Robotics Simulation Python Packages

mjlab

Isaac Lab API, powered by MuJoCo-Warp, for RL and robotics research

69K 3K 552

roboticstoolbox-python

Robotics Toolbox for Python

19K 4K 634

jaxsim

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

10K 203 22

ir-sim

A Python-based lightweight robot simulator designed for navigation, control, and learning

4K 1K 148

unilab

UniLab: A Heterogeneous Architecture for Robot RL Beyond GPU-Dominant Paradigms

3K 952 112

tempo-sim

A collection of Unreal Engine plugins for simulation

2K 63 19

luckyrobots

Python SDK for LuckyEngine robotics simulation

1K 278 16

better-actuator-models

Identify and simulate extended friction models for servo-actuators

1K 538 68

manipulapy

ManipulaPy is a modular, GPU-accelerated Python package for robotic manipulator simulation, planning, control, and perception. It supports kinematics, dynamics, path planning, control strategies, PyBullet simulation, and even 3D vision with stereo processing and YOLO-based obstacle detection.

1K 24 3

franka-rs

Rust client for the Franka Control Interface: one binary for the FR3 and the Panda, no C++, the 1 kHz loop as a library and low rate interface. Python bindings included.

946 2 0

airsimneurips

Drone Racing @ NeurIPS 2019, built on Microsoft AirSim

867 396 96

urdf2webots

Utility to convert URDF files to Webots PROTO nodes

853 160 46

caasi

Caasi is a lightweight, CLI-first orchestration layer for NVIDIA Isaac Sim, Isaac Lab and the wider robotics ecosystem (ROS 2, Nav2, MoveIt 2, ros2_control, …). It discovers the tools you already have, launches them headlessly, tracks every long-running process as a first-class run, and gives you uniform, scriptable output for all of it.

711 0 0

coppeliasim-mcp

MCP server to drive CoppeliaSim 4.10 from Claude Code and other MCP clients — build scenes, joints and sensors, run the simulation and read it back. No arbitrary Lua execution.

584 1 0

pybullet-planning

A suite of utility functions to facilitate robotic planning related research on the pybullet physics simulation engine.

515 138 19

pybullet-planning-eaa

A suite of utility functions to facilitate robotic planning related research on the pybullet physics simulation engine.

497 138 19

franka-node-client

Rust client for the Franka Control Interface: one binary for the FR3 and the Panda, no C++, the 1 kHz loop as a library and low rate interface. Python bindings included.

450 2 0

franka-vr-teleop

Rust client for the Franka Control Interface: one binary for the FR3 and the Panda, no C++, the 1 kHz loop as a library and low rate interface. Python bindings included.

423 2 0