JaxSim Examples

This folder contains Jupyter notebooks that demonstrate the practical usage of JaxSim.

Featured examples

Notebook	Google Colab	Description
jaxsim_as_multibody_dynamics_library		An example demonstrating how to use JaxSim as a multibody dynamics library.
jaxsim_as_physics_engine.ipynb		An example demonstrating how to simulate vectorized models in parallel.
jaxsim_as_physics_engine_advanced.ipynb		An example showcasing advanced JaxSim usage, such as customizing the integrator, contact model, and more.
jaxsim_for_robot_controllers.ipynb		A basic example showing how to simulate a PD controller with gravity compensation for a 2-DOF cart-pole.

How to run the examples

You can run the JaxSim examples with hardware acceleration in two ways.

Option 1: Google Colab (recommended)

The easiest way is to use the provided Google Colab links to run the notebooks in a hosted environment with no setup required.

Option 2: Local execution with pixi

To run the examples locally, first install pixi following the official documentation:

curl -fsSL https://pixi.sh/install.sh | bash

Then, from the repository’s root directory, execute the example notebooks using:

pixi run examples

This command will automatically handle all necessary dependencies and run the examples in a self-contained environment.