dynamics

DART is a very useful toolkit for implementing sophisticated controllers and easily running physics simulations, but a familiarity with control theory and numerical methods is still necessary in order to get sane results. Since the robotics community consists of people from a broad variety of backgrounds, it would be useful for DART to provide some introductory educational tutorials to familiarize

... Still lacking, although it's important

Currently, calling a method with use_physical=True on an object that doesn't have physical units turned on and without specifically setting ro and/or vo just silently returns outputs in internal units. That's probably the right thing to do, but we should warn when this happens, so users are aware that the output is actually in internal units (and give hints on how to change this behavior).

Now that Makie.jl has support for text input boxes,
we should use those to replace the current boxes that just state the
values of the limits (so that users can choose exact limits)

https://makie.juliaplots.org/stable/examples/layoutables/textbox/

TSP claims to be type agnostic.
There should be tests for this.
In particular Float32 and Complex numbers will be of Interest.

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