Gets rid of some old code that we are no longer using, including
Proximal operator stuff. We found that the proximal operator formulation was not that helpful, and our implementation is untested/possibly buggy. Best to get rid of it to avoid confusion.
Explicit computation of the contact jacobian. We add contact forces into the inverse dynamics directly, and compute derivatives with finite differences, so we don't need this.
Signed distance function cache. We set this up but never used it, as SDFs are only queried once.
Gets rid of some old code that we are no longer using, including
This change is