gbionics/jaxsim

A differentiable physics engine and multibody dynamics library for control and robot learning.

Stars: 203
Forks: 23
Open beginner issues: 0
Indexed issues: 7
Avg merge: 2m
Merged PRs (30d): 1

Dominant language: Python
License: BSD-3-Clause
Last GitHub push: Sep 1, 2026
Latest indexed: Sep 16, 2026
Contributing guide: Contributing guide
Code of conduct: No code of conduct
Beginner labels: No beginner labels indexed

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7 open issues indexed

Implement algorithm to compute the standalone Coriolis matrix `C(q, ν)` Open

gbionics/jaxsim#41 · 4 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Consider running in CI a static type checker like `mypy` Open

gbionics/jaxsim#190 · 3 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Enhance testing suite for mesh collisions Open

gbionics/jaxsim#289 · 0 comments · 1 reaction · 0 assignees · Indexed Sep 16, 2026
Add possibility to set a base from the `build_from_model_description` method Open

gbionics/jaxsim#302 · 2 comments · 0 reactions · 1 assignee · Indexed Sep 16, 2026
Mismatch between `data.base_transform` and `jaxsim.api.model.forward_kinematics` for fixed-base models with non trivial base-to-world transform Open

bug

gbionics/jaxsim#337 · 3 comments · 1 reaction · 0 assignees · Indexed Sep 16, 2026
Default Joint positions may be out of limits Open

gbionics/jaxsim#410 · 2 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Investigate using single-precision floating point operations as default Open

gbionics/jaxsim#429 · 0 comments · 1 reaction · 0 assignees · Indexed Sep 16, 2026

A short digest of beginner-friendly GitHub issues.