diff --git a/docs/Makefile b/docs/Makefile
index 6744ed5d6..3b1c2b60c 100644
--- a/docs/Makefile
+++ b/docs/Makefile
@@ -1,8 +1,3 @@
-# Minimal makefile for Sphinx documentation
-#
-
-# You can set these variables from the command line, and also
-# from the environment for the first two.
 SPHINXOPTS    ?=
 SPHINXBUILD   ?= sphinx-build
 SOURCEDIR     = .
diff --git a/docs/index.rst b/docs/index.rst
index 25a7a7be2..276629774 100644
--- a/docs/index.rst
+++ b/docs/index.rst
@@ -28,18 +28,24 @@ Features
 - Default validation of JAX pytrees to prevent JIT re-compilations.
 - Preliminary support for automatic differentiation of RBDAs.
 
-Installation
-------------
-
-You can install the project with `pypa/pip <https://github.com/pypa/pip/>`_, preferably in a `virtual environment <https://docs.python.org/3/tutorial/venv.html>`_:
+.. toctree::
+   :maxdepth: 2
+   :caption: User Guide
 
-.. code-block:: bash
+   guide/install
 
-    pip install jaxsim
+.. toctree::
+   :maxdepth: 2
+   :caption: JAXsim API
 
-Check `setup.cfg` for the complete list of optional dependencies. Install all of them with ``jaxsim[all]``.
+    modules/typing
+    modules/high_level
+    modules/math
+    modules/physics
+    modules/parsers
+    modules/simulation
+    modules/utils
 
-**Note:** For GPU support, follow the official `installation instruction of JAX <https://github.com/google/jax/#installation>`_.
 
 Examples
 --------
diff --git a/docs/jaxsim_conda_env.yml b/docs/jaxsim_conda_env.yml
index c269743f1..e47001990 100644
--- a/docs/jaxsim_conda_env.yml
+++ b/docs/jaxsim_conda_env.yml
@@ -1,7 +1,6 @@
 name: jaxsim
 channels:
   - conda-forge
-  # - nvidia
 dependencies:
   - coloredlogs
   - python=3.11
@@ -10,7 +9,6 @@ dependencies:
   - jaxlib
   - jaxlie
   - jinja2
-  # - cuda-nvcc
   - rod
   - coloredlogs
   - sphinx
diff --git a/docs/make.bat b/docs/make.bat
index f9fe453e4..181c05d63 100644
--- a/docs/make.bat
+++ b/docs/make.bat
@@ -2,7 +2,7 @@
 
 pushd %~dp0
 
-REM Command file for Sphinx documentation
+REM
 
 if "%SPHINXBUILD%" == "" (
 	set SPHINXBUILD=sphinx-build
diff --git a/src/jaxsim/parsers/kinematic_graph.py b/src/jaxsim/parsers/kinematic_graph.py
index 6ba57314d..bf076f158 100644
--- a/src/jaxsim/parsers/kinematic_graph.py
+++ b/src/jaxsim/parsers/kinematic_graph.py
@@ -570,15 +570,34 @@ def breadth_first_search(
                 yield child
 
     def __iter__(self) -> Iterable[descriptions.LinkDescription]:
-        return self.breadth_first_search(root=self.root)
+        yield from KinematicGraph.breadth_first_search(root=self.root)
 
-    def __getitem__(self, name: str) -> descriptions.LinkDescription:
-        if name not in self.links_dict:
-            raise KeyError(f"Link '{name}' not found in the kinematic graph.")
-        return self.links_dict[name]
+    def __reversed__(self) -> Iterable[descriptions.LinkDescription]:
+        yield from reversed(list(iter(self)))
 
     def __len__(self) -> int:
-        return len(self.links_dict)
+        return len(list(iter(self)))
 
-    def __contains__(self, name: str) -> bool:
-        return name in self.links_dict or name in self.frames_dict
+    def __contains__(self, item: Union[str, descriptions.LinkDescription]) -> bool:
+        if isinstance(item, str):
+            return item in self.link_names()
+
+        if isinstance(item, descriptions.LinkDescription):
+            return item in set(iter(self))
+
+        raise TypeError(type(item).__name__)
+
+    def __getitem__(self, key: Union[int, str]) -> descriptions.LinkDescription:
+        if isinstance(key, str):
+            if key not in self.link_names():
+                raise KeyError(key)
+
+            return self.links_dict[key]
+
+        if isinstance(key, int):
+            if key > len(self):
+                raise KeyError(key)
+
+            return list(iter(self))[key]
+
+        raise TypeError(type(key).__name__)