contact constraints: skip common dofs#1233
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thowell wants to merge 1 commit intogoogle-deepmind:mainfrom
Open
contact constraints: skip common dofs#1233thowell wants to merge 1 commit intogoogle-deepmind:mainfrom
thowell wants to merge 1 commit intogoogle-deepmind:mainfrom
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contact jacobian dofs that are shared by contact bodies can be skipped since they exactly cancel out.
google-deepmind/mujoco@bb38a34