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Add ContactModel
base class and abstract contact handling in JaxSimModel
and JaxSimModelData
#178
Merged
Commits on Jun 18, 2024
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Rename method that computes contact forces
Co-authored-by: Diego Ferigo <[email protected]>
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Rename
ODEState.contact_state
toODEState.contact
Co-authored-by: Diego Ferigo <[email protected]>
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Apply suggestions from code review
Co-authored-by: Diego Ferigo <[email protected]>
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