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ami-iit / jaxsim Public

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Add `ContactModel` base class and abstract contact handling in `JaxSimModel` and `JaxSimModelData` #88

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Add `ContactModel` base class and abstract contact handling in `JaxSimModel` and `JaxSimModelData`

Add `ContactModel` base class and abstract contact handling in `JaxSimModel` and `JaxSimModelData` #88

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