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ami-iit / jaxsim Public

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Slightly optimize computation for `RigidContacts` model#325

Merged

flferretti merged 3 commits intomainami-iit/jaxsim:mainfrom speedup_rigid_contactsami-iit/jaxsim:speedup_rigid_contactsCopy head branch name to clipboard

Jan 8, 2025

+32-52

Conversation Commits3 (3)Checks Files changed

Commits

Commits on Jan 8, 2025

Refactor impact velocity computation
flferretti
committed
Remove unnecessary assertion for RigidContactsParams in step function
flferretti
committed
Update the docstrings to match the function signature

flferretti
and
xela-95
committed

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