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Add a multibody friction cone cost, rename `FrictionConeResidual` to `CentroidalFrictionConeResidual` #234

Merged

ManifoldFR merged 4 commits into Simple-Robotics:devel from edantec:topic/edantec_friction_cone

Oct 18, 2024

Merged

Add a multibody friction cone cost, rename `FrictionConeResidual` to `CentroidalFrictionConeResidual` #234

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