* WIP: splitted casadi and pinocchio backends and implementations

* temporary darli with multiple backends

* feat: add regressors

* feat: add parametric template

* feat: implement bodies

* feat: copy body to parametric

* feat: add contact

* feat: implement pinocchio backend

* feat: implement robot model

* feat: implement contact forces

* feat: add purely symbolic class

* refactor: apply ruff

* feat: add state space and update symbolic

* feat: contact update + robot constructors

* feat: add symbolic body

* feat: move functional separately

* feat: separate state space

* feat: add pinocchio temp state space

* feat: add functional state space

* chore: remove unused

* feat: give a sample test

* feat: add test

* feat: add first com test

* feat: add some tests

* feat: add dynamics test

* feat: add sample benchmark

* feat: add simple caching

* chore: formatting and pyproject.toml