Changelog

Release 1.0.0

refactor to use automatic differentiation through JAX, removing the dependency on the numpy package.
remove dependency on pnnchio library. The model will now be defined by explicit dh-parameters, inertial matrices, simple damping, and a generalized friction unified model.
restructure into one Python package with multiple modules inside.
remove all complex and non-linear friction models (such as Lugure, Maxwell, and others requiring solving partial differential equations at each step). Adopt a simpler general friction model where the force related to joint position, velocity, and acceleration is described by the relation for a single joint (i):

\[f_i = \alpha_{1i} q_i + \alpha_{2i} q_i^2 + \ldots + \alpha_{ni} q_i^n + \beta_{1i} v_i + \beta_{2i} v_i^2 + \ldots + \beta_{ki} v_i^k + \gamma_{1i} a_i + \gamma_{2i} a_i^2 + \ldots + \gamma_{pi} a_i^p \]

Here, the values of \(n\), \(k\) , and \(p\) are dynamically chosen and are generally not equal. Non-linear transformations on \(q_i\), \(v_i\), and \(a_i\) are allowed, while not incorporating any specific parameters (e.g., \( \beta_{1i} \cos(v_i) \)).