Simulation Platform Comparison

Gazebo

  • Open-source benchmark
  • Multiple physics engines (ODE, Bullet, Simbody, DART)
  • 20+ sensors, 100+ robot models
  • Deep ROS integration

NVIDIA Isaac Sim

  • Based on Omniverse + RTX
  • GPU-accelerated physics
  • 200+ industrial robot models
  • Suitable for digital twins, AI training

Webots

  • Cross-platform, intuitive GUI
  • Supports Python/C++/MATLAB/ROS
  • 20+ educational robot models

CoppeliaSim (V-REP)

  • Lua scripting
  • Multi-robot collaboration
  • 100+ robot models

PyBullet / Bullet

  • Lightweight Python physics engine
  • 200+ robot models
  • Reinforcement learning benchmark

MuJoCo

  • Open-sourced in 2021 (DeepMind acquisition)
  • Continuous control, multi-joint dynamics
  • OpenAI Gym benchmark