Rename soft_contacts module to soft

Author: flferretti

docs/modules/rbda.rst

@@ -13,7 +13,6 @@ This module provides a set of algorithms for rigid body dynamics.
     crba
     forward_kinematics
     jacobian
-    soft_contacts
     utils
 
 Articulated Body Algorithm
@@ -31,7 +30,7 @@ Collision Detection
 Contact Models
 ~~~~~~~~~~~~~~
 
-.. automodule:: jaxsim.rbda.soft_contacts
+.. automodule:: jaxsim.rbda.contacts.soft
     :members:
 
 Composite Rigid Body Algorithm

src/jaxsim/api/contact.py

@@ -8,7 +8,7 @@
 import jaxsim.api as js
 import jaxsim.terrain
 import jaxsim.typing as jtp
-from jaxsim.rbda.contacts.soft_contacts import SoftContacts, SoftContactsParams
+from jaxsim.rbda.contacts.soft import SoftContacts, SoftContactsParams
 
 from .common import VelRepr
 
@@ -246,7 +246,7 @@ def estimate_good_soft_contacts_parameters(
         The user is encouraged to fine-tune the parameters based on the
         specific application.
     """
-    from jaxsim.rbda.contacts.soft_contacts import SoftContactsParams
+    from jaxsim.rbda.contacts.soft import SoftContactsParams
 
     def estimate_model_height(model: js.model.JaxSimModel) -> jtp.Float:
         """"""

src/jaxsim/api/data.py

@@ -14,7 +14,7 @@
 import jaxsim.rbda
 import jaxsim.typing as jtp
 from jaxsim.math import Quaternion
-from jaxsim.rbda.contacts.soft_contacts import SoftContacts
+from jaxsim.rbda.contacts.soft import SoftContacts
 from jaxsim.utils import Mutability
 from jaxsim.utils.tracing import not_tracing
 

src/jaxsim/api/model.py

@@ -114,7 +114,7 @@ def build_from_model_description(
         """
 
         import jaxsim.parsers.rod
-        from jaxsim.rbda.contacts.soft_contacts import SoftContacts
+        from jaxsim.rbda.contacts.soft import SoftContacts
 
         # Parse the input resource (either a path to file or a string with the URDF/SDF)
         # and build the -intermediate- model description
@@ -171,7 +171,7 @@ def build(
         Returns:
             The built Model object.
         """
-        from jaxsim.rbda.contacts.soft_contacts import SoftContacts
+        from jaxsim.rbda.contacts.soft import SoftContacts
 
         # Set the model name (if not provided, use the one from the model description)
         model_name = model_name if model_name is not None else model_description.name

src/jaxsim/api/ode_data.py

@@ -6,7 +6,7 @@
 import jaxsim.api as js
 import jaxsim.typing as jtp
 from jaxsim.rbda import ContactsState
-from jaxsim.rbda.contacts.soft_contacts import SoftContacts, SoftContactsState
+from jaxsim.rbda.contacts.soft import SoftContacts, SoftContactsState
 from jaxsim.utils import JaxsimDataclass
 
 # =============================================================================

tests/test_automatic_differentiation.py

@@ -8,7 +8,7 @@
 import jaxsim.rbda
 import jaxsim.typing as jtp
 from jaxsim import VelRepr
-from jaxsim.rbda.contacts.soft_contacts import SoftContacts, SoftContactsParams
+from jaxsim.rbda.contacts.soft import SoftContacts, SoftContactsParams
 
 # All JaxSim algorithms, excluding the variable-step integrators, should support
 # being automatically differentiated until second order, both in FWD and REV modes.

tests/test_simulations.py

@@ -6,7 +6,7 @@
 import jaxsim.integrators
 import jaxsim.rbda
 from jaxsim import VelRepr
-from jaxsim.rbda.contacts.soft_contacts import SoftContactsParams
+from jaxsim.rbda.contacts.soft import SoftContactsParams
 
 
 def test_box_with_external_forces(