Add API reference in README

flferretti · Jan 9, 2024 · 8382f0a · 8382f0a
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 [jax]: https://github.com/google/jax/
 [notation]: https://research.tue.nl/en/publications/multibody-dynamics-notation-version-2
 
+## Documentation
+
+The JAXsim API documentation is available at [kaxsim.readthedocs.io](https://jaxsim.readthedocs.io/).
+
 ## Installation
 
 You can install the project with [`pypa/pip`][pip], preferably in a [virtual environment][venv]: