├── .clang-format ├── .gitignore ├── .pre-commit-config.yaml ├── .readthedocs.yaml ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cpp_examples ├── README.md ├── active_entanglement_case │ └── active_entanglement_example.cpp ├── cantilever_case │ ├── cantilever_deflection_plotter.py │ ├── cantilever_example.cpp │ ├── cantilever_init_velocity_n=201.txt │ ├── euler_bernoulli_data_E=1e5_T=100s.txt │ └── euler_bernoulli_data_E=1e7_T=20s.txt ├── dismech.sh ├── friction_case │ ├── friction_example.cpp │ ├── friction_runner.py │ └── kinetic_energy_plotter.py ├── helix_case │ ├── helix_configuration.txt │ ├── helix_deflection_plotter.py │ └── helix_example.cpp ├── horton_case │ └── horton_example.cpp ├── real2sim_case │ ├── calibrator.py │ ├── real2sim_calibration_example.cpp │ ├── real2sim_example.cpp │ ├── real2sim_vid.mp4 │ ├── soft_limb_data.csv │ ├── soft_limb_vid.mp4 │ ├── solved_phis │ │ ├── phi_csv_creator.py │ │ ├── phi_t0 │ │ ├── phi_t1 │ │ ├── phi_t10 │ │ ├── phi_t100 │ │ ├── phi_t101 │ │ ├── phi_t102 │ │ ├── phi_t103 │ │ ├── phi_t104 │ │ ├── phi_t105 │ │ ├── phi_t106 │ │ ├── phi_t107 │ │ ├── phi_t108 │ │ ├── phi_t109 │ │ ├── phi_t11 │ │ ├── phi_t110 │ │ ├── phi_t111 │ │ ├── phi_t112 │ │ ├── phi_t113 │ │ ├── phi_t114 │ │ ├── phi_t115 │ │ ├── phi_t116 │ │ ├── phi_t117 │ │ ├── phi_t118 │ │ ├── phi_t119 │ │ ├── phi_t12 │ │ ├── phi_t120 │ │ ├── phi_t121 │ │ ├── phi_t122 │ │ ├── phi_t123 │ │ ├── phi_t124 │ │ ├── phi_t125 │ │ ├── phi_t126 │ │ ├── phi_t127 │ │ ├── phi_t128 │ │ ├── phi_t129 │ │ ├── phi_t13 │ │ ├── phi_t130 │ │ ├── phi_t131 │ │ ├── phi_t132 │ │ ├── phi_t133 │ │ ├── phi_t134 │ │ ├── phi_t135 │ │ ├── phi_t136 │ │ ├── phi_t137 │ │ ├── phi_t138 │ │ ├── phi_t139 │ │ ├── phi_t14 │ │ ├── phi_t140 │ │ ├── phi_t141 │ │ ├── phi_t142 │ │ ├── phi_t143 │ │ ├── phi_t144 │ │ ├── phi_t145 │ │ ├── phi_t146 │ │ ├── phi_t147 │ │ ├── phi_t148 │ │ ├── phi_t149 │ │ ├── phi_t15 │ │ ├── phi_t150 │ │ ├── phi_t151 │ │ ├── phi_t152 │ │ ├── phi_t153 │ │ ├── phi_t154 │ │ ├── phi_t155 │ │ ├── phi_t156 │ │ ├── phi_t157 │ │ ├── phi_t158 │ │ ├── phi_t159 │ │ ├── phi_t16 │ │ ├── phi_t160 │ │ ├── phi_t161 │ │ ├── phi_t162 │ │ ├── phi_t163 │ │ ├── phi_t164 │ │ ├── phi_t165 │ │ ├── phi_t166 │ │ ├── phi_t167 │ │ ├── phi_t168 │ │ ├── phi_t17 │ │ ├── phi_t18 │ │ ├── phi_t19 │ │ ├── phi_t2 │ │ ├── phi_t20 │ │ ├── phi_t21 │ │ ├── phi_t22 │ │ ├── phi_t23 │ │ ├── phi_t24 │ │ ├── phi_t25 │ │ ├── phi_t26 │ │ ├── phi_t27 │ │ ├── phi_t28 │ │ ├── phi_t29 │ │ ├── phi_t3 │ │ ├── phi_t30 │ │ ├── phi_t31 │ │ ├── phi_t32 │ │ ├── phi_t33 │ │ ├── phi_t34 │ │ ├── phi_t35 │ │ ├── phi_t36 │ │ ├── phi_t37 │ │ ├── phi_t38 │ │ ├── phi_t39 │ │ ├── phi_t4 │ │ ├── phi_t40 │ │ ├── phi_t41 │ │ ├── phi_t42 │ │ ├── phi_t43 │ │ ├── phi_t44 │ │ ├── phi_t45 │ │ ├── phi_t46 │ │ ├── phi_t47 │ │ ├── phi_t48 │ │ ├── phi_t49 │ │ ├── phi_t5 │ │ ├── phi_t50 │ │ ├── phi_t51 │ │ ├── phi_t52 │ │ ├── phi_t53 │ │ ├── phi_t54 │ │ ├── phi_t55 │ │ ├── phi_t56 │ │ ├── phi_t57 │ │ ├── phi_t58 │ │ ├── phi_t59 │ │ ├── phi_t6 │ │ ├── phi_t60 │ │ ├── phi_t61 │ │ ├── phi_t62 │ │ ├── phi_t63 │ │ ├── phi_t64 │ │ ├── phi_t65 │ │ ├── phi_t66 │ │ ├── phi_t67 │ │ ├── phi_t68 │ │ ├── phi_t69 │ │ ├── phi_t7 │ │ ├── phi_t70 │ │ ├── phi_t71 │ │ ├── phi_t72 │ │ ├── phi_t73 │ │ ├── phi_t74 │ │ ├── phi_t75 │ │ ├── phi_t76 │ │ ├── phi_t77 │ │ ├── phi_t78 │ │ ├── phi_t79 │ │ ├── phi_t8 │ │ ├── phi_t80 │ │ ├── phi_t81 │ │ ├── phi_t82 │ │ ├── phi_t83 │ │ ├── phi_t84 │ │ ├── phi_t85 │ │ ├── phi_t86 │ │ ├── phi_t87 │ │ ├── phi_t88 │ │ ├── phi_t89 │ │ ├── phi_t9 │ │ ├── phi_t90 │ │ ├── phi_t91 │ │ ├── phi_t92 │ │ ├── phi_t93 │ │ ├── phi_t94 │ │ ├── phi_t95 │ │ ├── phi_t96 │ │ ├── phi_t97 │ │ ├── phi_t98 │ │ ├── phi_t99 │ │ └── solved_phis.csv │ ├── target_kappa_calculator.py │ └── target_kappas.pkl └── spider_case │ └── spider_example.cpp ├── docker ├── Dockerfile └── README.md ├── docs ├── CMakeLists.txt ├── Doxyfile ├── Doxyfile.in ├── README.md ├── _static │ ├── active_entanglement_cropped.gif │ ├── dismech-logo.jpg │ ├── helix.gif │ ├── real2sim.gif │ └── spider_incline.gif ├── breathe │ ├── class │ │ ├── classOption.rst │ │ ├── classactiveEntanglementController.rst │ │ ├── classbackwardEuler.rst │ │ ├── classbaseController.rst │ │ ├── classbaseForce.rst │ │ ├── classbaseSolver.rst │ │ ├── classbaseTimeStepper.rst │ │ ├── classcollisionDetector.rst │ │ ├── classcontactForce.rst │ │ ├── classdampingForce.rst │ │ ├── classderSimulationEnvironment.rst │ │ ├── classdgbsvSolver.rst │ │ ├── classelasticBendingForce.rst │ │ ├── classelasticJoint.rst │ │ ├── classelasticRod.rst │ │ ├── classelasticStretchingForce.rst │ │ ├── classelasticTwistingForce.rst │ │ ├── classexplicitTimeStepper.rst │ │ ├── classfloorContactForce.rst │ │ ├── classforceContainer.rst │ │ ├── classforwardEuler.rst │ │ ├── classgravityForce.rst │ │ ├── classheadlessDERSimulationEnvironment.rst │ │ ├── classimplicitMidpoint.rst │ │ ├── classimplicitTimeStepper.rst │ │ ├── classinertialForce.rst │ │ ├── classopenLoopUniformKappaBarController.rst │ │ ├── classopenglDERSimulationEnvironment.rst │ │ ├── classpardisoSolver.rst │ │ ├── classrodNodeLogger.rst │ │ ├── classsetInput.rst │ │ ├── classsoftRobots.rst │ │ ├── classsymbolicEquations.rst │ │ ├── classuniformConstantForce.rst │ │ ├── classvelocityLogger.rst │ │ ├── classverletPosition.rst │ │ ├── classworld.rst │ │ └── classworldLogger.rst │ ├── file │ │ ├── Option_8h.rst │ │ ├── activeEntanglementController_8cpp.rst │ │ ├── activeEntanglementController_8h.rst │ │ ├── backwardEuler_8cpp.rst │ │ ├── backwardEuler_8h.rst │ │ ├── baseController_8cpp.rst │ │ ├── baseController_8h.rst │ │ ├── baseForce_8cpp.rst │ │ ├── baseForce_8h.rst │ │ ├── baseSolver_8cpp.rst │ │ ├── baseSolver_8h.rst │ │ ├── baseTimeStepper_8cpp.rst │ │ ├── baseTimeStepper_8h.rst │ │ ├── collisionDetector_8cpp.rst │ │ ├── collisionDetector_8h.rst │ │ ├── contactEnums_8h.rst │ │ ├── contactForce_8cpp.rst │ │ ├── contactForce_8h.rst │ │ ├── dampingForce_8cpp.rst │ │ ├── dampingForce_8h.rst │ │ ├── derSimulationEnvironment_8cpp.rst │ │ ├── derSimulationEnvironment_8h.rst │ │ ├── dgbsvSolver_8cpp.rst │ │ ├── dgbsvSolver_8h.rst │ │ ├── eigenIncludes_8h.rst │ │ ├── elasticBendingForce_8cpp.rst │ │ ├── elasticBendingForce_8h.rst │ │ ├── elasticJoint_8cpp.rst │ │ ├── elasticJoint_8h.rst │ │ ├── elasticRod_8cpp.rst │ │ ├── elasticRod_8h.rst │ │ ├── elasticStretchingForce_8cpp.rst │ │ ├── elasticStretchingForce_8h.rst │ │ ├── elasticTwistingForce_8cpp.rst │ │ ├── elasticTwistingForce_8h.rst │ │ ├── explicitTimeStepper_8cpp.rst │ │ ├── explicitTimeStepper_8h.rst │ │ ├── filesystem__finder_8hpp.rst │ │ ├── floorContactForce_8cpp.rst │ │ ├── floorContactForce_8h.rst │ │ ├── forceContainer_8cpp.rst │ │ ├── forceContainer_8h.rst │ │ ├── forwardEuler_8cpp.rst │ │ ├── forwardEuler_8h.rst │ │ ├── global__const_8h.rst │ │ ├── gravityForce_8cpp.rst │ │ ├── gravityForce_8h.rst │ │ ├── headlessDERSimulationEnvironment_8cpp.rst │ │ ├── headlessDERSimulationEnvironment_8h.rst │ │ ├── implicitMidpoint_8cpp.rst │ │ ├── implicitMidpoint_8h.rst │ │ ├── implicitTimeStepper_8cpp.rst │ │ ├── implicitTimeStepper_8h.rst │ │ ├── inertialForce_8cpp.rst │ │ ├── inertialForce_8h.rst │ │ ├── main_8cpp.rst │ │ ├── openLoopUniformKappaBarController_8cpp.rst │ │ ├── openLoopUniformKappaBarController_8h.rst │ │ ├── openglDERSimulationEnvironment_8cpp.rst │ │ ├── openglDERSimulationEnvironment_8h.rst │ │ ├── pardisoSolver_8cpp.rst │ │ ├── pardisoSolver_8h.rst │ │ ├── robotDescription_8h.rst │ │ ├── rodNodeLogger_8cpp.rst │ │ ├── rodNodeLogger_8h.rst │ │ ├── setInput_8cpp.rst │ │ ├── setInput_8h.rst │ │ ├── softRobots_8cpp.rst │ │ ├── softRobots_8h.rst │ │ ├── solverTypes_8h.rst │ │ ├── symbolicEquations_8cpp.rst │ │ ├── symbolicEquations_8h.rst │ │ ├── uniformConstantForce_8cpp.rst │ │ ├── uniformConstantForce_8h.rst │ │ ├── utils_8cpp.rst │ │ ├── utils_8h.rst │ │ ├── velocityLogger_8cpp.rst │ │ ├── velocityLogger_8h.rst │ │ ├── verletPosition_8cpp.rst │ │ ├── verletPosition_8h.rst │ │ ├── worldLogger_8cpp.rst │ │ ├── worldLogger_8h.rst │ │ ├── world_8cpp.rst │ │ └── world_8h.rst │ ├── namespace │ │ ├── namespaceEigen.rst │ │ ├── namespaceSymEngine.rst │ │ └── namespacestd.rst │ └── struct │ │ ├── structcollisionDetector_1_1contact__pair.rst │ │ ├── structcollisionDetector_1_1limb__edge__info.rst │ │ └── structsimParams.rst ├── citation.md ├── citation_acknowledgement.rst ├── classlist.rst ├── conf.py ├── filelist.rst ├── index.rst ├── install_instructions.md ├── install_instructions.rst ├── intro.md ├── namespacelist.rst ├── requirements.txt ├── structlist.rst ├── todo.md └── todo.rst ├── media ├── active_entanglement_cropped.gif ├── dismech-logo.jpg ├── follow.gif ├── helix.gif ├── magnum.gif ├── obs_3d.gif ├── real2sim.gif └── spider_incline.gif ├── py_dismech └── __init__.py ├── py_examples ├── dlo_manipulation_case │ └── dlo_manipulation_example.py ├── helix_case │ └── helix_example.py ├── low_level_control_case │ └── control_example.py └── spider_case │ └── spider_example.py ├── setup.py └── src ├── app.cpp ├── controllers ├── active_entanglement_controller.cpp ├── active_entanglement_controller.h ├── base_controller.cpp ├── base_controller.h ├── open_loop_uniform_kappa_bar_controller.cpp ├── open_loop_uniform_kappa_bar_controller.h └── openloop_control_trajectories │ ├── active_entanglement_controller.csv │ ├── horton_controller.csv │ ├── real2sim_controller.csv │ └── solved_phis.csv ├── global_definitions.h ├── initialization ├── option.h ├── set_input.cpp ├── set_input.h └── set_input.tcc ├── logging ├── base_logger.cpp ├── base_logger.h ├── filesystem_finder.hpp ├── position_logger.cpp ├── position_logger.h ├── velocity_logger.cpp └── velocity_logger.h ├── main.cpp ├── robot_description.h ├── rod_mechanics ├── base_force.cpp ├── base_force.h ├── elastic_joint.cpp ├── elastic_joint.h ├── elastic_rod.cpp ├── elastic_rod.h ├── external_forces │ ├── collision_detector.cpp │ ├── collision_detector.h │ ├── contact_enums.h │ ├── contact_force.cpp │ ├── contact_force.h │ ├── damping_force.cpp │ ├── damping_force.h │ ├── floor_contact_force.cpp │ ├── floor_contact_force.h │ ├── gravity_force.cpp │ ├── gravity_force.h │ ├── symbolic_equations.cpp │ ├── symbolic_equations.h │ ├── uniform_constant_force.cpp │ └── uniform_constant_force.h ├── force_container.cpp ├── force_container.h ├── inner_forces │ ├── elastic_bending_force.cpp │ ├── elastic_bending_force.h │ ├── elastic_stretching_force.cpp │ ├── elastic_stretching_force.h │ ├── elastic_twisting_force.cpp │ ├── elastic_twisting_force.h │ ├── inertial_force.cpp │ └── inertial_force.h ├── soft_robots.cpp └── soft_robots.h ├── simulation_environments ├── base_sim_env.cpp ├── base_sim_env.h ├── headless_sim_env.cpp ├── headless_sim_env.h ├── magnum_sim_env.cpp ├── magnum_sim_env.h ├── opengl_sim_env.cpp └── opengl_sim_env.h ├── solvers ├── base_solver.cpp ├── base_solver.h ├── 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