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Refactor RelaxedRigidContacts #286

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merged 2 commits into from
Nov 15, 2024
Merged

Refactor RelaxedRigidContacts #286

merged 2 commits into from
Nov 15, 2024

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diegoferigo
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@diegoferigo diegoferigo commented Nov 14, 2024 •
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  • Use the common function to compute the normal penetration depth $\delta$.
  • Use the Hunt/Crossley soft-contact model to initialize the L-BFGS optimizer.

📚 Documentation preview 📚: https://jaxsim--286.org.readthedocs.build//286/

@diegoferigo diegoferigo self-assigned this Nov 14, 2024
@diegoferigo diegoferigo force-pushed the refactor_relaxed_rigid_contacts branch 2 times, most recently from c1001f7 to 933d1c3 Compare November 15, 2024 09:45
@diegoferigo diegoferigo marked this pull request as ready for review November 15, 2024 09:46
flferretti
flferretti approved these changes Nov 15, 2024
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LGTM! Thanks a lot Diego

@diegoferigo diegoferigo force-pushed the refactor_relaxed_rigid_contacts branch from 933d1c3 to fb6884f Compare November 15, 2024 11:06
@flferretti flferretti merged commit 4ed9510 into main Nov 15, 2024
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@flferretti flferretti deleted the refactor_relaxed_rigid_contacts branch November 15, 2024 14:06
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@flferretti flferretti flferretti approved these changes

@xela-95 xela-95 xela-95 approved these changes

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