  The advent of simulation engines has revolutionized learning and operational
efficiency for robots, offering cost-effective and swift pipelines. However,
the lack of a universal simulation platform tailored for chemical scenarios
impedes progress in robotic manipulation and visualization of reaction
processes. Addressing this void, we present Chemistry3D, an innovative toolkit
that integrates extensive chemical and robotic knowledge. Chemistry3D not only
enables robots to perform chemical experiments but also provides real-time
visualization of temperature, color, and pH changes during reactions. Built on
the NVIDIA Omniverse platform, Chemistry3D offers interfaces for robot
operation, visual inspection, and liquid flow control, facilitating the
simulation of special objects such as liquids and transparent entities.
Leveraging this toolkit, we have devised RL tasks, object detection, and robot
operation scenarios. Additionally, to discern disparities between the rendering
engine and the real world, we conducted transparent object detection
experiments using Sim2Real, validating the toolkit's exceptional simulation
performance. The source code is available at
https://github.com/huangyan28/Chemistry3D, and a related tutorial can be found
at https://www.omni-chemistry.com.
