PostureGenerator::mbc is an accessor to PostureGenerator::mbc_.
Fix legged robot construction in PGTest.
Add a dummy contact constraint on left leg.
Update the pg::Objective and pg::Constraint api to allow the use of the raw x vector. Normalize all quaternion in PostureGenerator::mbc_.
Output test result as python array.
Use euclidian norm instead of squared norm in UnitQuat.
Add code to compute dummy contact with a squared norm.