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Added the 6d contact model + updated the bipedal example + benchmark for quadruped and biped

Carlos Mastalli requested to merge cmastall/crocoddyl:topic/contact-6d into cpp_devel

In this PR, I solved the following issues #230 (closed), #234 (closed) and #235 (closed). I have additionally solve a bug in the DDP solver (i.e. Vxx symmetric).

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