Add a multibody friction cone cost, rename FrictionConeResidual to CentroidalFrictionConeResidual
#622
| Job | Run time |
|---|---|
| 12m 18s | |
| 12m 27s | |
| 12m 5s | |
| 17m 56s | |
| 12m 23s | |
| 10m 13s | |
| 1s | |
| 1h 17m 23s |