Filippo Luca Ferretti

This PR adds the computation of base and joints acceleration via the Articulated-Body Algorithm.

This PR adds a new rigid contacts model to the codebase. ---- 📚 Documentation preview 📚: https://jaxsim--149.org.readthedocs.build//149/

Add algorithm to compute the standalone Coriolis matrix `C(q, ν)`

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This PR will add an algorithm to compute the standalone Coriolis matrix basing on the one developed by [S. Echeandia et al.](https://arxiv.org/pdf/2010.01033.pdf). Solves https://github.com/ami-iit/jaxsim/issues/41 ---- 📚 Documentation preview 📚: https://jaxsim--75.org.readthedocs.build/75/

Refactor velocity representations as integers

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This pull request refactors the velocity representation in the JaxSim API. The changes include avoiding the use of `enum` in `VelRepr` and making `velocity_representation` a non-static argument in some methods...

Add more advanced example notebooks

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As the library starts to have more users, the need for a more complete documentation and examples naturally emerges, as seen in #175 and #187. For this reason, this issue...

This pull request includes several changes to the integrators logic and API. The `JaxSimModel` class now incorporates `integrator` and `dt` as static attributes. In order to do this, it was...

This PR is a proposal to adapt the `jaxsim.exceptions` so that it can also work with calls to `jaxsim.logging` or `logging`. Eventually, we could think of just separating the two...

This PR adds a RBDA to compute the inverse of the floating base mass matrix analytically. > [!Note] > Reference pseudocode: https://laas.hal.science/hal-01790934v2/document Solves #107 ---- 📚 Documentation preview 📚: https://jaxsim--231.org.readthedocs.build//231/

Add recipe for `sphinx-collections`

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Repo: https://github.com/useblocks/sphinx-collections PyPI: https://pypi.org/project/sphinx-collections Checklist - [x] Title of this PR is meaningful: e.g. "Adding my_nifty_package", not "updated meta.yaml". - [x] License file is packaged (see [here](https://github.com/conda-forge/staged-recipes/blob/5eddbd7fc9d1502169089da06c3688d9759be978/recipes/example/meta.yaml#L64-L73) for an example)....

This pull request updates the licensing information in the `pyproject.toml` file to align with the BSD-3-Clause license standard and removes an outdated classifier entry. ### Licensing updates: * Updated the...