Reset of contact state about consim HOT 4 CLOSED

right now resetState() runs contact detection on a given state (q,v) and updates all the contact status, including the anchor point and the force resulting needed for integration in euler method.
I could remove this and enforce a different reset for the contacts alone ? it could be done by each contact point separately through the contact point name, however i need to ensure consistence of the anchor point chosen and the robot kinematics relative to the object.

else I could keep the resetState() method as is, and just add the functionality of reseting the anchor point after all the contact detection sequence is done, making sure it is only possible to update the anchor point if the contact is active, then recompute the contact force based on the new `x_start'? this seams more reasonable to me

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Both options are fine to me. Go with the second one if you find it better.

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hey @hammoudbilal when you have time you could implement this? I think we need it for the results to show in the paper.

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This has been implemented so we can close this issue

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