Alternatives and similar repositories for jaxsim

Users that are interested in jaxsim are comparing it to the libraries listed below

• ami-iit / adam
  adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.
  ☆202Updated last week
• Simple-Robotics / Simple
  The Simple Simulator: Simulation Made Simple
  ☆209Updated 6 months ago
• MaxMSun / lqrax
  GPU-friendly, auto-differentiable LQR solver with JAX.
  ☆209Updated 4 months ago
• robot-acceleration / GRiD
  A GPU accelerated library for computing rigid body dynamics with analytical gradients
  ☆123Updated 2 years ago
• dojo-sim / dojopy
  Python interface to Dojo
  ☆68Updated 3 years ago
• vincekurtz / hydrax
  Sampling-based model predictive control on GPU with JAX/MJX
  ☆231Updated 6 months ago
• kevin-tracy / qpax
  Differentiable QP solver in JAX
  ☆123Updated last year
• based-robotics / mjinx
  Numerical Inverse Kinematics solver based on JAX + MJX
  ☆133Updated 4 months ago
• based-robotics / jaxadi
  Transforms your CasADi functions into batchable JAX-compatible functions. By combining the power of CasADi with the flexibility of JAX, J…
  ☆169Updated 9 months ago
• vincekurtz / drake_ddp
  Differential Dynamic Programming and Iterative LQR in Drake
  ☆75Updated last year
• kevin-tracy / dpax
  Differentiable collision detection for capsules in JAX.
  ☆51Updated 2 years ago
• stephane-caron / vulp
  Robot/simulation switch for the mjbots stack
  ☆63Updated last year
• bheijden / rex
  Rex is a JAX-powered framework for sim-to-real robotics.
  ☆52Updated 6 months ago
• Balint-H / blender-mjcf
  A scene exporter from Blender to the MuJoCo physics engine
  ☆82Updated 2 months ago
• Simple-Robotics / ContactBench
  Benchmarking contact models and solvers from robotics simulators.
  ☆39Updated last year
• anindex / mtp
  Implementation of Model Tensor Planning in JAX, TMLR 2025 & ICLR 2026.
  ☆25Updated 6 months ago
• bdaiinstitute / judo
  Judo: a hackable sampling-based MPC toolbox
  ☆207Updated last week
• se-hwan / cusadi
  ☆309Updated 3 weeks ago
• based-robotics / mujoco-sysid
  System identification with MuJoCo
  ☆76Updated 10 months ago
• TobiaMarcucci / gcsopt
  ☆92Updated last week
• NOSALRO / robot_dart
  RobotDART: a versatile robot simulator for robotics and machine learning researchers
  ☆57Updated 8 months ago
• shacklettbp / madrona_mjx
  ☆151Updated 5 months ago
• asu-iris / Complementarity-Free-Dexterous-Manipulation
  State-of-the-art method for model-based dexterous manipulation
  ☆125Updated last year
• vincekurtz / drax
  Direct Trajectory Optimization in JAX
  ☆25Updated last year
• imgeorgiev / DiffRL
  Learning Optimal Policies Through Contact in Differentiable Simulation
  ☆106Updated last year
• utiasSTARS / GraphIK
  A library for solving inverse kinematics with graphical models and distance geometry.
  ☆129Updated last year
• Simple-Robotics / proxsuite-nlp
  [ARCHIVED] Development continues at https://github.com/Simple-Robotics/aligator. [Old description] A primal-dual augmented Lagrangian sol…
  ☆67Updated 2 months ago
• adubredu / Fabrics.jl
  Julia implementation of Geometric Fabrics
  ☆25Updated 3 years ago
• dfki-ric-underactuated-lab / double_pendulum
  Dual purpose Acrobot and Pendubot Platform
  ☆50Updated 3 months ago
• ROAM-Lab-ND / generalized_rbda
  Library of rigid-body dynamics algorithms for systems with kinematic loops.
  ☆45Updated this week