Use type instead of Type

src/jaxsim/rbda/contacts/common.py

@@ -1,7 +1,7 @@
 from __future__ import annotations
 
 import abc
-from typing import Any, Type
+from typing import Any
 
 import jaxsim.terrain
 import jaxsim.typing as jtp
@@ -20,7 +20,7 @@ class ContactsState(JaxsimDataclass):
 
     @classmethod
     @abc.abstractmethod
-    def build(cls: Type[Self], **kwargs) -> Self:
+    def build(cls: type[Self], **kwargs) -> Self:
         """
         Build the contact state object.
 
@@ -31,7 +31,7 @@ def build(cls: Type[Self], **kwargs) -> Self:
 
     @classmethod
     @abc.abstractmethod
-    def zero(cls: Type[Self], **kwargs) -> Self:
+    def zero(cls: type[Self], **kwargs) -> Self:
         """
         Build a zero contact state.
 
@@ -55,7 +55,7 @@ class ContactsParams(JaxsimDataclass):
 
     @classmethod
     @abc.abstractmethod
-    def build(cls: Type[Self], **kwargs) -> Self:
+    def build(cls: type[Self], **kwargs) -> Self:
         """
         Create a `ContactsParams` instance with specified parameters.
 

src/jaxsim/rbda/contacts/relaxed_rigid.py

@@ -1,7 +1,7 @@
 from __future__ import annotations
 
 import dataclasses
-from typing import Any, Type
+from typing import Any
 
 import jax
 import jax.numpy as jnp
@@ -111,7 +111,7 @@ def __eq__(self, other: RelaxedRigidContactsParams) -> bool:
 
     @classmethod
     def build(
-        cls: Type[Self],
+        cls: type[Self],
         *,
         time_constant: jtp.FloatLike | None = None,
         damping_coefficient: jtp.FloatLike | None = None,
@@ -163,13 +163,13 @@ def __eq__(self, other: RelaxedRigidContactsState) -> bool:
         return hash(self) == hash(other)
 
     @classmethod
-    def build(cls: Type[Self]) -> Self:
+    def build(cls: type[Self]) -> Self:
         """Create a `RelaxedRigidContactsState` instance"""
 
         return RelaxedRigidContactsState()
 
     @classmethod
-    def zero(cls: Type[Self], *, model: js.model.JaxSimModel) -> Self:
+    def zero(cls: type[Self], *, model: js.model.JaxSimModel) -> Self:
         """Build a zero `RelaxedRigidContactsState` instance from a `JaxSimModel`."""
 
         return RelaxedRigidContactsState.build()

src/jaxsim/rbda/contacts/rigid.py

@@ -1,7 +1,7 @@
 from __future__ import annotations
 
 import dataclasses
-from typing import Any, Type
+from typing import Any
 
 import jax
 import jax.numpy as jnp
@@ -55,7 +55,7 @@ def __eq__(self, other: RigidContactsParams) -> bool:
 
     @classmethod
     def build(
-        cls: Type[Self],
+        cls: type[Self],
         *,
         mu: jtp.FloatLike | None = None,
         K: jtp.FloatLike | None = None,
@@ -86,13 +86,13 @@ def __eq__(self, other: RigidContactsState) -> bool:
         return hash(self) == hash(other)
 
     @classmethod
-    def build(cls: Type[Self]) -> Self:
+    def build(cls: type[Self]) -> Self:
         """Create a `RigidContactsState` instance"""
 
         return RigidContactsState()
 
     @classmethod
-    def zero(cls: Type[Self]) -> Self:
+    def zero(cls: type[Self]) -> Self:
         """Build a zero `RigidContactsState` instance from a `JaxSimModel`."""
 
         return RigidContactsState.build()

src/jaxsim/rbda/contacts/soft.py

@@ -1,7 +1,6 @@
 from __future__ import annotations
 
 import dataclasses
-from typing import Type
 
 import jax
 import jax.numpy as jnp
@@ -68,7 +67,7 @@ def __eq__(self, other: SoftContactsParams) -> bool:
 
     @classmethod
     def build(
-        cls: Type[Self],
+        cls: type[Self],
         *,
         K: jtp.FloatLike = 1e6,
         D: jtp.FloatLike = 2_000,
@@ -104,7 +103,7 @@ def build(
 
     @classmethod
     def build_default_from_jaxsim_model(
-        cls: Type[Self],
+        cls: type[Self],
         model: js.model.JaxSimModel,
         *,
         standard_gravity: jtp.FloatLike = StandardGravity,
@@ -386,7 +385,7 @@ def __eq__(self: Self, other: Self) -> bool:
 
     @classmethod
     def build_from_jaxsim_model(
-        cls: Type[Self],
+        cls: type[Self],
         model: js.model.JaxSimModel | None = None,
         tangential_deformation: jtp.MatrixLike | None = None,
     ) -> Self:
@@ -414,7 +413,7 @@ def build_from_jaxsim_model(
 
     @classmethod
     def build(
-        cls: Type[Self],
+        cls: type[Self],
         *,
         tangential_deformation: jtp.MatrixLike | None = None,
         number_of_collidable_points: int | None = None,
@@ -452,7 +451,7 @@ def build(
         return cls(tangential_deformation=tangential_deformation)
 
     @classmethod
-    def zero(cls: Type[Self], *, model: js.model.JaxSimModel) -> Self:
+    def zero(cls: type[Self], *, model: js.model.JaxSimModel) -> Self:
         """
         Build a zero `SoftContactsState` from a `JaxSimModel`.