Our virtual ThreeDWorld is now public: www.threedworld.org
We provide a fully controllable virtual world striving to be ~photorealistic, based on the Unity engine. ThreeDWorld provides visual and audio rendering with physically realistic behavior that users can interact with through an extensive python API. Check out the code here: github.com/threedworld-mit/tdw
MIT News also wrote a great article summarizing the platform: news.mit.edu