frax is a fast kinematics and dynamics library in pure Python, using JAX for JIT-compilation and automatic differentiation. With frax, you can design high-perf

frax is a fast kinematics and dynamics library in pure Python, using JAX for JIT-compilation and automatic differentiation. With frax, you can design high-performance inverse-kinematics and inverse-dynamics controllers at the speed of Pinocchio, ease of use of Python, and differentiation and parallelization-compatibility of MJX.