Refactor contact models and update to latest JaxSim API#33
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flferretti wants to merge 3 commits intosprint/devfrom
Open
Refactor contact models and update to latest JaxSim API#33flferretti wants to merge 3 commits intosprint/devfrom
flferretti wants to merge 3 commits intosprint/devfrom
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This PR removes the viscous contact model, allows configuration of contact parameters, and ensures compliance with the latest API for
link_contact_forces.