Running the example with jaxsim throws errors

[akhilsathuluri]

I wanted to try out the example in jaxsim but got this error,

jaxsim[38845] WARNING The joint order in the model description is not preserved when reducing the model. Consider using the `names_to_indices` method to get the correct order of the joints, or use the `joint_names()` method to inspect the internal joint ordering.
---------------------------------------------------------------------------
TypeError                                 Traceback (most recent call last)
Cell In[5], line 4
      1 # ==== Define JaxSim simulator and set initial position ====
      3 js = JaxsimSimulator(dt=js_dt, contact_model_type=JaxsimContactModelEnum.RIGID)
----> 4 js.load_model(
      5     robot_model=robot_model_init,
      6     s=s_0,
      7     xyz_rpy=xyz_rpy_0,
      8     # Possible choices are "record", "interactive" or None (no visualization)
      9     visualization_mode="record",
     10 )
     12 s_js, ds_js, tau_js = js.get_state()
     13 t = 0.0

File ~/git/comodo/src/comodo/jaxsimSimulator/jaxsimSimulator.py:220, in JaxsimSimulator.load_model(self, robot_model, xyz_rpy, s, contact_params, left_foot_link_name, right_foot_link_name, left_foot_sole_frame_name, right_foot_sole_frame_name, visualization_mode)
    216 self._to_user = get_joint_map(from_=js_joint_names, to=user_joint_names)
    218 s = np.zeros(self._model.dofs()) if s is None else np.array(s)[self._to_js]
--> 220 self._data = js.data.JaxSimModelData.build(
    221     model=self._model,
    222     velocity_representation=VelRepr.Mixed,
    223     base_position=jnp.array(xyz_rpy[:3]),
    224     base_quaternion=jnp.array(JaxsimSimulator._RPY_to_quat(*xyz_rpy[3:])),
    225     joint_positions=jnp.array(s),
    226     contacts_params=contact_params,
    227 )
    229 # Initialize tau to zero
    230 self._tau = np.zeros(self._model.dofs())

TypeError: JaxSimModelData.build() got an unexpected keyword argument 'contacts_params'

A quick check at jaxsim shows that there is a similar argument called contact_state. But simply changing it to this new argument did not fix the issue and cause a probably (un)realated error.

Maybe related to the plan here: #33