Refactor contact dynamics and detection logic to use signed distance functions#480
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Refactor contact dynamics and detection logic to use signed distance functions#480flferretti wants to merge 39 commits intomainfrom
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- Removed sphere collision points options in docs. - Added env var to disable cylinder collisions.
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📚 Documentation preview 📚: https://jaxsim--480.org.readthedocs.build//480/