Bug in exponential integrator without double integral about consim HOT 5 CLOSED

Hi @andreadelprete

thanks for pointing this out, just by looking at it I found another bug in the case of no contact here, dv_ should be replaced with dvMean_, I will fix both and check again for consistency

I am currently adding a static walk, a trot and a jump examples, this will help me pinpoint any other bugs that might remain.

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Which version of the code are you using? The branch bhammoud? Should we merge your PR so that we work all on master? I don't remember what the status of the PR is actually...

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there were a couple of comments on the previous pr that I had to address, so I created a different branch out of it to add the slipping optimization and contact force prediction, bhammoud_qp, I will push the new solo12 gaits simulations, then maybe I can create a new PR and we could completely ignore the previous one ?

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ok for me

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this was solved can we close it ?

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