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JaxSim

  • Software
  • Simulators
  • Simulator

JaxSim is a differentiable physics engine built on JAX, aimed at co-design and robot learning, with a focus on locomotion.

Made by Generative Bionics, Italy (checked on github.com/gbionics (opens in a new tab)).

Source on GitHub: github.com/gbionics/jaxsim (opens in a new tab). Facts read at commit 51966e9 (opens in a new tab).

Licenses

Code
BSD-3-Clause (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit 51966e9 (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Simulates fixed-base and floating-base robots in reduced coordinates, with physically consistent differentiability with respect to hardware parameters.
  • Supports closed chain dynamics and loads SDF models, plus URDF through sdformat conversion.
  • Runs on CPUs, GPUs and TPUs, with JIT compilation and automatic vectorization.
  • Can also be used as a multibody dynamics library, with automatic differentiation of rigid body dynamics algorithms.
  • Only contacts between bodies and smooth ground surfaces are supported, and the API is experimental and may change.

Written by Robotheca from the project's README (opens in a new tab) at commit 51966e9.

Getting started

Difficulty
Advanced
Hardware it needs, as the project states it
A computer capable of running JAX; GPU support for JAX is installed automatically when a compatible GPU is detected, and URDF support additionally needs Gazebo Sim components (sdformat 13.0 or later).

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
1 Oct 2026 on main
Latest release
v0.9.0 (29 Apr 2026)

Checked on GitHub on 16 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.