Remove references of Plucker coordinates #19
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This PR refactors the
mathpackage by removing all legacy references to Plucker coordinates, and updates thephysicspackage to usebrentyi/jaxlieinstead.The algorithms implemented in JAXsim use a 6D notation1 derived from Lie groups.
Footnotes
https://research.tue.nl/en/publications/multibody-dynamics-notation-version-2 ↩