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[WIP]: Implementation of OSQP algorithm in Proxsuite#415

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Lucas-Haubert:topic/osqp
Draft

[WIP]: Implementation of OSQP algorithm in Proxsuite#415
Lucas-Haubert wants to merge 116 commits into
Simple-Robotics:develfrom
Lucas-Haubert:topic/osqp

OSQP: Unit test: dense: check ordering of z when there are box constr…

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