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Merge pull request #316 from nkhosh/contact_keyframes_breakdown #1445

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Merge pull request #316 from nkhosh/contact_keyframes_breakdown

Merge pull request #316 from nkhosh/contact_keyframes_breakdown #1445

Run time

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Job Run time
MuJoCo MPC on ubuntu-20.04 with Clang 12
30m 58s
MuJoCo MPC on macos-12
22m 24s
53m 22s