Add alternative rigid contact model #227
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Still not working for recurrency while jit-compiling.
…tParams` attribute
Co-authored-by: Filippo Luca Ferretti <102977828+flferretti@users.noreply.github.com>
Co-authored-by: Filippo Luca Ferretti <102977828+flferretti@users.noreply.github.com>
Co-authored-by: Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
Co-authored-by: diegoferigo <diego.ferigo@iit.it> Co-authored-by: Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
Co-authored-by: Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
…ontacts and Baumgarte
flferretti
approved these changes
Sep 11, 2024
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Squashed version of #218.
📚 Documentation preview 📚: https://jaxsim--227.org.readthedocs.build//227/