Add GitHub Codespaces support

.devcontainer/Dockerfile

@@ -0,0 +1,26 @@
+FROM mcr.microsoft.com/devcontainers/base:ubuntu
+COPY environment.yml /opt/environment.yml
+
+# Enable by default the conda environment for all users.
+# The prefix is the one used by the micromamba feature.
+ENV CONDA_PREFIX_JAXSIM=/opt/conda/envs/jaxsim
+RUN echo 'function activate_conda() {' >> /etc/bash.bashrc &&\
+    echo '  eval "$(micromamba shell hook -s bash)"' >> /etc/bash.bashrc &&\
+    echo '  micromamba activate ${CONDA_PREFIX_JAXSIM-$CONDA_PREFIX}' >> /etc/bash.bashrc &&\
+    echo '}' >> /etc/bash.bashrc &&\
+    echo '[[ -x $(which micromamba) && -d ${CONDA_PREFIX_JAXSIM-$CONDA_PREFIX} ]] && activate_conda' >> /etc/bash.bashrc &&\
+    echo '[[ -x $(which micromamba) && ! -x $(which mamba) ]] && alias mamba="$(which micromamba)"' >> /etc/bash.bashrc &&\
+    echo '[[ -x $(which micromamba) && ! -x $(which conda) ]] && alias conda="$(which micromamba)"' >> /etc/bash.bashrc
+
+# Provide libGL.so.1 from the host OS
+RUN sudo apt-get update &&\
+    sudo apt-get install -y --no-install-recommends libgl1 &&\
+    rm -rf /var/lib/apt/lists/*
+
+# The Python extension in VSCode is not able to detect the interpreter installed with micromamba.
+# As documented as follows, we provide a suggestion through an environment variable.
+# https://code.visualstudio.com/docs/python/environments#_where-the-extension-looks-for-environments
+ENV WORKON_HOME=$CONDA_PREFIX_JAXSIM
+
+# Specify the workdir of the container
+WORKDIR /workspace/jaxsim

.devcontainer/devcontainer.json

@@ -0,0 +1,34 @@
+// For format details, see https://aka.ms/devcontainer.json. For config options, see the
+// README at: https://github.com/devcontainers/templates/tree/main/src/ubuntu
+{
+	"name": "Ubuntu",
+	// Or use a Dockerfile or Docker Compose file. More info: https://containers.dev/guide/dockerfile
+	"build": {
+		"context": "..",
+		"dockerfile": "Dockerfile",
+	},
+
+	// Features to add to the dev container. More info: https://containers.dev/features.
+	"features": {
+		"ghcr.io/mamba-org/devcontainer-features/micromamba:1": {
+			"envFile": "/opt/environment.yml",
+		},
+	},
+
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	// "forwardPorts": [],
+
+	// Use 'postCreateCommand' to run commands after the container is created.
+	// "postCreateCommand": "uname -a",
+
+	// Configure tool-specific properties.
+	// "customizations": {},
+
+	// Uncomment to connect as root instead. More info: https://aka.ms/dev-containers-non-root.
+	// "remoteUser": "root"
+
+	// VSCode extensions
+	"extensions": [
+		"ms-python.python",
+	],
+}

.readthedocs.yaml

@@ -4,16 +4,16 @@ build:
   os: ubuntu-22.04
   tools:
     python: "mambaforge-22.9"
-    
+
 conda:
-  environment: docs/jaxsim_conda_env.yml
+  environment: environment.yml
 
 python:
   install:
     - method: pip
       path: .
-      
+
 sphinx:
   configuration: docs/conf.py
 
-formats: all
+formats: all

environment.yml

@@ -0,0 +1,39 @@
+name: jaxsim
+channels:
+  - conda-forge
+dependencies:
+  # Dependencies from setup.cfg
+  - python=3.11
+  - coloredlogs
+  - jax >= 0.4.13
+  - jaxlib
+  - jaxlie >= 1.3.0
+  - jax-dataclasses >= 1.4.0
+  - pptree
+  - rod
+  # Optional dependencies from setup.cfg
+  - black
+  - isort
+  - idyntree
+  - pytest
+  - pytest-forked
+  - pytest-icdiff
+  - robot_descriptions
+  # System dependencies to run the tests
+  - gz-sim7
+  # Other packages
+  - ipython
+  # Documentation dependencies
+  - cachecontrol
+  - enum_tools
+  - filecache
+  - filelock
+  - jinja2
+  - sphinx
+  - sphinx-autodoc-typehints
+  - sphinx-copybutton
+  - sphinx_fontawesome
+  - sphinx-jinja2-compat
+  - sphinx-multiversion
+  - sphinx_rtd_theme
+  - sphinx-toolbox