├── .devcontainer ├── Dockerfile └── devcontainer.json ├── .github └── workflows │ └── build.yml ├── .gitignore ├── .pre-commit-config.yaml ├── CHANGELOG.md ├── README.md ├── darli ├── __init__.py ├── backend │ ├── __init__.py │ ├── _base.py │ ├── _casadi.py │ ├── _pinocchio.py │ └── liecasadi │ │ ├── __init__.py │ │ ├── hints │ │ └── __init__.py │ │ ├── quaternion.py │ │ └── so3.py ├── model │ ├── __init__.py │ ├── _base.py │ ├── _body.py │ ├── _contact.py │ ├── _model.py │ └── functional │ │ ├── __init__.py │ │ ├── _body.py │ │ ├── _contact.py │ │ └── _model.py ├── parametric │ ├── __init__.py │ ├── _functional.py │ ├── _model.py │ └── _parameters │ │ ├── __init__.py │ │ └── _parameters.py ├── robots │ ├── __init__.py │ └── _robots.py ├── state_space │ ├── __init__.py │ ├── _base.py │ ├── _casadi.py │ ├── _common.py │ ├── _functional.py │ ├── _pinocchio.py │ ├── _state │ │ ├── __init__.py │ │ ├── _state.py │ │ └── _tangent.py │ ├── _state_space.py │ └── integrators │ │ ├── __init__.py │ │ ├── _base.py │ │ ├── _fwd_euler.py │ │ ├── _mid_point.py │ │ └── _rk4.py └── utils │ ├── arrays │ ├── __init__.py │ ├── _arraylike.py │ ├── _casadi.py │ └── _numpy.py │ ├── manifolds │ ├── __init__.py │ ├── __manifold.py │ ├── __quaternion.py │ ├── __se3.py │ ├── __so3.py │ ├── __spd.py │ ├── __state_space.py │ └── __vector.py │ └── quaternions │ ├── __init__.py │ └── _quaternions.py ├── docs ├── 00_intro.md ├── 01_model.md ├── 02_state_space.md ├── 03_functional.md ├── citations.md ├── contributing.md ├── functions.md └── notes │ └── parameters_manifold.py ├── environment.yml ├── pyproject.toml ├── tests └── modeling.py └── tutorial ├── 00_intro.ipynb ├── 01_model.ipynb ├── 02_state_space.ipynb ├── 03_functional.ipynb └── 04_parametric.ipynb /.devcontainer/Dockerfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/simeon-ned/darli/HEAD/.devcontainer/Dockerfile 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