This projects contains a c-python version and an extension. The extension is not working yet with python as this needs manual memory managment.

First compile Have an alias to the libinsimou.dylib in the same dir. to test run testlib.py

You can run the C++ code (main) when compiling and running the extension project in XCode. Compiling as an extension requires the linking of the libpython3.9.dylib.

TODO: embed backe-end in cart-pole