Add a multibody friction cone cost, rename FrictionConeResidual to CentroidalFrictionConeResidual
#1132
| Job | Run time |
|---|---|
| 7m 4s | |
| 6m 46s | |
| 5m 14s | |
| 2m 7s | |
| 1m 46s | |
| 2m 9s | |
| 5m 0s | |
| 2m 40s | |
| 30s | |
| 2m 5s | |
| 2m 49s | |
| 2m 22s | |
| 8s | |
| 40m 40s |