Cleanup/merge branches
The idea is to clean up some of the leftover branches, identify which branches have differing features/performance, and how to integrate them together.
For now, I propose merging some of them (those for WBC MPC) into this branch which allows switching OCP solvers (and integrates support for PROXDDP)
Branches to delete
-
master (since main exists) -
casadi-walking-PA (merged by @paleziart into casadi-walking)