Muscodwalkin. Closes #72
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@@ -2,7 +2,7 @@ import pinocchio
@@ -80,7 +80,7 @@ def createMultiphaseShootingProblem(rmodel, rdata, patch_name_map, cs, phi_c, sw
@@ -207,7 +207,7 @@ def createPhiFromContactSequence(rmodel, rdata, cs, patch_names):