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Merged
merged 7 commits into from
Sep 8, 2025
Merged

Add GPU Performance Notice #446

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e252394
added GPU note and fixed some typos
lucaslibshutz Jul 3, 2025
697e547
fixed minor formatting issues from prettier linter
lucaslibshutz Jul 3, 2025
23d41f5
Update Readme
CarlottaSartore Sep 8, 2025
46f7bf5
Update README.md
CarlottaSartore Sep 8, 2025
17743ce
Update README.md
CarlottaSartore Sep 8, 2025
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Update README.md
CarlottaSartore Sep 8, 2025
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CarlottaSartore Sep 8, 2025
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2 changes: 1 addition & 1 deletion CONTRIBUTING.md
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Expand Up @@ -52,7 +52,7 @@ Follow the [PEP 8](https://peps.python.org/pep-0008/) style guide and include re
## Testing :test_tube:

Your code will be tested with the CI/CD pipeline before merging.
Feel free to add new ones or update the existing tests in the [workflows](./github/workflows) folder to cover your changes.
Feel free to add new ones or update the existing tests in the [workflows](./.github/workflows) folder to cover your changes.

## Documentation :book:

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13 changes: 6 additions & 7 deletions README.md
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Expand Up @@ -17,21 +17,18 @@
<br/>
</div>



## Features

- Physically consistent differentiability w.r.t. hardware parameters.
- Closed chain dynamics support.
- Reduced-coordinate physics engine for **fixed-base** and **floating-base** robots.
- Fully Python-based, leveraging [jax][jax] following a functional programming paradigm.
- Fully Python-based, leveraging [JAX][jax] following a functional programming paradigm.
- Seamless execution on CPUs, GPUs, and TPUs.
- Supports JIT compilation and automatic vectorization for high performance.
- Compatible with SDF models and URDF (via [sdformat][sdformat] conversion).


> [!WARNING]
> This project is still experimental, APIs could change between releases without notice.
> This project is still experimental. APIs may change between releases without notice.

> [!NOTE]
> JaxSim currently focuses on locomotion applications.
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Check the example folder for additional use cases!

> [!NOTE]
[jax]: https://github.com/google/jax/
[sdformat]: https://github.com/gazebosim/sdformat
[notation]: https://research.tue.nl/en/publications/multibody-dynamics-notation-version-2
Expand Down Expand Up @@ -217,11 +215,12 @@ The JaxSim API documentation is available at [jaxsim.readthedocs.io][readthedocs
[readthedocs]: https://jaxsim.readthedocs.io/

## Additional features
Jaxsim can also be used as a multi-body dynamic library! With full support for automatic differentiation of RBDAs (forwards and reverse mode) and automatic differentiation against both kinematic and dynamic parameters.

Jaxsim can also be used as a multi-body dynamics library! With full support for automatic differentiation of RBDAs (forwards and reverse mode) and automatic differentiation against both kinematic and dynamic parameters.

### Using JaxSim as a multibody dynamics library
``` python

```python
import pathlib

import icub_models
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