Carlotta Sartore

This PR adds the possibility to load the `urdf` both from string or from path. As discussed with @S-Dafarra, I decided not to declare any new method (e.g. `LoadFromXMLPath`,`LoadFromXMLstring`)but to...

**Is your feature request related to a problem? Please describe.** Since in the error msg in yarpmanager there is no information about when that error occur, it could be misinterpreted...

Add possibility to set a base from the `build_from_model_description` method

2

I have seen that it is not possible to set the base from the method `build_from_model_description` although it is the suggested function for loading a model. It would be useful...

Change name from jaxsim to pacesim

1

We have decided to change the name ! The winner is 🥁 : **PACEsim** **P**hysics **A**ware **C**o-design **E**ngine We need to deal with different things to change the name: -...

When we load not supported collision a warning should be throw

Enhance hardware parametrisation tests

1

We should add more unit-like tests for the hardware parameterisation to help future debugging, see https://github.com/ami-iit/jaxsim/pull/430