Welcome to Jelly documentation!
======================================

**Jelly** is an expandable MATLAB and Simulink library to control and simulate modular mechanical systems. 
The library is based on the inverse dynamics algorithms discussed in :cite:p:`pustina2023univeral`. 
All the methods are designed for C/C++ code generation, both in MATLAB and Simulink. 

.. note::

   This project is under active development. 

Contents
--------

.. toctree::

   usage

Check out the :doc:`usage` section for a short introduction on how to use the library, including how to
:ref:`install <installation>` it.

API
---

.. toctree::

   api


.. bibliography::