chore(release): bump version to 0.3.1

Merge branch 'devel' into main

Merge branch 'full-param-reconstruction' into devel

test(qrdecomposition): add TestNumericalImprovements test suite

refactor(qrdecomposition): remove beta rounding, add diagnostics and decompose()

refactor(qrdecomposition): unify basis selection on column-pivoted QR

feat(qrdecomposition): add QRResult dataclass and relative_tolerance

fix(qrdecomposition): correct rank-zero edge case in _find_rank

chore: ignore .github/skills directory

fix(reconstruction): add missing run_option_a_reconstruction alias

feat(reconstruction): add reconstruction utilities and corresponding tests

feat(qrdecomposition): add methods for retrieving and building base mapping matrix M for QR workflows

refactor(qrdecomposition): update base parameter computation to handle nominal parameters and improve error messaging

refactor(qrdecomposition): enhance docstrings for clarity and detail in QR decomposition methods

feat(physical-consistency): add optional support for projecting inertial parameters onto a physically consistent set