Lint, tests, coverage and docs

Add example of inverse dynamics #136

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Run time

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Job	Run time
Lint (pylint) (3.10)	48s
Documentation	42s
Lint (pylint) (3.11)	46s
Tests & Coverage (pytest) (3.10)	46s
Tests & Coverage (pytest) (3.11)	49s
Docker	-1s
	3m 50s