Muscodwalkin. Closes #72

Loads references from the centroidal solver, and runs ddp to track those references.

Some work still needs to be done to define properly the tasks (e.g., to add high cost velocity tracking on foot during contact transitions).

The current framework is meant to deal with multi-contact locomotion (and not just bipedal walking)

locomotion/talos_warm_start.py

@@ -25,9 +25,6 @@ cs = ContactSequenceHumanoid(0)
 cs.loadFromXML(conf.MUSCOD_CS_OUTPUT_FILENAME, conf.CONTACT_SEQUENCE_XML_TAG)
 
 #----------------Define References-------------------------
-init = 
-init.x = conf.X_init
-init.u = conf.U_init
 
 swing_ref = createSwingTrajectories(rmodel, rdata, conf.X_init, conf.contact_patches, conf.DT)
 phi_c = createPhiFromContactSequence(rmodel, rdata, cs, conf.contact_patches.keys())