Fix simulation test with relaxed rigid contact model #294
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diegoferigo
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Nov 22, 2024
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Thanks @xela-95 and @diegoferigo, I'll change the |
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This PR fixes the simulation test with the relaxed rigid contact model by replacing the mass matrix inversion method with
linalg.invfor accuracy and by using a non-linear Hunt-Crossley model to reduce the drifts in the tangential directions📚 Documentation preview 📚: https://jaxsim--294.org.readthedocs.build//294/