├── .gitignore ├── README.rst ├── check_env.py ├── environment.yml └── notebooks ├── exercise_solutions ├── n00_python_intro_data-plotting.py ├── n00_python_intro_data-structures.py ├── n01_vector_addition_scaling.py ├── n01_vector_cross_product.py ├── n01_vector_dot_product.py ├── n01_vector_rotation.py ├── n03_kinematics_define-angular-velocity.py ├── n03_kinematics_define-com.py ├── n03_kinematics_define-frame.py ├── n03_kinematics_define-linear-velocity.py ├── n03_kinematics_define-point.py ├── n03_kinematics_rotate-frame.py ├── n04_inertia_define-rigid-body.py ├── n04_inertia_inertia-dyadic.py ├── n05_kinetics_force-vectors.py ├── n05_kinetics_torque-tuples.py ├── n07_simulation_plot-speeds.py ├── n07_simulation_sim-setup.py ├── n07_simulation_torque-magnitude.py ├── n08_visualization_nose_solution.py ├── n09_control_controller-function.py ├── n09_control_integrate-eom.py ├── n09_control_parameter-dict.py ├── n09_control_plot-angles.py └── n09_control_plot-velocities.py ├── figures ├── angular_velocity.svg ├── ankle_joint.png ├── ankle_joint.svg ├── example_rigid_body_systems.svg ├── hip_joint.png ├── hip_joint.svg ├── human_balance_diagram.png ├── human_balance_diagram.svg ├── knee_joint.png ├── knee_joint.svg ├── lower_leg_torque.png ├── lower_leg_torque.svg ├── reference_frame.svg ├── torso_torque.png ├── torso_torque.svg ├── upper_leg_torque.png ├── upper_leg_torque.svg ├── vector_addition.svg ├── vector_basics.svg ├── vector_cross.svg ├── vector_dot.svg ├── vector_express.svg └── vector_scaling.svg ├── n00_python_intro.ipynb ├── n01_dynamics_overview.ipynb ├── n02_problem_introduction.ipynb ├── n03_kinematics.ipynb ├── n04_inertia.ipynb ├── n05_kinetics.ipynb ├── n06_equations_of_motion.ipynb ├── n07_simulation.ipynb ├── n08_visualization.ipynb ├── n09_control.ipynb ├── solution ├── __init__.py ├── control.py ├── equations_of_motion.py ├── inertia.py ├── kinematics.py ├── kinetics.py ├── simulation.py ├── utils.py └── visualization.py ├── 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