Account for joint torques in the rigid contact models #233
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Co-authored-by: Alessandro Croci <alessandro.croci@iit.it>
Co-authored-by: Diego Ferigo <diego.ferigo@iit.it>
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This pull request includes several updates to the contact models in the codebase. The
jaxsim.api.contact.collidable_point_dynamicsfunction now takes into account the applied torques in the rigid contact models. TheRelaxedRigidContactsclass have been updated to include docstrings and a deprecation warning onjax.tree_maphas been fixed📚 Documentation preview 📚: https://jaxsim--233.org.readthedocs.build//233/