Merge pull request #261 from ami-iit/feature/example_computation_nb

Add example notebook for rigid body dynamics

docs/examples.rst

@@ -41,6 +41,20 @@ Example Notebooks
       <div class="sphx-glr-thumbnail-title">JaxSim for developing closed-loop robot controllers</div>
     </div>
 
+
+.. raw:: html
+
+    <div class="sphx-glr-thumbcontainer" tooltip="JaxSim as a multibody dynamics library">
+
+.. only:: html
+
+    :doc:`_collections/examples/jaxsim_as_multibody_dynamics_library`
+
+.. raw:: html
+
+      <div class="sphx-glr-thumbnail-title">JaxSim as a multibody dynamics library</div>
+    </div>
+
 .. raw:: html
 
     </div>

examples/README.md

@@ -6,12 +6,14 @@ This folder contains Jupyter notebooks that demonstrate the practical usage of J
 
 | Notebook | Google Colab | Description |
 | :--- | :---: | :--- |
+| [`jaxsim_as_multibody_dynamics_library`](./jaxsim_as_multibody_dynamics_library.ipynb) | [![Open In Colab][colab_badge]][ipynb_jaxsim_as_multibody_dynamics] | An example demonstrating how to use JaxSim as a multibody dynamics library. |
 | [`jaxsim_as_physics_engine.ipynb`](./jaxsim_as_physics_engine.ipynb) | [![Open In Colab][colab_badge]][ipynb_jaxsim_as_physics_engine] | An example demonstrating how to simulate vectorized models in parallel. |
 | [`jaxsim_for_robot_controllers.ipynb`](./jaxsim_for_robot_controllers.ipynb) | [![Open In Colab][colab_badge]][ipynb_jaxsim_closed_loop] | A basic example showing how to simulate a PD controller with gravity compensation for a 2-DOF cart-pole. |
 
 [colab_badge]: https://colab.research.google.com/assets/colab-badge.svg
 [ipynb_jaxsim_closed_loop]: https://colab.research.google.com/github/ami-iit/jaxsim/blob/main/examples/jaxsim_for_robot_controllers.ipynb
 [ipynb_jaxsim_as_physics_engine]: https://colab.research.google.com/github/ami-iit/jaxsim/blob/main/examples/jaxsim_as_physics_engine.ipynb
+[ipynb_jaxsim_as_multibody_dynamics]: https://colab.research.google.com/github/ami-iit/jaxsim/blob/main/examples/jaxsim_as_multibody_dynamics_library.ipynb
 
 ## How to run the examples