add documentation

[Drenayaz]

No description provided.

[github-actions]

☂️ Python Coverage

current status: ✅

Overall Coverage

Lines	Covered	Coverage	Threshold	Status
83	60	72%	0%	🟢

New Files

No new covered files...

Modified Files

No covered modified files...

updated for commit: d544617 by action🐍

[pierre-rouanet]

Really nice!

I'm just adding some comments regarding the overall doc/API here for tracking:

• I think it would be nice to add a figure with the frame used by the IK directly within the README (robot frame and end-effector frame ?)
• I'm not sure but I think your goal_pose is defined differently in symbolic vs control IK (6d array vs 4x4 matrix)? Is that correct, maybe adding a few lines or a link to the API could be nice (typically to specify input/output format - type of vectors, degrees/radians, etc.).
• Some info regarding compute time?
• Maybe a contributing section with maybe links to some open issues (eg. I think at some points we talked about vectorization to handles multiples IK computation at once).