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Talos examples: manipulation and 3d walking, #73

Carlos Mastalli requested to merge cmastall/crocoddyl:talos-examples into topic/refact

In this PR I've included two examples:

  • reaching a goal with Talos wrist (using talos left arm)
  • making two steps on flat terrain for Talos legs (lower-body part of Talos)

Additionally I adapted the code for unicycle example given changes in the callback API. @rbudhira FYI

Remark It's possible to improve a little the SimpleBipedWalkingProblem class and reuse for:

  • HyQ walking
  • Muscod tracking

I might work on that it's considered a priority.

Edited by Carlos Mastalli

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