diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9f23c9f..d0daad7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -55,6 +55,7 @@ add_library(marinholab_sas_core
     src/sas_robot_driver_example.cpp
     src/eigen3_std_conversions.cpp
     src/sas_thread_manager.cpp
+    src/serial_manipulator_simulator_friendly.cpp
 )
 add_library(marinholab::sas::core ALIAS marinholab_sas_core)
 
diff --git a/include/marinholab/sas/core/modeling/serial_manipulator_simulator_friendly.hpp b/include/marinholab/sas/core/modeling/serial_manipulator_simulator_friendly.hpp
new file mode 100644
index 0000000..fe54d05
--- /dev/null
+++ b/include/marinholab/sas/core/modeling/serial_manipulator_simulator_friendly.hpp
@@ -0,0 +1,127 @@
+#pragma once
+/*
+# Copyright (c) 2016-2025 Murilo Marques Marinho
+#
+#    This file is part of sas_core.
+#
+#    sas_core is free software: you can redistribute it and/or modify
+#    it under the terms of the GNU Lesser General Public License as published by
+#    the Free Software Foundation, either version 3 of the License, or
+#    (at your option) any later version.
+#
+#    sas_core is distributed in the hope that it will be useful,
+#    but WITHOUT ANY WARRANTY; without even the implied warranty of
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#    GNU Lesser General Public License for more details.
+#
+#    You should have received a copy of the GNU Lesser General Public License
+#    along with sas_core.  If not, see <https://www.gnu.org/licenses/>.
+#
+# ################################################################
+#
+#   Author: Murilo M. Marinho, email: murilomarinho@ieee.org
+#
+# ################################################################*/
+
+/**
+ * @file serial_manipulator_simulator_friendly.hpp
+ * @brief A serial-manipulator kinematics model with configurable per-joint
+ *        offsets and actuation types.
+ */
+
+#include <memory>
+#include <stdexcept>
+#include <vector>
+
+#include <dqrobotics/robot_modeling/DQ_SerialManipulator.h>
+
+namespace marinholab::sas::core::modeling
+{
+
+// The dqrobotics types this model builds on. (The Eigen types used in the
+// signatures, e.g. MatrixXd/VectorXd, are injected into the global namespace
+// by the dqrobotics headers.)
+using DQ_robotics::DQ;
+using DQ_robotics::DQ_SerialManipulator;
+using DQ_robotics::DQ_JointType;
+
+/**
+ * @brief A serial manipulator whose joints carry explicit pre/post offsets.
+ *
+ * Each joint contributes a dual-quaternion transformation of the form
+ * @c offset_before_ * actuation(q) * offset_after_, which lets the model
+ * represent sensor frames and joint offsets that a plain
+ * @ref DQ_SerialManipulator would not. Supports both revolute (R) and
+ * prismatic (T) joints about any principal axis.
+ */
+class SerialManipulatorSimulatorFriendly: public DQ_SerialManipulator
+{
+public:
+    /** @brief The actuation type and axis of a single joint. */
+    enum class ActuationType{
+        RZ, ///< Revolution about the z-axis.
+        RY, ///< Revolution about the y-axis.
+        RX, ///< Revolution about the x-axis.
+        TZ, ///< Translation along the z-axis.
+        TY, ///< Translation along the y-axis.
+        TX  ///< Translation along the x-axis.
+    };
+protected:
+    std::vector<DQ> offset_before_;
+    std::vector<DQ> offset_after_;
+    std::vector<ActuationType> actuation_types_;
+
+    DQ _get_w(const int& ith) const;
+    DQ _joint_transformation(const double& q, const int& ith) const;
+public:
+
+
+    SerialManipulatorSimulatorFriendly()=delete;
+    /**
+     * @brief Construct the manipulator.
+     *
+     * @param offset_before  Per-joint dual-quaternion offset applied before actuation.
+     * @param offset_after   Per-joint dual-quaternion offset applied after actuation.
+     * @param actuation_types Per-joint actuation type and axis.
+     *
+     * @throws std::runtime_error if the three vectors do not have equal size.
+     */
+    SerialManipulatorSimulatorFriendly(const std::vector<DQ>& offset_before,
+                                       const std::vector<DQ>& offset_after,
+                                       const std::vector<ActuationType>& actuation_types);
+
+    using DQ_SerialManipulator::raw_pose_jacobian;
+    using DQ_SerialManipulator::raw_pose_jacobian_derivative;
+    using DQ_SerialManipulator::raw_fkm;
+
+    /**
+     * @brief Joint types this model can represent.
+     * @return A vector containing @c DQ_JointType::REVOLUTE.
+     */
+    std::vector<DQ_JointType> get_supported_joint_types() const override;
+
+    /**
+     * @brief Raw pose Jacobian of the chain up to a given link.
+     * @param q_vec         Joint configuration vector.
+     * @param to_ith_link   Index of the terminal link.
+     * @return An 8 x (to_ith_link+1) dual-quaternion pose Jacobian.
+     */
+    MatrixXd raw_pose_jacobian(const VectorXd& q_vec, const int& to_ith_link) const override;
+    /**
+     * @brief Time derivative of the raw pose Jacobian.
+     * @param q             Joint configuration vector.
+     * @param q_dot         Joint velocity vector.
+     * @param to_ith_link   Index of the terminal link.
+     * @return An 8 x (to_ith_link+1) Jacobian-derivative matrix.
+     */
+    MatrixXd raw_pose_jacobian_derivative(const VectorXd& q, const VectorXd& q_dot, const int& to_ith_link) const override;
+    /**
+     * @brief Raw forward kinematics of the chain up to a given link.
+     * @param q_vec         Joint configuration vector.
+     * @param to_ith_link   Index of the terminal link.
+     * @return The dual-quaternion pose of the terminal link.
+     */
+    DQ raw_fkm(const VectorXd &q_vec, const int &to_ith_link) const override;
+};
+
+}
diff --git a/src/serial_manipulator_simulator_friendly.cpp b/src/serial_manipulator_simulator_friendly.cpp
new file mode 100644
index 0000000..c66412f
--- /dev/null
+++ b/src/serial_manipulator_simulator_friendly.cpp
@@ -0,0 +1,229 @@
+/*
+# Copyright (c) 2016-2025 Murilo Marques Marinho
+#
+#    This file is part of sas_core.
+#
+#    sas_core is free software: you can redistribute it and/or modify
+#    it under the terms of the GNU Lesser General Public License as published by
+#    the Free Software Foundation, either version 3 of the License, or
+#    (at your option) any later version.
+#
+#    sas_core is distributed in the hope that it will be useful,
+#    but WITHOUT ANY WARRANTY; without even the implied warranty of
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#    GNU Lesser General Public License for more details.
+#
+#    You should have received a copy of the GNU Lesser General Public License
+#    along with sas_core.  If not, see <https://www.gnu.org/licenses/>.
+#
+# ################################################################
+#
+#   Author: Murilo M. Marinho, email: murilomarinho@ieee.org
+#
+# ################################################################*/
+
+/**
+ * @file serial_manipulator_simulator_friendly.cpp
+ * @brief Implementation of SerialManipulatorSimulatorFriendly.
+ *
+ * The implementation follows the standard dual-quaternion serial-manipulator
+ * construction: each joint contributes
+ * @c offset_before_(i) * actuation(q_i) * offset_after_(i), and the pose
+ * Jacobian columns are built from the joint axis transformed by the
+ * intermediate poses (see @ref DQ_SerialManipulator in dqrobotics-cpp).
+ */
+
+#include <marinholab/sas/core/modeling/serial_manipulator_simulator_friendly.hpp>
+
+namespace marinholab::sas::core::modeling
+{
+
+// Free functions/constants from dqrobotics used by the implementation. (The
+// types DQ/VectorXd/MatrixXd are already in scope via the header / the
+// dqrobotics headers' global-namespace injection.)
+using DQ_robotics::Ad;
+using DQ_robotics::C8;
+using DQ_robotics::E_;
+using DQ_robotics::haminus8;
+using DQ_robotics::hamiplus8;
+using DQ_robotics::i_;
+using DQ_robotics::j_;
+using DQ_robotics::k_;
+using DQ_robotics::vec8;
+
+SerialManipulatorSimulatorFriendly::SerialManipulatorSimulatorFriendly(const std::vector<DQ> &offset_before,
+                                                                       const std::vector<DQ> &offset_after,
+                                                                       const std::vector<ActuationType>& actuation_types):
+    DQ_SerialManipulator(actuation_types.size()),
+    offset_before_(offset_before),
+    offset_after_(offset_after),
+    actuation_types_(actuation_types)
+{
+    if(offset_before_.size() != actuation_types_.size() ||
+        offset_after_.size() != actuation_types_.size() )
+        throw std::runtime_error("Size issue");
+
+    // The base class only resizes the limit vectors, leaving them
+    // uninitialized. Initialize them to a wide range so that
+    // get_lower_q_limit()/get_upper_q_limit() never return garbage and the
+    // joint-limit constraints stay feasible until the caller sets real
+    // limits with set_lower_q_limit()/set_upper_q_limit().
+    // ``kDefaultJointLimit`` is a large (practically unbounded) value in
+    // radians, the unit used for joint positions throughout dqrobotics.
+    static constexpr double kDefaultJointLimit = 10.0;
+    lower_q_limit_ = VectorXd::Constant(actuation_types_.size(), -kDefaultJointLimit);
+    upper_q_limit_ = VectorXd::Constant(actuation_types_.size(), kDefaultJointLimit);
+}
+
+DQ SerialManipulatorSimulatorFriendly::_joint_transformation(const double &q, const int &ith) const
+{
+    // Returns the dual-quaternion joint transformation
+    //   offset_before_(ith) * actuation(q) * offset_after_(ith)
+    // where actuation(q) is the dual quaternion corresponding to the
+    // joint's actuation type at value q.
+    const auto& before = offset_before_.at(ith);
+    const auto& after = offset_after_.at(ith);
+
+    DQ actuation;
+
+    switch(actuation_types_.at(ith))
+    {
+    case ActuationType::RZ:
+        actuation = cos(q/2.0) + k_*sin(q/2.0);
+        break;
+    case ActuationType::RY:
+        actuation = cos(q/2.0) + j_*sin(q/2.0);
+        break;
+    case ActuationType::RX:
+        actuation = cos(q/2.0) + i_*sin(q/2.0);
+        break;
+    case ActuationType::TZ:
+        actuation = 1 + 0.5*E_*k_*q;
+        break;
+    case ActuationType::TY:
+        actuation = 1 + 0.5*E_*j_*q;
+        break;
+    case ActuationType::TX:
+        actuation = 1 + 0.5*E_*i_*q;
+        break;
+    }
+
+    return before*actuation*after;
+}
+
+
+/**
+ * @brief Returns the spatial axis (as a dual quaternion) of the joint.
+ *
+ * For a revolute joint this is the unit quaternion of the rotation axis;
+ * for a prismatic joint it is the dual quaternion of the translation
+ * direction (i.e. @c E_*axis).
+ *
+ * @param ith Joint index.
+ * @return The dual quaternion representing the joint axis.
+ * @throws std::runtime_error if the joint's actuation type is invalid.
+ */
+DQ SerialManipulatorSimulatorFriendly::_get_w(const int &ith) const
+{
+    switch(actuation_types_.at(ith))
+    {
+    case ActuationType::RZ:
+        return k_;
+        break;
+    case ActuationType::RY:
+        return j_;
+        break;
+    case ActuationType::RX:
+        return i_;
+        break;
+    case ActuationType::TZ:
+        return E_*k_;
+        break;
+    case ActuationType::TY:
+        return E_*j_;
+        break;
+    case ActuationType::TX:
+        return E_*i_;
+        break;
+    }
+    throw std::runtime_error("Invalid actuation");
+}
+
+DQ  SerialManipulatorSimulatorFriendly::raw_fkm(const VectorXd& q_vec, const int& to_ith_link) const
+{
+    _check_q_vec(q_vec);
+    _check_to_ith_link(to_ith_link);
+
+    DQ q(1);
+    int j = 0;
+    for (int i = 0; i < (to_ith_link+1); i++) {
+        q = q * _joint_transformation(q_vec(i-j), i);
+    }
+    return q;
+}
+
+
+MatrixXd SerialManipulatorSimulatorFriendly::raw_pose_jacobian(const VectorXd &q_vec, const int &to_ith_link) const
+{
+    _check_q_vec(q_vec);
+    _check_to_ith_link(to_ith_link);
+
+    MatrixXd J = MatrixXd::Zero(8,to_ith_link+1);
+    DQ x_effector = raw_fkm(q_vec,to_ith_link);
+
+    DQ x(1);
+
+    for(int i=0;i<to_ith_link+1;i++)
+    {
+        DQ w = _get_w(i);
+        DQ z = 0.5 * Ad(x * offset_before_.at(i), w);
+        x = x*_joint_transformation(q_vec(i), i);
+        DQ j = z * x_effector;
+        J.col(i)= vec8(j);
+    }
+    return J;
+}
+
+MatrixXd SerialManipulatorSimulatorFriendly::raw_pose_jacobian_derivative(const VectorXd &q, const VectorXd &q_dot, const int &to_ith_link) const
+{
+    _check_q_vec(q);
+    _check_q_vec(q_dot);
+    _check_to_ith_link(to_ith_link);
+
+    int n = to_ith_link+1;
+    DQ x_effector = raw_fkm(q,to_ith_link);
+    MatrixXd J    = raw_pose_jacobian(q,to_ith_link);
+    VectorXd vec_x_effector_dot = J*q_dot.head(n);
+    DQ x = DQ(1);
+    MatrixXd J_dot = MatrixXd::Zero(8,n);
+    int jth=0;
+
+    for(int i=0;i<n;i++)
+    {
+        const DQ w = _get_w(i);
+        const DQ z = 0.5*x*w*conj(x);
+
+        VectorXd vec_zdot;
+        if(i==0)
+        {
+            vec_zdot = VectorXd::Zero(8,1);
+        }
+        else
+        {
+            vec_zdot = 0.5*(haminus8(w*conj(x)) + hamiplus8(x*w)*C8())*raw_pose_jacobian(q,i-1)*q_dot.head(i);
+        }
+
+        J_dot.col(jth) = haminus8(x_effector)*vec_zdot + hamiplus8(z)*vec_x_effector_dot;
+        x = x*_joint_transformation(q(jth),i);
+        jth = jth+1;
+    }
+
+    return J_dot;
+}
+
+std::vector<DQ_JointType> SerialManipulatorSimulatorFriendly::get_supported_joint_types() const
+{
+    return {DQ_JointType::REVOLUTE};
+}
+
+}