Expose SCS contact point parameters#237
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Summary
SimulationConstructionSet2convenience methods to get and set contact-point based contact parametersContactPointBasedPhysicsEngineVerification
git show --check --format=short HEAD/home/codacli/tools/gradle-8.14.3/bin/gradle -p /home/codacli/code/ihmcrobotics/simulation-construction-set-2 :scs2-simulation-construction-set:compileJava --rerun-tasks --no-daemon/home/codacli/tools/gradle-8.14.3/bin/gradle -p /home/codacli/code/ihmcrobotics/simulation-construction-set-2 :scs2-simulation-construction-set:build --rerun-tasks --no-daemonFixes #161.
Coordination Note
I also ran a local-only stack sweep for this SCS2 draft set (
#232-#239) on top ofdevelopusingSproutSeeds:cody/scs2-draft-pr-stack-local-sweep-2026-05-08. The branches merged cleanly,git diff --check origin/develop..HEADpassed, and the affected module builds plus nested JavaFX/logger regression test projects passed on Umbra WSL. No separate PR is open for that integration branch; it is just evidence that the draft set composes.