Add safe norm function and refactor usages #319
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flferretti
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Thanks @flferretti ! For me it's good to go! If you have time, maybe adding a small unit test on the safe_norm function for future regression could be a good idea :)
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This PR introduces a
safe_normfunction to handle norm calculations safely, preventing division by zero and ensuring gradient compatibility.FYI @CarlottaSartore
📚 Documentation preview 📚: https://jaxsim--319.org.readthedocs.build//319/