.gitignore
.pre-commit-config.yaml
.readthedocs.yaml
CONTRIBUTING.md
LICENSE
README.md
environment.yml
pyproject.toml
setup.cfg
setup.py
.devcontainer/Dockerfile
.devcontainer/devcontainer.json
.github/CODEOWNERS
.github/workflows/ci_cd.yml
.github/workflows/read_the_docs.yml
.github/workflows/style.yml
docs/Makefile
docs/conf.py
docs/index.rst
docs/make.bat
docs/guide/install.rst
docs/modules/high_level.rst
docs/modules/math.rst
docs/modules/parsers.rst
docs/modules/physics.rst
docs/modules/simulation.rst
docs/modules/typing.rst
docs/modules/utils.rst
examples/.gitattributes
examples/.gitignore
examples/PD_controller.ipynb
examples/Parallel_computing.ipynb
examples/README.md
examples/pixi.lock
examples/pixi.toml
examples/assets/cartpole.urdf
src/jaxsim/__init__.py
src/jaxsim/_version.py
src/jaxsim/logging.py
src/jaxsim/typing.py
src/jaxsim.egg-info/PKG-INFO
src/jaxsim.egg-info/SOURCES.txt
src/jaxsim.egg-info/dependency_links.txt
src/jaxsim.egg-info/not-zip-safe
src/jaxsim.egg-info/requires.txt
src/jaxsim.egg-info/top_level.txt
src/jaxsim/api/__init__.py
src/jaxsim/api/common.py
src/jaxsim/api/contact.py
src/jaxsim/api/data.py
src/jaxsim/api/joint.py
src/jaxsim/api/link.py
src/jaxsim/api/model.py
src/jaxsim/api/ode.py
src/jaxsim/api/references.py
src/jaxsim/high_level/__init__.py
src/jaxsim/high_level/common.py
src/jaxsim/high_level/joint.py
src/jaxsim/high_level/link.py
src/jaxsim/high_level/model.py
src/jaxsim/integrators/__init__.py
src/jaxsim/integrators/common.py
src/jaxsim/integrators/fixed_step.py
src/jaxsim/math/__init__.py
src/jaxsim/math/adjoint.py
src/jaxsim/math/conv.py
src/jaxsim/math/cross.py
src/jaxsim/math/inertia.py
src/jaxsim/math/joint.py
src/jaxsim/math/plucker.py
src/jaxsim/math/quaternion.py
src/jaxsim/math/rotation.py
src/jaxsim/math/skew.py
src/jaxsim/mujoco/__init__.py
src/jaxsim/mujoco/__main__.py
src/jaxsim/mujoco/loaders.py
src/jaxsim/mujoco/model.py
src/jaxsim/mujoco/visualizer.py
src/jaxsim/parsers/__init__.py
src/jaxsim/parsers/kinematic_graph.py
src/jaxsim/parsers/descriptions/__init__.py
src/jaxsim/parsers/descriptions/collision.py
src/jaxsim/parsers/descriptions/joint.py
src/jaxsim/parsers/descriptions/link.py
src/jaxsim/parsers/descriptions/model.py
src/jaxsim/parsers/rod/__init__.py
src/jaxsim/parsers/rod/parser.py
src/jaxsim/parsers/rod/utils.py
src/jaxsim/physics/__init__.py
src/jaxsim/physics/algos/__init__.py
src/jaxsim/physics/algos/aba.py
src/jaxsim/physics/algos/aba_motors.py
src/jaxsim/physics/algos/crba.py
src/jaxsim/physics/algos/forward_kinematics.py
src/jaxsim/physics/algos/jacobian.py
src/jaxsim/physics/algos/rnea.py
src/jaxsim/physics/algos/rnea_motors.py
src/jaxsim/physics/algos/soft_contacts.py
src/jaxsim/physics/algos/terrain.py
src/jaxsim/physics/algos/utils.py
src/jaxsim/physics/model/__init__.py
src/jaxsim/physics/model/ground_contact.py
src/jaxsim/physics/model/physics_model.py
src/jaxsim/physics/model/physics_model_state.py
src/jaxsim/simulation/__init__.py
src/jaxsim/simulation/integrators.py
src/jaxsim/simulation/ode.py
src/jaxsim/simulation/ode_data.py
src/jaxsim/simulation/ode_integration.py
src/jaxsim/simulation/simulator.py
src/jaxsim/simulation/simulator_callbacks.py
src/jaxsim/simulation/utils.py
src/jaxsim/sixd/__init__.py
src/jaxsim/utils/__init__.py
src/jaxsim/utils/jaxsim_dataclass.py
src/jaxsim/utils/oop.py
src/jaxsim/utils/tracing.py
src/jaxsim/utils/vmappable.py
tests/__init__.py
tests/test_ad_physics.py
tests/test_eom.py
tests/test_forward_dynamics.py
tests/test_jax_oop.py
tests/utils_idyntree.py
tests/utils_models.py
tests/utils_rng.py