Move mujoco independent part of gjk into a separate file #435
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Hi @nvtw, could we please wait for the multicontact to get in? This should be in by the end of week if all goes well. I was planning on moving this file to collision_convex.py and deleting some of the old code and moving some out into collision_driver.py. |
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@kbayes please ping me once the multicontact code is ready |
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First step towards making gjk and epa usable by solvers other than mujoco