Preserve the original terrain in reduced models

ami-iit / jaxsim

A differentiable physics engine and multibody dynamics library for control and robot learning.

https://jaxsim.readthedocs.io/

BSD 3-Clause "New" or "Revised" License

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Closed xela-95 closed 1 month ago

xela-95 commented 1 month ago

This PR fixes the bug occurring when reducing a model with jaxsim.api.model.reduce, in which the terrain specification was not preserved.