fix warnings

Author: Sergim96

…l/multibody/contacts/contact-6d-loop.cpp …ultibody/contacts/contact-6d-loop.cpp.inbindings/python/crocoddyl/multibody/contacts/contact-6d-loop.cpp renamed to bindings/python/crocoddyl/multibody/contacts/contact-6d-loop.cpp.in bindings/python/crocoddyl/multibody/contacts/contact-6d-loop.cpp renamed to bindings/python/crocoddyl/multibody/contacts/contact-6d-loop.cpp.in

@@ -7,6 +7,7 @@
 // All rights reserved.
 ///////////////////////////////////////////////////////////////////////////////
 
+// Auto-generated file for @SCALAR_TYPE@
 #include "crocoddyl/multibody/contacts/contact-6d-loop.hpp"
 #include "python/crocoddyl/multibody/multibody.hpp"
 
@@ -108,8 +109,8 @@ struct ContactData6DLoopVisitor
       .def(CopyableVisitor<Data>());
 
 void exposeContact6DLoop() {
-  CROCODDYL_PYTHON_SCALARS(CROCODDYL_CONTACT_MODEL_6D_LOOP_PYTHON_BINDINGS)
-  CROCODDYL_PYTHON_SCALARS(CROCODDYL_CONTACT_DATA_6D_LOOP_PYTHON_BINDINGS)
+  CROCODDYL_CONTACT_MODEL_6D_LOOP_PYTHON_BINDINGS(@SCALAR_TYPE@)
+  CROCODDYL_CONTACT_DATA_6D_LOOP_PYTHON_BINDINGS(@SCALAR_TYPE@)
 }
 
 }  // namespace python

include/crocoddyl/multibody/contacts/contact-6d-loop.hpp

@@ -264,15 +264,16 @@ struct ContactData6DLoopTpl : public ContactDataAbstractTpl<_Scalar> {
         dpos_dq(6, model->get_state()->get_nv()),
         dvel_dq(6, model->get_state()->get_nv()),
         dtau_dq_tmp(model->get_state()->get_nv(), model->get_state()->get_nv()),
+        f1Mf2(SE3::Identity()),
+        f1Xj1(model->get_joint1_placement().inverse()),
+        f2Xj2(model->get_joint2_placement().inverse()),
+        f1Xf2(SE3ActionMatrix::Identity()),
         f1Jf1(6, model->get_state()->get_nv()),
         f2Jf2(6, model->get_state()->get_nv()),
         f1Jf2(6, model->get_state()->get_nv()),
         j1Jj1(6, model->get_state()->get_nv()),
         j2Jj2(6, model->get_state()->get_nv()),
-        f1Xj1(model->get_joint1_placement().inverse()),
-        f2Xj2(model->get_joint2_placement().inverse()),
-        f1Mf2(SE3::Identity()),
-        f1Xf2(SE3ActionMatrix::Identity()),
+        j2Jj1(6, model->get_state()->get_nv()),
         f1vf1(Motion::Zero()),
         f2vf2(Motion::Zero()),
         f1vf2(Motion::Zero()),