Update Documentation

[lucaslibshutz]

We need to add relevant theory documentation for both the EKF composition using jax.jacobian and the full physics modeling and why we made the choices that we did.

[smriti-kumar]

updated ekf documentation!

[lucaslibshutz]

As @smriti-kumar said, we updated the documentation using Claude Code to include all relevant parameters and data types, as of this commit. I started adding the theory for the EKF update in more detail compared to the docstrings contained within ekf.py.

I'm alaso aiming within the next few days / over break / whenever I have time to add the physics documentation as well for car.py, such that I can document clearly why I made the assumptions I did, where the equations came from (ideally making tikz diagrams to illustrate the full derivation in detail such that it can be easily replicated), and anything else necessary. That includes the friction models, contact models, and assumptions used for the equations of motion and showing common problems with the model (such as the rampant oscillations in angular velocity that have been showing up when turning, which is something that I still need to debug, and will make a new issue for).

[lucaslibshutz]

Made some small corrections and added auto-documentation building via pixi in this commit, and I outlined the major topics to discuss for my formulation of the car's dynamics and control systems in this commit, I'll make some more progress on this tomorrow. @smriti-kumar if you have time maybe Wednesday you can document the communication protocols, either in this repo or in Daniel's original?

Also, for anyone reading this, if you want to build the docs yourself and make edits in real time, simply run this command once you have pixi installed:

pixi run --environment docs docs-live

[lucaslibshutz]

Going to be postponing this to later, as I want to get the KF working first on the jetson as detailed in cornellev/autonomy#78

[lucaslibshutz]

moving to icebox for now, will work on once IGVC integration is finished