Alternatives and similar repositories for jaxsim

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

• gbionics / adam
  adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.
  ☆209Updated 2 weeks ago
• MaxMSun / lqrax
  GPU-friendly, auto-differentiable LQR solver with JAX.
  ☆215Updated 6 months ago
• kevin-tracy / qpax
  Differentiable QP solver in JAX
  ☆128Updated last year
• dojo-sim / dojopy
  Python interface to Dojo
  ☆70Updated 3 years ago
• Simple-Robotics / Simple
  The Simple Simulator: Simulation Made Simple
  ☆213Updated last month
• robot-acceleration / GRiD
  A GPU accelerated library for computing rigid body dynamics with analytical gradients
  ☆123Updated 2 years ago
• vincekurtz / hydrax
  Sampling-based model predictive control on GPU with JAX/MJX
  ☆247Updated 7 months ago
• based-robotics / mjinx
  Numerical Inverse Kinematics solver based on JAX + MJX
  ☆144Updated 6 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…
  ☆174Updated 11 months ago
• bheijden / rex
  Rex is a JAX-powered framework for sim-to-real robotics.
  ☆52Updated 7 months ago
• kevin-tracy / dpax
  Differentiable collision detection for capsules in JAX.
  ☆52Updated 2 years ago
• se-hwan / cusadi
  ☆325Updated 3 weeks ago
• bdaiinstitute / judo
  Judo: a hackable sampling-based MPC toolbox
  ☆225Updated 3 weeks ago
• TobiaMarcucci / gcsopt
  ☆95Updated last month
• utiasSTARS / GraphIK
  A library for solving inverse kinematics with graphical models and distance geometry.
  ☆128Updated last year
• asu-iris / Complementarity-Free-Dexterous-Manipulation
  State-of-the-art method for model-based dexterous manipulation
  ☆131Updated last year
• shacklettbp / madrona_mjx
  ☆161Updated 7 months ago
• stephane-caron / vulp
  Robot/simulation switch for the mjbots stack
  ☆63Updated last year
• vincekurtz / drake_ddp
  Differential Dynamic Programming and Iterative LQR in Drake
  ☆77Updated last year
• Balint-H / blender-mjcf
  A scene exporter from Blender to the MuJoCo physics engine
  ☆87Updated 4 months ago
• Simple-Robotics / ContactBench
  Benchmarking contact models and solvers from robotics simulators.
  ☆44Updated last year
• anindex / mtp
  Implementation of Model Tensor Planning in JAX, TMLR 2025 & ICLR 2026.
  ☆25Updated 8 months ago
• dfki-ric-underactuated-lab / double_pendulum
  Dual purpose Acrobot and Pendubot Platform
  ☆52Updated 5 months ago
• adubredu / Fabrics.jl
  Julia implementation of Geometric Fabrics
  ☆25Updated 3 years ago
• rewarped / rewarped
  Reinforcement learning in differentiable multiphysics simulation with NVIDIA Warp.
  ☆166Updated 8 months ago
• based-robotics / mujoco-sysid
  System identification with MuJoCo
  ☆78Updated last year
• cmower / optas
  OpTaS: An optimization-based task specification library for trajectory optimization and model predictive control.
  ☆138Updated 3 months ago
• iory / mjcf2urdf
  Convert MuJoCo mjcf to URDF format.
  ☆82Updated 5 years ago
• dmillard / GranularGym
  High performance simulation for robotic tasks with granular materials
  ☆36Updated last year
• ROAM-Lab-ND / generalized_rbda
  Library of rigid-body dynamics algorithms for systems with kinematic loops.
  ☆48Updated last week