Reintroduce soft, viscoelastic and rigid contact models

This reverts commit 9408f74.
ami-iit · Jan 30, 2025 · 7f0893f · 7f0893f
1 parent b0827b5
commit 7f0893f
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Showing 5 changed files with 2,077 additions and 6 deletions.
diff --git a/src/jaxsim/rbda/contacts/__init__.py b/src/jaxsim/rbda/contacts/__init__.py
@@ -1,5 +1,13 @@
-from . import relaxed_rigid
+from . import relaxed_rigid, rigid, soft, visco_elastic
 from .common import ContactModel, ContactsParams
 from .relaxed_rigid import RelaxedRigidContacts, RelaxedRigidContactsParams
+from .rigid import RigidContacts, RigidContactsParams
+from .soft import SoftContacts, SoftContactsParams
+from .visco_elastic import ViscoElasticContacts, ViscoElasticContactsParams
 
-ContactParamsTypes = RelaxedRigidContactsParams
+ContactParamsTypes = (
+    SoftContactsParams
+    | RigidContactsParams
+    | RelaxedRigidContactsParams
+    | ViscoElasticContactsParams
+)