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)

added 22 commits

• 7bf94684...482e72cb - 18 commits from branch loco-3d:devel
• 4b4a9624 - [utils] Create an Empty class to store objects (instead of dictionaries)
• f0a536b1 - [muscodwalking] Create the multiphase locomotion problem.
• a11bc291 - [initial reference] change from list of matrices to list of arrays (in keeping...
• 268b0117 - [muscodwalking] create terminal model and finish problem

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changed title from Muscodwalkin to Muscodwalkin. Closes #72

changed the description

added 1 commit

• 46a1218d - [muscodwalking] create terminal model and finish problem

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Please remove the empty class. I am not against this kind of hacks if they save time, but don't put a hack in the main files (here in utils (utils.py does not equal hackcollection.py)).

added 5 commits

• cee93a4f - [gitignore] Added jupyter notebook untracked files
• 2aa61957 - [notebooks] Cleaned up the output for each notebook
• cac764e4 - [muscodwalking] Create the multiphase locomotion problem.
• 625da622 - [initial reference] change from list of matrices to list of arrays (in keeping...
• 76d1e213 - [muscodwalking] create terminal model and finish problem

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added 1 commit

• 7201512c - [EmptyClass] remove EmptyClass definition

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I removed the EmptyClass.

added 1 commit

• f4d538b0 - [EmptyClass] remove EmptyClass definition

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resolved all discussions

merged

mentioned in commit 17e3fad6

mentioned in issue #72 (closed)