Added the 6d contact model + updated the bipedal example + benchmark for quadruped and biped (!209) · Merge requests · loco-3d / crocoddyl

Merged Carlos Mastalli requested to merge cmastall/crocoddyl:topic/contact-6d into cpp_devel Aug 29, 2019

In this PR, I solved the following issues #230 (closed), #234 (closed) and #235 (closed). I have additionally solve a bug in the DDP solver (i.e. Vxx symmetric).

Added the 6d contact model + updated the bipedal example + benchmark for quadruped and biped

Merge request reports