# How to Choose a Robot Simulator: Same Success, Tenfold Contact Force Gap

- Source: Xbotics具身智能实验室 · 微信公众号
- Published: 2026-10-21T03:00:00.000Z
- RoboHot: https://robohot.news/en/items/qe6uzkvbwph8gow02jpca9evh
- Original: https://mp.weixin.qq.com/s?__biz=MzkyMTc1NTI3Ng==&mid=2247509403&idx=1&sn=bff1aad6243e5d3fd827eb89dc3d5d82&chksm=c05fe4d4d11c2b7093ae66b448ea7a0cf0d40aee2c449510f42f6027905022c2386874a95017&scene=126&sessionid=1792676336#rd

## Summary

The article interprets a simulator comparison report released by Manda Robotics in early October, running about ten sets of experiments with the same Franka 7-axis robotic arm and the same control program on four physics engines: PhysX, MuJoCo, MuJoCo Warp, and Genesis.

## Why it matters

The article uses controlled comparison experiments under uniform conditions to show that simulator divergence is concentrated in contact forces rather than success or failure, and provides transferable troubleshooting and verification methods.