# Supported Simulators

Here is an acrively maintained list of supported configuration features across different simulators. ✅ means fully supported, ❌ means not supported, *️⃣ means partially supported.

|Features|Pybullet|Sapien|Isaacgym|Isaacsim|Pyrep|Mujoco|
| ---- | ---- |---- | ---- | ---- | ---- | ---- |
| RigidObj | ✅ | ✅ | | | | |
| RigidObj.fix_base_link | ✅ | ✅ | | | | |
| ArticulationObj | ✅ | ✅ | | | | |
| BaseRobot | ✅ | ✅ | | | | |
| BaseRobot.actuators.damping | ❌ | ✅ | | | | |
| BaseRobot.actuators.stiffness | ❌ | ✅ | | | | |
| BaseRobot.fix_base_link | ✅ | ✅ | | | | |
| BaseRobot.enabled_gravity | ❌ | ❌ | | | | |
| BaseRobot.enabled_self_collisions | ❌ | ❌ | | | | |
| PinholeCamera.data_types | *️⃣ | *️⃣ | | | | |
| PinholeCamera.focal_length | ❌ | ❌ | | | | |