update: inertia benefit from caching + move from pkg_resources to importlib.metada #714
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As stated in the setuptools page, using
pkg_resourcesis deprecated in favor ofimportlib. Therefore, I took the initiative to change it.I noticed that inertia moment can benefit from cache strategy and decided to implement it. Cache requires hashable objects and arrays/numpy arrays aren't. So, I decided to create a prototype of those arrays, make them hashable and introduce cache, while passing the same array to the function and not generating errors.
I also changed the jax callout, as it's already resolved in #713.