Simulation & physics

Open source

An archived toolkit for RL experiments with ROS 2 and Gazebo.

Open source

Framework for developing OpenAI Gym robotics environments simulated with Ignition Gazebo

Open source

Reproducible reinforcement-learning experiments in Gazebo.

Open source

URDF models of humans created to perform human robot interaction experiments.

Open source

A human-vehicle simulation platform for autonomous-system and interaction experiments.

Open source

Integration of Motoman CSDA10f dual arm robot with ROS, Moveit and Gazebo, with aims of creating a robotics developing platform for Invite GmbH, pre-configured to be simple to use and learn.

Open source

An independent extension based on IsaacLab. It provides support for Robot Manipulation tasks (Robot Arm and Dextrous Hand).

Open source

A differentiable physics engine and multibody dynamics library for control and robot learning.

Open source

Python/C++ articulated-robot simulator with Gym interfaces for reinforcement learning.

Open source

C++ rigid-body physics and collision detection library.

Open source

Codebase for Kinova Gen3 training in Isaac Lab, sim2real transfer and ROS deployment.

Open source

RL training library for humanoid locomotion and manipulation. Built on top of MuJoCo and JAX.

Open source

A Genesis–LeRobot bridge for running, recording and evaluating robot policies.

Open source

Perceptive Learning for Legged Robots in IsaacLab. | LocoTouch: Learning Dynamic Quadrupedal Transport with Tactile Sensing (CoRL'25)

Open source

Python SDK for LuckyEngine robotics simulation

Open source

LLM-first, 3D-native robotics and simulation workspace.

Open source

Base Mujoco Gymnasium environment for easily controlling any robot arm with operational space control. Built with dm-control PyMJCF for easy configuration.

Open source

Elevating FRC Java Robot Simulations to the Next Level with Physics Engines

Open source

MATRiX is an advanced simulation platform that integrates MuJoCo, Unreal Engine 5, and CARLA to provide high-fidelity, interactive environments for robotics research.

Open source

A digital twin for robotics-assisted chemistry laboratory automation.

Open source

Driving simulator for autonomous-driving research and multi-agent experiments.

Open source

A collection of tasks built on mjlab

Open source

ROS packages and Arduino scripts that can be used to control the BCN3D Moveo robotic arm in simulation and real-life.

Open source

ROS2 control package for Mujoco simulation physics simulator, including plugins for various sensors, RGB-D cameras, and lidar.