jaxsim (pypi): A physics engine in reduced coordinates implemented with JAX.
Keywords: physics|physics engine|jax|rigid body dynamics|featherstone|reinforcement learning|robot|robotics|sdf|urdf|aba|ad|automatic-differentiation|crba|dynamics|jacobian|jit|kinematics|ode|physics-engine|rigid-body-dynamics|rnea|robotics-control|robotics-simulation|simulation|simulation-modeling