RaiSim is a cross-platform multi-body physics engine for robotics and AI. It fully supports Linux, Mac Os, and Windows. RaiSim is closed-source and is distributed under a few different types of license. Please check License section for details.
RaisimPy example in
Biomechanical simulation, created by Young-Jun Koo, PhD and Seungbum Koo, PhD at Musculoskeletal BioDynamics Lab, KAIST.
The geometric model is created using the Full-body musculoskeletal model in Rajagopal et al. (2016).
Ray Test example with Husky and Velodyne
ANYmal B and C robots, by ANYbotics AG.
Simple URDF by RaiSim Tech.