Merge pull request #4 from GiorgioMedico/dev2

documentation code corrections, supported py 3.11, 3.12, 3.13

Merge pull request #3 from GiorgioMedico/dev

Refactoring, Documentation and quaternion splines

Merge pull request #1 from GiorgioMedico/3.10+

3.10+

doc

add pip install