Change neutral element transform matrix in contact #305
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flferretti
requested changes
Dec 4, 2024
Co-authored-by: Filippo Luca Ferretti <[email protected]>
flferretti
approved these changes
Dec 4, 2024
xela-95
approved these changes
Dec 4, 2024
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In this PR we change the neutral element for the transformation matrix from
jnp.zerostojnp.eyein thecollidable_point_dynamicsmethod of the contact class.This will have no effect on the code execution since such transform matrix was not used, this change is done only to avoid confusion by declaring the correct neutral element for the transformation matrix.
📚 Documentation preview 📚: https://jaxsim--305.org.readthedocs.build//305/