Release v0.2.0: Major update with unified configuration system

This release brings significant improvements to FIGAROH:

✨ New Features:
- Unified configuration system with automatic legacy compatibility
- Enhanced base classes for calibration and identification
- Optimal trajectory generation framework
- Comprehensive error handling and results management
- Enhanced testing framework with extensive unit tests

📚 Documentation:
- Complete README.md overhaul with modern examples
- Comprehensive Sphinx documentation restructure
- New getting started guide for users
- Enhanced API documentation and cross-references

🧹 Maintenance:
- Removed unused quadprog dependency
- Cleaned up build artifacts
- Modernized project structure
- Version bump to 0.2.0 with detailed changelog

🔧 Technical Improvements:
- Better configuration parsing with template inheritance
- Enhanced robot visualization and collision detection
- Improved QR decomposition and regressor tools
- Streamlined package dependencies

This release maintains full backward compatibility while providing
a more modern and user-friendly interface.

Author: thanhndv212

CHANGELOG.md

@@ -5,6 +5,65 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
+## [0.2.0] - 2025-09-05
+
+### Added
+- **Unified Configuration System**: Complete overhaul of configuration management
+  - New `UnifiedConfigParser` with YAML template inheritance
+  - Automatic format detection for seamless legacy compatibility  
+  - Advanced parameter mapping between configuration formats
+  - Comprehensive configuration validation with helpful error messages
+
+- **Enhanced Base Classes**: Modern object-oriented workflow management
+  - `BaseCalibration`: Standardized calibration workflow with unified config support
+  - `BaseIdentification`: Standardized identification workflow with unified config support  
+  - Automatic configuration format detection and conversion
+
+- **Advanced Regressor Builder**: Complete redesign of regressor computation
+  - `RegressorBuilder`: Object-oriented, extensible regressor construction
+  - `RegressorConfig`: Configuration dataclass for regressor parameters
+  - Enhanced input validation and error handling
+  - Support for joint torque and external wrench modes
+
+- **Configuration Format Mapping**: Seamless format conversion utilities
+  - `unified_to_legacy_config`: Calibration parameter mapping function
+  - `unified_to_legacy_identif_config`: Identification parameter mapping function
+  - Perfect compatibility with existing legacy configurations
+
+### Improved  
+- **Parameter Processing**: Enhanced parameter handling with better defaults
+- **Error Messages**: More informative validation and error reporting
+- **Documentation**: Comprehensive updates to README and module documentation
+- **Code Organization**: Better structured modules with clear responsibilities
+- **Type Safety**: Added type hints throughout the codebase
+
+### Enhanced
+- **Cross-Platform Support**: Improved compatibility across operating systems
+- **Input Validation**: Robust parameter validation and type checking  
+- **Template System**: Flexible configuration template inheritance
+- **Backward Compatibility**: Full support for existing legacy configurations
+
+### Removed
+- **quadprog dependency**: Removed unused quadprog dependency to reduce package size
+
+### Fixed
+- **Configuration Parsing**: Resolved edge cases in YAML parsing
+- **Parameter Mapping**: Accurate conversion between configuration formats
+- **Validation Logic**: Improved configuration validation accuracy
+- **Error Handling**: Better error recovery and user feedback
+
+### Technical Improvements
+- Modern Python practices with dataclasses and type hints
+- Enhanced error handling with custom exception classes
+- Improved testing framework with comprehensive validation
+- Better code documentation and examples
+
+### Documentation
+- Updated README with modern API examples
+- Enhanced configuration system documentation  
+- New API usage patterns and best practices
+- Comprehensive module documentation updates
+
 ## [0.1.0] - 2025-01-25
 
 ### Added
@@ -35,7 +94,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Dependencies
 - Core scientific computing: numpy, scipy, matplotlib, pandas
 - Robotics: pinocchio (via conda)
-- Optimization: cyipopt (via conda), quadprog
+- Optimization: cyipopt (via conda)
 - Visualization: meshcat
 - Additional: numdifftools, ndcurves, rospkg