Add a multibody friction cone cost, rename FrictionConeResidual to CentroidalFrictionConeResidual
#636
| Job | Run time |
|---|---|
| 5s | |
| 5s |
FrictionConeResidual to CentroidalFrictionConeResidual
#636
| Job | Run time |
|---|---|
| 5s | |
| 5s |