RaiSim, a a physics engine for robotics and AI research is now released on GitHub!

Update (2020): RaiSim is now distributed at www.raisim.com.

Please see this post for more details about RaiSim project.

Related works

• Dongho Kang, "RaiSim: Efficient Pipeline for Rigid Body Simulation with Contacts," MSc Semester Thesis, Departement Maschinenbau und Verfahrenstechnik, ETH Zürich, 2018.
• Hwangbo, Jemin and et al., "Per-contact iteration method for solving contact dynamics." IEEE Robotics and Automation Letters 3.2 (2018): 895-902.
• Hwangbo, Jemin and et al., "Learning agile and dynamic motor skills for legged robots." Science Robotics, 2019.