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Muscodwalkin. Closes #72

Merged Rohan Budhiraja requested to merge proyan/crocoddyl:muscodwalkin into devel
All threads resolved!
@@ -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())
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