Webots

The Webots project started in 1996, initially developed by Dr. Olivier Michel at the Swiss Federal Institute of Technology (EPFL) in Lausanne, Switzerland and then from 1998 by Cyberbotics Ltd. as a proprietary licensed software.

[1] Webots includes a large collection of freely modifiable models of robots, sensors, actuators and objects.

The graphical properties include the shape, dimensions, position and orientation, colors, and texture of the object.

The ODE library allows one to accurately simulate physical properties of objects such as velocity, inertia and friction.

The robot controller programs can be written outside of Webots in C, C++, Python, ROS, Java and MATLAB using a simple API.

Simulation of a Robotis-Op3in Webots
Simulation of a Pioneer 3-AT (Adept Mobile Robots) mounted with a SICK LMS 291 in Webots
Simulation of a Pioneer 3-DX (Adept Mobile Robots) in Webots
A simulation model of the PR2 robot in Webots.
A simulation model of the Khepera III robot with gripper in Webots.
A simulation model of a salamander robot in Webots which has a deformable skin.
A simulation model of the Boston Dynamics Atlas robot in Webots.