Half way to friday milestone
Here is a list of the actions that remains to be done:
- locomotion from a Muscod trajectory (top priority)
- documentation
- set up of 3 examples for unicycle, arm and biped (med priority, refact mostly)
- activation model in all costs
- armature cleanly parsed from SRDF
if possible:
- joint limit model (should be discussed at least
- abstraction model for all important classes
- add a clean impulse cost model for the impact action class
- renaming some classes
- feedback on contact
unlikely but desirable:
- rk4
- quadruped