PyBullet

PyBullet is the official Python interface for the Bullet Physics SDK, offering real-time collision detection and multi-physics simulation. It is widely used in robotics simulation, reinforcement learning, and virtual reality research and applications. PyBullet allows loading articulated bodies from various file formats like URDF, SDF, and MJCF, and provides functionalities for forward dynamics, inverse dynamics, forward and inverse kinematics, and collision detection. The library is actively maintained with frequent updates to its underlying C++ Bullet Physics engine.