misc minor stuff
worked on pushing
Merge branch 'devel' into dynamics
oops, left an error in gurobi_interface
Merge branch 'devel' into dynamics
work on pushing
complementarity
fix increment stuff
moved stuff around for pushing
trying to fix rbdl-rave conversion. problem seems to be static joints
various minor changes to eliminate gcc and clang warnings
bounds bugfix
major refactor. some regression on benchmarks and unit tests, unfortunately
renamed some files
add a few (unmaintained) scripts that have been sitting around in source dir
collision constraint (untested)
moved notes to separate dir
Constr -> Constraint for consistency
fixed unit test by raising coeffs
some changes in cast cost gradient