Enhance Forward Dynamics computation by adding motor dynamics #62
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traversaro
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This pull request follows #45 and will introduce the possibility for the simulator to accept motor inertia, motor viscous friction and gear ratio, which will be saved in the already existing JAX dataclasses:
high_level.jointhigh_level.modelmodel.physics_modelto be ready for Forward Dynamics computation through a new ABA and RNEA version which incorporates these motor parameters into the simulation process.