Update default contact model to Soft and remove deprecation warning #468
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CarlottaSartore
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@CarlottaSartore I rebased the branch so this is ready to merge when you want |
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In this PR, I have updated the default contact model to the soft one (since it is the one currently used the most). Updated the method documentation accordingly, and removed the deprecated warning for the hardware parameters
📚 Documentation preview 📚: https://jaxsim--468.org.readthedocs.build//468/