sparse contact and flex constraints#935
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thowell wants to merge 2 commits intogoogle-deepmind:mainfrom
Open
sparse contact and flex constraints#935thowell wants to merge 2 commits intogoogle-deepmind:mainfrom
thowell wants to merge 2 commits intogoogle-deepmind:mainfrom
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this pr depends on #934 and implements sparse contact and flex constraints