutoDRIVE Simulator (🥈13 · ⭐ 120 · 📈) - An Integrated Cyber-Physical Ecosystem for Autonomous Driving Research and Education. BSD-2
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GitHub (👨💻 3 · 🔀 26 · 📥 2.3K · ⏱️ 23.12.2024):
git clone https://github.com/Tinker-Twins/AutoDRIVE
DexterousHands (🥈12 · ⭐ 870) - This is a library that provides dual dexterous hand manipulation tasks through Isaac Gym. Apache-2
-
GitHub (👨💻 9 · 🔀 110 · 📦 5 · 📋 48 - 75% open · ⏱️ 18.02.2025):
git clone https://github.com/PKU-MARL/DexterousHands
Graspit! (🥈11 · ⭐ 210 · 💤) - The GraspIt! simulator. Unlicensed
-
GitHub (👨💻 25 · 🔀 81 · 📥 110 · 📋 76 - 43% open · ⏱️ 10.07.2020):
git clone https://github.com/graspit-simulator/graspit
gym-softrobot (🥈11 · ⭐ 35) - Softrobotics environment package for OpenAI Gym. MIT
Strech MuJoCo (🥉10 · ⭐ 51) - This library provides a simulation stack for Stretch, built on MuJoCo. BSD-3-Clause-Clear
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GitHub (👨💻 6 · 🔀 17 · 📋 48 - 41% open · ⏱️ 20.08.2025):
git clone https://github.com/hello-robot/stretch_mujoco
multi-agent_sim (🥉8 · ⭐ 41) - Fully open architecture implementation of modern multi-agent coordination techniques. MIT
-
GitHub (👨💻 2 · 🔀 5 · ⏱️ 05.10.2025):
git clone https://github.com/tjards/multi-agent_sim
Stewart Platform Simulator (🥉7 · ⭐ 38) - The RAW inverse kinematics library for Stewart Platforms written in JavaScript. MIT
-
GitHub (🔀 15 · 📦 4 · ⏱️ 18.08.2025):
git clone https://github.com/rawify/Stewart.js
Roadrunner (🥉1) - Proprietary Software License
- No project information available.
3D engines made for games but can be interfaced with robotic frameworks
Godot (🥇44 · ⭐ 100K) - Godot Engine Multi-platform 2D and 3D game engine. MIT
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GitHub (👨💻 3.5K · 🔀 23K · 📥 13M · 📦 21 · 📋 59K - 20% open · ⏱️ 07.10.2025):
git clone https://github.com/godotengine/godot
Bevy (🥈39 · ⭐ 43K) - A refreshingly simple data-driven game engine built in Rust. Apache-2
-
GitHub (👨💻 1.4K · 🔀 4.1K · 📦 25K · 📋 7.5K - 32% open · ⏱️ 08.10.2025):
git clone https://github.com/bevyengine/bevy
O3DE (🥈29 · ⭐ 8.6K) - 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 (👨💻 320 · 🔀 2.3K · 📥 10K · 📋 7.8K - 42% open · ⏱️ 07.10.2025):
git clone https://github.com/o3de/o3de
Unity (🥉1) - Unity Subscription Plans
- No project information available.
Unreal Engine (🥉1) - EULA
- No project information available.
Roblox (🥉1) - proprietary
- No project information available.
Physics Engines that simulate multi-joint dynamics, gravity etc
Drake (🥇32 · ⭐ 3.7K) - Model-based design and verification for robotics. BSD-3
-
GitHub (👨💻 270 · 🔀 1.2K · 📥 90K · 📋 6.6K - 10% open · ⏱️ 07.10.2025):
git clone https://github.com/RobotLocomotion/drake
Pinocchio (🥇30 · ⭐ 2.7K) - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives. BSD-2
Project CHRONO (🥇28 · ⭐ 2.6K) - High-performance C++ library for multiphysics and multibody dynamics simulations. BSD-3
-
GitHub (👨💻 130 · 🔀 510 · 📥 8.9K · 📋 330 - 29% open · ⏱️ 08.10.2025):
git clone https://github.com/projectchrono/chrono
Bullet Physics SDK (🥈27 · ⭐ 14K) - Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects,.. zlib
-
GitHub (👨💻 310 · 🔀 2.9K · 📥 5.6K · 📦 21 · 📋 2K - 11% open · ⏱️ 23.04.2025):
git clone https://github.com/bulletphysics/bullet3
BRAX (🥈26 · ⭐ 2.9K) - Massively parallel rigidbody physics simulation on accelerator hardware. Apache-2
-
GitHub (👨💻 47 · 🔀 310 · 📦 540 · 📋 400 - 21% open · ⏱️ 07.10.2025):
git clone https://github.com/google/brax
Avian 3D (🥈26 · ⭐ 2.4K) - ECS-driven 2D and 3D physics engine for the Bevy game engine. Apache-2
-
GitHub (👨💻 68 · 🔀 180 · 📦 340 · 📋 330 - 42% open · ⏱️ 06.10.2025):
git clone https://github.com/Jondolf/avian
JSBSim (🥈24 · ⭐ 1.7K) - An open source flight dynamics & control software library. LGPL-2.1
-
GitHub (👨💻 71 · 🔀 500 · 📥 31K · 📋 360 - 10% open · ⏱️ 27.09.2025):
git clone https://github.com/JSBSim-Team/jsbsim
DART (🥈22 · ⭐ 1K) - DART: Dynamic Animation and Robotics Toolkit. BSD-2
-
GitHub (👨💻 73 · 🔀 280 · 📦 8 · 📋 670 - 23% open · ⏱️ 20.09.2025):
git clone https://github.com/dartsim/dart
Simbody (🥈21 · ⭐ 2.4K · 📉) - High-performance C++ multibody dynamics/physics library for simulating articulated biomechanical and mechanical.. Apache-2
-
GitHub (👨💻 62 · 🔀 470 · 📋 340 - 40% open · ⏱️ 25.08.2025):
git clone https://github.com/simbody/simbody
MuJoCo Wrap (🥉20 · ⭐ 800) - GPU-optimized version of the MuJoCo physics simulator, designed for NVIDIA hardware. Apache-2
-
GitHub (👨💻 26 · 🔀 82 · 📋 210 - 22% open · ⏱️ 06.10.2025):
git clone https://github.com/google-deepmind/mujoco_warp
RaiSim (🥉16 · ⭐ 400) - Visit www.raisim.com. Proprietary Software License
-
GitHub (👨💻 16 · 🔀 98 · 📥 240 · 📋 400 - 14% open · ⏱️ 01.09.2025):
git clone https://github.com/raisimTech/raisimlib
TPE (part of gz-physics) (🥉16 · ⭐ 73) - Abstract physics interface designed to support simulation and rapid development of robot applications. Apache-2
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GitHub (👨💻 50 · 🔀 50 · 📋 160 - 52% open · ⏱️ 26.09.2025):
git clone https://github.com/gazebosim/gz-physics
PhysX 5 (🥉15 · ⭐ 4.2K) - NVIDIA PhysX SDK. BSD-3
-
GitHub (👨💻 7 · 🔀 510 · 📋 170 - 26% open · ⏱️ 22.07.2025):
git clone https://github.com/NVIDIA-Omniverse/PhysX
PhysX SDK (legacy) (🥉15 · ⭐ 3.4K · 💤) - NVIDIA PhysX SDK. NVIDIA Omniverse License Agreement
-
GitHub (👨💻 3 · 🔀 790 · 📋 620 - 49% open · ⏱️ 09.11.2022):
git clone https://github.com/NVIDIAGameWorks/PhysX
ODE (🥉11 · ⭐ 170 · 💤) - Open Dynamics Engine (ODE) github mirror from https://bitbucket.org/odedevs/ode. gnu-gpl and BSD-3-clause
-
GitHub (👨💻 34 · 🔀 34 · 📋 3 - 66% open · ⏱️ 14.01.2024):
git clone https://github.com/thomasmarsh/ODE
FleX (🥉9 · ⭐ 740 · 💤) - Nvidia Software License
-
GitHub (👨💻 2 · 🔀 100 · 📋 130 - 68% open · ⏱️ 15.04.2021):
git clone https://github.com/NVIDIAGameWorks/FleX
PyFleX (🥉7 · ⭐ 140 · 💤) - Customized Python APIs for NVIDIA FleX. Nvidia Software License
-
GitHub (🔀 27 · 📋 10 - 40% open · ⏱️ 17.08.2021):
git clone https://github.com/YunzhuLi/PyFleX
AGX Dynamics by Algoryx (🥉2) - AGX Dynamics, by Algoryx, is a modular physics simulation toolkit available in C++, C# and Python, on Windows, Mac and.. Proprietary Software License
- No project information available.
Newton Dynamics (🥉1) - zlib
-
git clone https://github.com/newton-dynamics/newton-dynamics
Havok Physics (🥉1) - Per-title licensing model
- No project information available.
Simscape (🥉1) - Proprietary Software License
- No project information available.
Rendering engines for robotic simulators
Atom (🥇29 · ⭐ 8.6K) - 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 (👨💻 320 · 🔀 2.3K · 📥 10K · 📋 7.8K - 42% open · ⏱️ 07.10.2025):
git clone https://github.com/o3de/o3de
OGRE (🥈28 · ⭐ 4.4K) - scene-oriented, flexible 3D engine (C++, Python, C#, Java). MIT
-
GitHub (👨💻 340 · 🔀 1K · 📥 3.7K · 📋 920 - 15% open · ⏱️ 06.10.2025):
git clone https://github.com/OGRECave/ogre
Wren (Webots) (🥈28 · ⭐ 3.8K) - Webots Robot Simulator. Apache-2
-
GitHub (👨💻 140 · 🔀 1.8K · 📥 1.7M · 📋 1.9K - 12% open · ⏱️ 26.08.2025):
git clone https://github.com/cyberbotics/webots
PyRender (🥉25 · ⭐ 1.4K · 💤) - Easy-to-use glTF 2.0-compliant OpenGL renderer for visualization of 3D scenes. MIT
Vulkan (🥉24 · ⭐ 3.5K) - Open-Source Vulkan C++ API. Apache-2
-
GitHub (👨💻 97 · 🔀 330 · 📋 650 - 1% open · ⏱️ 07.10.2025):
git clone https://github.com/KhronosGroup/Vulkan-Hpp
OpenGL (🥉24 · ⭐ 3.5K) - Open-Source Vulkan C++ API. Apache-2
-
GitHub (👨💻 97 · 🔀 330 · 📋 650 - 1% open · ⏱️ 07.10.2025):
git clone https://github.com/KhronosGroup/Vulkan-Hpp
Unity Rendering Plugin (🥉13 · ⭐ 910) - C++ Rendering Plugin example for Unity. MIT
-
GitHub (👨💻 13 · 🔀 180 · 📋 29 - 89% open · ⏱️ 07.05.2025):
git clone https://github.com/Unity-Technologies/NativeRenderingPlugin
HighwayEnv (🥇24 · ⭐ 3K · 📉) - A minimalist environment for decision-making in autonomous driving. MIT
- Aerial Robotics Landscape - Simulation: A linking website to all kinds of aerial robotic tooling
- Awesome Weekly Robotics list: All kinds of useful links as featured in Weekly Robotics
- ROS discourse: shared simulators with the ROS community
- Awesome Robotics by Kiloreux A list of awesome robotics resources
- Awesome Robotics by ahundt
- Awesome ros2 by fkromer
- Awesome robotic tooling
- Awesome robotics projects by mjyc
- Awesome LLM Robotics by GT-RIPL:
- Best-of lists: Discover other best-of lists with awesome open-source projects on all kinds of topics.
- Robot-manipulation.org simulator list
- Navigating through the Robotic Simulation Landscape: The blogpost by Kimberly McGuire that started this list
- Ekumen at FOSDEM 2025: Accelerating robotics development through simulation: The blogpost by Ekumen about robotic simulation.
- FOSDem 2025 Robotics and Simulation: Talk about an overview of robotic simulators
- C. A. Dimmig et al., "Survey of Simulators for Aerial Robots: An Overview and In-Depth Systematic Comparisons," in IEEE Robotics & Automation Magazine, doi: 10.1109/MRA.2024.3433171 ArXiv
- Player, Timothy R., et al. "From concept to field tests: Accelerated development of multi-AUV missions using a high-fidelity faster-than-real-time simulator." 2023 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2023. ArXiv
Those that contributed to this list, proposed updates or have suggested new projects:
- Kimberly McGuire (@knmcguire)
- Mat Sadowski (@msadowski)
- Sebastian Castro (@sea-bass)
- Marek Kraft (@PUTvision)
- Fatemeh Pourhashem (?)
- Ramon Roche (@mrpollo)
- Robert Eisele (@infusion)
- Silvio Traversaro (@traversaro)
- Hugo Börjesson (@hugoberjesson)
- Neeraj Cherakara (@iamnambiar)
- @jmackay2
- Christoph Kammer (@ckammer87)
- Gokul Puthumanaillam (@gokulp01)
- Spicer Bak (@SBFRF)
- Mabel Zhang (@mabelzhang)
- Pedro Roque (@pPedro-Roque)
- Özer Özkahraman (@KKalem)
- Pierre Kancier (@khancyr)
- Tanmay/Chinmay Samak (@Tinker-Twins)
- Peixuan Shu (@Peixuan Shu)
- Jennifer Buehler (@JenniferBuehler)
- @MiaoDX
Contributions are encouraged and always welcome! If you like to add or update projects, choose one of the following ways:
- Open an issue by selecting one of the provided categories from the issue page and fill in the requested information.
- Modify the projects.yaml with your additions or changes, and submit a pull request. This can also be done directly via the Github UI.
If you like to contribute to or share suggestions regarding the project metadata collection or markdown generation, please refer to the best-of-generator repository. If you like to create your own best-of list, we recommend to follow this guide.
For more information on how to add or update projects, please read the contribution guidelines. By participating in this project, you agree to abide by its Code of Conduct.
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