#include <crocoddyl/core/utils/exception.hpp>
#include <crocoddyl/core/utils/math.hpp>
#include <pinocchio/algorithm/centroidal.hpp>
#include <pinocchio/algorithm/compute-all-terms.hpp>
#include <pinocchio/algorithm/contact-dynamics.hpp>
#include <pinocchio/algorithm/frames.hpp>
#include <pinocchio/algorithm/kinematics-derivatives.hpp>
#include <pinocchio/algorithm/rnea-derivatives.hpp>
#include <pinocchio/algorithm/rnea.hpp>
#include "contact-fwddyn.hpp"

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	sobec

	sobec::newcontacts

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