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Refactor SoftContacts algorithm#245

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diegoferigo merged 9 commits intomainami-iit/jaxsim:mainfrom refactor_soft_contactsami-iit/jaxsim:refactor_soft_contactsCopy head branch name to clipboardSep 27, 2024

+281-217

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Commits on Sep 26, 2024

• Import contact-related classes to jaxsim.rbda.contacts package

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• Minor updates to common contact classes

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• Align jaxsim.rbda.soft with new contact common typing

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• Refactor SoftContacts algorithm removing all nested conditions

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• Use kwargs when calling the soft-contacts model

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• Align jaxsim.rbda.rigid to new contact common typing

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• Align jaxsim.rbda.relaxed_rigid to new contact common typing

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• Use type instead of Type

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Commits on Sep 27, 2024

• Apply suggestions from code review

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