Rigid contacts speedup improvements #237
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Co-authored-by: diegoferigo <[email protected]>
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Addressed review comments and rebased on main. |
flferretti
approved these changes
Sep 24, 2024
diegoferigo
approved these changes
Sep 25, 2024
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This PR updates the RigidContacts class removing redundant calls to get kin-dyn quantities like contact jacobians, system velocity, etc.
It also exposes the QP solver tolerance.
📚 Documentation preview 📚: https://jaxsim--237.org.readthedocs.build//237/